Disclosed is a conventional gripping posture generation method, number of iterations becomes large, it is impossible to generate the interactive the gripping position. In order to have reduced-collectively the posture of the hand, which may cause the gripping position that can not be reproduced. A gripping position generator of the present invention, the hand, a storage unit 11 for storing the database 20 on the position of a finger, an input unit 12 for inputting the shape of the object, based on the shape of the input object, I includes a gripping position generator 13 for generating the holding posture in a state of holding the object, and an output unit 14 for outputting a gripping attitude generated in the gripping position generator 13. Are categorized in the database 20, and indexed gripping position by actual measurement, by the angle of each finger is associated with the gripping position, to produce a gripping position. [Selection Figure] Figure 1
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