Method of adjusting action parameter

A method of adjusting an action parameter for a robot, the method comprising:

• causing the robot to execute a task a plurality of times while changing a positional posture of an object when starting the task to obtain evaluation values of the respective tasks;
• comparing each of the evaluation values of the respective tasks with a reference evaluation value;
• determining an evaluation positional posture from the positional postures of the object, the evaluation positional posture having a first evaluation value of the evaluation values, the first evaluation value being equal to or lower than the reference evaluation value;
• causing the robot to operate with a tentative action parameter using the evaluation positional posture as a start-up positional posture in the task so as to:
• measure a vibration of the robot;
• and
• update the tentative action parameter based on the measured vibration of the robot;
• repeatedly performing the causing of the robot to operate with the tentative action parameter until the measured vibration of the robot is converged to determine a latest one of the tentative action parameters as a new action parameter;
• and
• setting the new action parameter to the robot so as to cause the robot to perform the task using the object.