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|1. (WO2018135114) ORIENTATION CONTROL DEVICE, HOLDING DEVICE, ORIENTATION CONTROL METHOD, AND PROGRAM|
|Title:||ORIENTATION CONTROL DEVICE, HOLDING DEVICE, ORIENTATION CONTROL METHOD, AND PROGRAM|
[Problem] To provide a technology capable of accurately controlling the orientation of an item being held. [Solution] This orientation control device is equipped with a control unit. The control unit controls the orientation of an item to be held by controlling the orientation of a holding device for holding the item to be held on the basis of the direction of gravity, and determines the direction of gravity on the holding device on the basis of a static acceleration component calculated on the basis of a first acceleration detection signal obtained by detecting a dynamic acceleration component acting on the holding device, and a second acceleration detection signal obtained by detecting the static acceleration component and the dynamic acceleration component acting on the holding device.