Robot behavior generation method

A robot behavior generation method of reproducing behavior of a human body with a robot, comprising:

• a first step of generating a human body model by modeling a structure of the human body;
• a second step of generating a robot model by modeling a structure of the robot;
• a third step of associating the human body model generated in the first step and the robot model generated in the second step with each other;
• a fourth step of acquiring normative motion data indicating movement of the human body model corresponding to behavior of the human body;
• a fifth step of setting an evaluation standard for a reproduction error with respect to the normative motion data acquired in the fourth step, by sorting out motion feature indices included in first unknown motion data indicating movement of the human body model generated in the first step;
• a sixth step of selecting a constraint condition necessary for the robot to move, the constraint condition being included in second unknown motion data indicating movement of the robot model generated in the second step;
• a seventh step of calculating the first unknown motion data and the second unknown motion data the reproduction errors of which are minimum based on the evaluation standard set in the fifth step under the association obtained in the third step and the constraint condition selected in the sixth step;
• and
• an eighth step of controlling the robot by using the second unknown motion data calculated in the seventh step.