Robot control methods and apparatus

A robot control apparatus for controlling the operation of a robot having a plurality of states corresponding to a predetermined operation,

• at least one operational arc being determined between each of any two directly passable states among said plurality of states showing the operation of the robot when passing between said two states, comprising
• a weighting means for giving to each of the determined arcs of operation a weighting coefficient corresponding to the probability of that operational arc being selected,
• an operational arc selecting means for selecting based on probability one of said operational arcs between said two states when making the operation of the robot pass between said two states based on said weighting coefficients of the operational arcs between said two states,
• an operating data producing means for producing along with time operating data corresponding to the operation of said robot shown by said selected operational arc, and
• controlling means for controlling the operation of the robot based on said produced operating data, wherein
• said operating data producing means suppresses the production of said operating data corresponding to said self operational arc before said transition in state and after said transition in state when the states of the robot before the transition of state and after the transition of state coincide.