To evaluate an appropriate gripping posture for a target based on a load on a robot, a gripping posture evaluation apparatus (10) includes a gripping posture deriver (101) that derives a gripping posture in which a robot hand (H) in a robot (RB) grips a workpiece, a load index calculator (103) that calculates a load index value indicating a load to the robot (RB) gripping and transporting the workpiece with the hand (H) in the gripping posture derived by the gripping posture deriver (101), and a gripping posture evaluator (104) that evaluates the gripping posture by determining whether the gripping posture is appropriate based on the load index value calculated by the load index calculator (103). In response to the gripping posture evaluator (104) determining that the gripping posture is inappropriate, derivation of a new gripping posture by the gripping posture deriver (101), calculation of a load index value by the load index calculator (103), and evaluation by the gripping posture evaluator (104) are repeated.
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