To provide a technology for more appropriately achieving a human physical action by a robot.SOLUTION: A position and force control device includes: position detection means for detecting information about a position based on action of an actuator; function based force and speed allocation conversion means for performing conversion for allocating control energy to speed or position energy and force energy in accordance with a function to be achieved on the basis of information of a speed (position) and force corresponding to information about a position, and information to be control reference; position control amount calculation means for calculating a control amount of a speed or position on the basis of the speed or position energy; force control amount calculation means for calculating a control amount of force on the basis of the force energy; and integration means for integrating the control amount of the speed or position, inversely converting the control amount of the speed or position and the control amount of the force to return its output to the actuator, and determining an input to the actuator.SELECTED DRAWING: Figure 1
POSITION AND FORCE CONTROL DEVICE, POSITION AND FORCE CONTROL METHOD AND PROGRAM