This paper proposes a robot which can pour liquid from bottle. The robot consists of a 7-axis robot arm and 4-axis robot hand, a high-speed vision, and the robot is controlled based on visual information at the rate of 500Hz. The robot system has the abilities to pour liquid smoothly and exactly, is independent of target. A system designer can easily adjust for target by setting several specified parameters. In this paper, first, vision processing to get liquid surface information. Secondly, pour motion design for pour exactly is proposed. This motion plan consists of 3 step which are extracted from human motion. Finally, the data of experiments are shown and the effectiveness of the propose method is verified.