ROBOT APPARATUS AND POSITION AND ORIENTATION DETECTING METHOD

A robot apparatus includes a reference-model storing unit configured to store a reference model of an object, a feature-value-table storing unit configured to store a feature value table that associates position data and orientation data of the reference model and a feature value, a photographed-image acquiring unit configured to capture a photographed image of the object, a detecting unit configured to calculate a photographed image feature value from the photographed image, and a driving control unit configured to control a robot main body on the basis of the position data and the orientation data to change the position and the orientation of a gripping unit.