Fecha de publicación: 15/12/2022 Fuente: WIPO (eseential oils OR extracts) An acquisition unit (30) acquires object information showing the three-dimensional shape of an object grasped by a grasp unit, and grasp unit information about the shape of the grasp unit. An extraction unit (50) performs clustering of pairs of two points on the object, the pairs satisfying a condition based on the object information and the grasp unit information acquired by the acquisition unit (30), and remaining after removing similar pairs, and extracts a pair representing each cluster as grasp points. A generation unit (60) generates, on the basis of the grasp points extracted by the extraction unit (50), grasp information showing a relative positional relationship between the object and the grasp unit when the object is grasped by the grasp unit.