A sign language action generating device includes: a word string input unit; a trace creation unit that extracts a sign language action data for each word of a pair of words inputted as a word string and creates a trace between an end point position of a sign language action having the same meaning as a prior word of the pair of words and a start point position thereof having the same meaning as a posterior word; an interference determination unit that determines whether or not interference is generated between parts of a robot on each trace; an action connection unit that connects sign language actions; and an action adjustment unit that adjusts a position coordinate or a velocity of the pair of words within a prescribed threshold of a shift amount or an evaluation function within which meanings of the prior word and the posterior word can be maintained.