Position and force control device, the position and force control method, and program

To provide a technique for better implement physical act of human by the robot. Position detecting means for detecting the position information about based on the action of the actuator, and speed (position) and the force information corresponding to the information on the position, based on the information as a reference for the control, depending on the functions to be realized a function-specific power and speed assignments converting means for converting to assign control energy to the energy of the energy and power of the speed or position, based on the energy of the speed or position, the position control amount calculating a control amount of the speed or position a calculation unit, based on the energy of the force, to integrate the force control amount calculating means for calculating a control amount of force, and a control amount of the control amount and the force of the speed or position, velocity, or to return the output to the actuator and a control amount of the control amount and the force of position by the inverse transform, the position and force control device comprising an integrated means for determining an input to the actuator.