A communication robot control system displays a selection input screen for supporting input of actions of a communication robot. The selection input screen displays in a user-selectable manner a list of a plurality of behaviors including not only spontaneous actions but also reactive motions (reflex behaviors) in response to behavior of a person as a communication partner, and a list of emotional expressions to be added to the behaviors. According to a user's operation, the behavior and the emotional expression to be performed by the communication robot are selected and decided. Then, reproductive motion information for interactive actions including reactive motions and emotional interactive actions, is generated based on input history of the behavior and the emotional expression.