A robot apparatus includes a grasping section that grasps an object, a recognition section that recognizes a graspable part and a handing-over area part of the object, and a grasp planning section that plans a path of the grasping section for handing over the object to a recipient by the handing-over area part. The robot apparatus further includes a grasp control section that controls grasp operation of the object by the grasping section in accordance with the planned path.