A camera exposure controller having at least two cameras mounted on head of a legged mobile robot for taking an image, through stereo-imaging, utilizing incident light from external world in which an object of imaging is present, comprising: exposure parameter setting means (26, 26a, 26b, 26c, S10 to S22, and S100 to S122) for generating a brightness histogram of the image taken by the imaging devices and setting exposure parameters including a shutter speed based on the generated brightness histogram; high-brightness imaging region removal necessity determining means (26, 26d, S24, S26, S200 to S210) for determining whether the set exposure parameters are within a predetermined range, and when they are found to be out of the predetermined range, for determining whether a high-brightness imaging region is present in the image due to high-brightness incident light, and when the high-brightness imaging region is present in the image, for determining whether it is necessary to remove the high-brightness imaging region; and high-brightness imaging region extraction and removal means (26, 26e, 26g, S28, S30, S32, S300 to S318, S400 to S404) for extracting the high-brightness imaging region and for removing it from the image, when it is determined that removal of the high-brightness imaging region is necessary, wherein the exposure parameter setting means calculates the brightness of the object in the image and a maximum brightness of the whole image, generates the brightness histogram with respect to the calculated brightness, and sets the exposure parameters including the shutter speed based on the generated brightness histogram, specifically based on the size of the generated brightness histogram (S10 to S22, S100 to S122), characterized in that the high-brightness imaging region extraction and removal means extracts the high-brightness imaging region by calculating an average brightness of every block of the image of predetermined size, extracting each block whose calculated average brightness is greater than a predetermined brightness, and by calculating a center position of the extracted blocks (S300 to S312), or calculates an average brightness of every block of the image of predetermined size, extracts one of the blocks whose calculated average brightness is greatest, and extracts the high-brightness imaging region based on the extracted block (S300 to S306, S314 to S318), wherein the legged mobile robot comprises a behaviour generator generating a predetermined behavior of the robot by driving legs of the robot to change orientation of body and the head of the robot to avoid high-brightness incident light for removing the high-brightness imaging region from the image, based on the size of the high-brightness imaging region. exposure parameter setting means (26, 26a, 26b, 26c, S10 to S22, and S100 to S122) for generating a brightness histogram of the image taken by the imaging devices and setting exposure parameters including a shutter speed based on the generated brightness histogram; high-brightness imaging region removal necessity determining means (26, 26d, S24, S26, S200 to S210) for determining whether the set exposure parameters are within a predetermined range, and when they are found to be out of the predetermined range, for determining whether a high-brightness imaging region is present in the image due to high-brightness incident light, and when the high-brightness imaging region is present in the image, for determining whether it is necessary to remove the high-brightness imaging region; and high-brightness imaging region extraction and removal means (26, 26e, 26g, S28, S30, S32, S300 to S318, S400 to S404) for extracting the high-brightness imaging region and for removing it from the image, when it is determined that removal of the high-brightness imaging region is necessary, wherein the exposure parameter setting means calculates the brightness of the object in the image and a maximum brightness of the whole image, generates the brightness histogram with respect to the calculated brightness, and sets the exposure parameters including the shutter speed based on the generated brightness histogram, specifically based on the size of the generated brightness histogram (S10 to S22, S100 to S122), characterized in that the high-brightness imaging region extraction and removal means extracts the high-brightness imaging region by calculating an average brightness of every block of the image of predetermined size, extracting each block whose calculated average brightness is greater than a predetermined brightness, and by calculating a center position of the extracted blocks (S300 to S312), or calculates an average brightness of every block of the image of predetermined size, extracts one of the blocks whose calculated average brightness is greatest, and extracts the high-brightness imaging region based on the extracted block (S300 to S306, S314 to S318), wherein the legged mobile robot comprises a behaviour generator generating a predetermined behavior of the robot by driving legs of the robot to change orientation of body and the head of the robot to avoid high-brightness incident light for removing the high-brightness imaging region from the image, based on the size of the high-brightness imaging region.