Patent ID: 6980889

Claim:
An information processing apparatus comprising: modeling means for modeling a robot motion pattern executable on a robot control device in a reproducible dynamic form; storing means for storing a plurality of robot motion patterns that are modeled by the modeling means; motion pattern acquiring means for acquiring a motion pattern of an object, wherein the object is intended to be performed by the robot control device; comparing means for comparing the plurality of modeled robot motion patterns stored in the storing means with the motion pattern acquired by the motion pattern acquiring means to provide a best match from said storing means; selecting means for selecting, based on the best match of the comparing means, a stored robot motion pattern to be generated; and error calculating means for determining a linear transformation from the modeled robot motion patterns stored in the storing means to the motion pattern acquired by the motion pattern acquiring means based on errors between the modeled robot motion patterns and the acquired motion pattern, wherein the comparing means performs the comparison based on the linear transformation determined by the error calculating means.