The invention provides a robot system capable of safely and stably holding an object with an optimum holding method and holding force. A robot control section (7) has an object information calculationsection (21) for calculating, based on image information from an image processing section (8), the size and shape of an object to be held; a holding method determination section (22) for determining,based on the object information calculated, a method for holding the object; a holding execution section (23) for executing lifting of the object by the holding method determined; a sensor information processing section (24) for processing pieces of sensor information and controlling holding force, the pieces of sensor information being those obtained at the time of the execution, the processingof the pieces of sensor information being made for each combination of one or more of the pieces of information; and a holding method correction section (25) for correcting, based on the result of theprocessing, the pieces of sensor information, the method of holding the object.