The symbol acquisition and manipulation abilities are one of the inherent characteristics of human beings comparing with other creatures. In this paper, based on recurrent self-organizing map and dynamics-based information processing system, we propose a dynamics based self-organizing map. This method enables designing a topological map using time sequence data, which causes recognition and generation of the robot motion. Using this method, we design the self-organizing symbol acquisition system and robot motion generation system for a humanoid robot. By implementing DBSOM (...) to the robot in the real world, we realize the symbol acquisition from the experimental data and investigate the spatial property of the obtained DBSOM. (shrink)