Patent ID: 7142946

Claim:
A robot apparatus having any one of a dynamic behavioral model for outputting a pre-set behavior command and a dynamic feeling model for outputting a feeling information, said robot apparatus comprising: detection means for detecting extraneous states; storage means for storing data; write control means for writing pre-set data in said storage means based on any one of said pre-set behavior command and said feeling information; re-arraying means for re-arraying said pre-set data written in said storage means depending on any one of said pre-set behavior command and feeling information associated with said pre-set data; and a plurality of legs for walking, wherein the dynamic behavioral model and the dynamic feeling model can be changed by detected extraneous states and a behavioral output; erasure control means for erasing pre-set data stored in said storage means; said write control means writing said pre-set data added to with the pre-set information derived from said pre-set behavior command or the feeling information in said storage means; said erasure control means erasing said pre-set information from said storage means when a pre-set condition associated with the pre-set behavior command holds.