Apparatus and method for generating a dance motion of a robot

An apparatus for generating a dance motion of a robot, the apparatus comprising:

• a memory configured to store computer-executable instructions;
• a processor coupled with the memory, wherein the processor is configured to execute the computer-executable instructions to:
• analyze music to be used to generate the dance motion and lyrics corresponding to the music to generate motion sets, each of the motion sets being executable by a reference robot and being generated for each predetermined unit of a plurality of predetermined units;
• select one motion set based on a result of proceeding with reinforcement learning for the motion sets by a predetermined epoch;
• proceed with additional reinforcement learning for the selected one motion set to calculate first control values of each of a plurality of joints of the reference robot;
• and
• perform motion retargeting corresponding to a target robot based on the first control values to calculate second control values of each of a plurality of joints of the target robot.