To easily improve the performance of an interaction to a ball.

This robot device 1 is provided with a ball recognition module 101 for detecting the coordinates of the ball 200 imaged by a CCD camera 20, an operation executable information generating module 102 for allocating plural operation executable areas associated with various operation executable information to the status of environment imaged by the CCD camera 20 and specifying the operation executable area containing the coordinates of the ball 101 detected by the ball recognizing module 101, an output determining module 103 for controlling the operation according to the operation executable information corresponding to the operation executable area specified by the operation executable information generating module 102, and an operation executing module 105.