Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control means for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning means for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting means for controlling communications by switching connections among the motion control means, the recognition and planning means, and the input/output interface. While controlling the communications by switching the connections among the motion control means, the recognition and planning means, and the input/output interface by the route selecting means, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.