An action transfer device comprising: a transfer source action information acquisition unit configured to acquire a plurality of pieces of action information about a transfer source robot, a robot action being an operation for moving a specific part of a robot to an arbitrary location defined by its coordinate value; a transfer destination action information acquisition unit configured to acquire a plurality of pieces of first action information about a transfer destination robot that has different physical characteristics from the transfer source robot, the number of joints of the transfer source robot and the number of joints of the transfer destination robot being known and equal to each other; and a correction unit configured to generate a plurality of pieces of second action information about the transfer destination robot by correcting the action information about the transfer source robot by a prescribed update formula using the first action information about the transfer destination robot, the correction being performed by the update formula for each piece of first action information about the transfer destination robot by extracting, from the plurality of pieces of action information about the transfer source robot, a piece of action information comprising a second joint value located near a first joint value included in the piece of first action information about the transfer destination robot, calculating an error between a first coordinate value included in the piece of first action information about the transfer destination robot and corresponding to the first joint value and a second coordinate value included in the extracted piece of action information about the transfer source robot and corresponding to the second joint value, and propagating the error to the coordinate value of another piece of action information about the transfer source robot, wherein the number of the pieces of the first action information about the transfer destination robot is smaller than the number of the pieces of the action information about the transfer source robot, and the number of the pieces of the generated second action information about the transfer destination robot is larger than the number of the pieces of the first action information about the transfer destination robot; an output unit configured to output the generated pieces of second action information to the outside. a transfer source action information acquisition unit configured to acquire a plurality of pieces of action information about a transfer source robot, a robot action being an operation for moving a specific part of a robot to an arbitrary location defined by its coordinate value; a transfer destination action information acquisition unit configured to acquire a plurality of pieces of first action information about a transfer destination robot that has different physical characteristics from the transfer source robot, the number of joints of the transfer source robot and the number of joints of the transfer destination robot being known and equal to each other; and a correction unit configured to generate a plurality of pieces of second action information about the transfer destination robot by correcting the action information about the transfer source robot by a prescribed update formula using the first action information about the transfer destination robot, the correction being performed by the update formula for each piece of first action information about the transfer destination robot by extracting, from the plurality of pieces of action information about the transfer source robot, a piece of action information comprising a second joint value located near a first joint value included in the piece of first action information about the transfer destination robot, calculating an error between a first coordinate value included in the piece of first action information about the transfer destination robot and corresponding to the first joint value and a second coordinate value included in the extracted piece of action information about the transfer source robot and corresponding to the second joint value, and propagating the error to the coordinate value of another piece of action information about the transfer source robot, wherein the number of the pieces of the first action information about the transfer destination robot is smaller than the number of the pieces of the action information about the transfer source robot, and the number of the pieces of the generated second action information about the transfer destination robot is larger than the number of the pieces of the first action information about the transfer destination robot; an output unit configured to output the generated pieces of second action information to the outside.