To make it possible to teach a grasping action for a work object whose shape and 3D position are unknown to a robot by an intuitive and simple input operation by an operator. a captured image of the working space is displayed on a display device; (b) an operation in which a recognition area including a part of a work object to be grasped by a hand is specified in two dimensions on an image of the work object displayed on the display device is received; (c) an operation in which a primitive shape model to be applied to the part to be grasped is specified from among a plurality of primitive shape models; (d) a parameter group to specify the shape, position, and posture of the primitive shape model is determined by fitting the specified primitive shape model onto 3D position data of a space corresponding to the recognition area; (e) a grasping pattern applicable to grasping of the work object is selected by searching a database in which grasping patterns applicable by a hand to primitive shape models are stored.