To surely generate action for a desired operation at one time, in a short time, and to prepare a trajectory plan for a simple environment in a short time while ensuring the possibility of planning the trajectory.

The action generating system is provided for a robot equipped with a plurality of arms. A graph structure data storage part 151 stores, for each arm, graph structures having nodes showing articulated shaft information for the arms and edges connecting the nodes to each other. A graph structure search processing part 154 uses the graph structures for the arms for searching a route from a start node to a goal node in accordance with a priority set for each arm. A node effectiveness determining part 155 determines whether the nodes interfere with node environment information contained in the searched route or not, and excludes the nodes from the graph structures when interference is determined.