The purpose of the present invention is to provide a robot behavior generation method that more accurately reproduces human behavior. To accomplish this purpose, there is provided a robot behavior generation method for the purpose of reproducing human behavior with a robot, wherein the robot behavior generation method has: a step S1 for generating a human body model by modeling the configuration of the human body; a step S2 for generating a robot model by modeling a configuration of a robot; a step S3 for creating associations between the human body model generated in step S1 and the robot model generated in step S2; a step S4 for acquiring first motion data indicating movement of a human body model corresponding to behavior of the human body; a step S5 for selectively choosing movement feature indices having first unknown motion data that indicates movement of the human body model generated in step S1, and setting an evaluation standard for a reproduction error with respect to the normative motion data acquired in step S4; a step S6 for selecting a constraint condition necessary for the purpose of movement by a robot included in second unknown motion data that indicates the movement of the robot model generated in step S2; a step S7 for calculating first unknown motion data and second unknown motion data the reproduction errors of which based on the evaluation standard of step S5 are minimum under the association obtained in step S3 and the constraint condition selected in step S6; and a step S8 for using the second unknown motion data calculated in step S7 to control the robot.
ROBOT BEHAVIOR GENERATION METHOD