An apparatus that controls the action of a pet robot. The apparatus includes a portable terminal (3) having an electrode that may contact a user (2). When the user touches the electrode provided on the head of the robot (1), the user ID stored in the memory section of the portable terminal (3) is transmitted to the robot (1) through the user (2). The robot (1) retrieves the information associated with the user ID it has received, thereby identifying the user (2). The robot (1) may determine that the user (2) touched it in the past. In this case, the robot (1) performs an action in accordance with the information about what the user (2) did to it in the past.