On the basis of the moving plan of the object 120 and determines a first temporary target motion track in the future of an object (120), the requirements for the position and posture relationship between the object, the robot is satisfied at least two of future predetermined sujjae, and , the requirement that in that the constraint condition related to the leg body motion of the robot (1) meet each maintenance to repair second predetermined number, and the legs body movement of the robot 1 that ...