It is expected to utilize service robots working in cooperation with humans． In recent years, the number of service robots developed is increasing in Japan． When classifying service robots developed in 2017， genres such as ”hobby” and ”watching and communication” are up to the top． Along with the growing expectation for such service robots， it is expected that the place of robot motion creation will increase． Actual creation of the current motion includes the method of placing key frames on the timeline and motor control by ROS， but these motion creation is a skillful and novice person and it is different in terms of the nature of motion and power it tends to be opened．