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The timing to generate communicative actions and utterance in face-to-face greetings is analyzed by synthesis for applying to an embodied interaction system. First, the analysis of face-to-face greetings clarifies that utterance of human is delayed for 0.3 sec to communicative actions. Then, the analysis by synthesis by using an embodied robot confirms that the variation of the lags of utterance to communicative actions brings different communicative effects, i.e. about 0.3 sec lag is desirable for simple greetings, and the longer lag is for polite greetings. This result demonstrates the importance of the timing in embodied interaction and communication support.