Patent ID: 7146252

Claim:
A robot apparatus having a status transition model for outputting an instinct 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; said write control means writing said pre-set data in said storage means based on said instinct information, wherein said write control means writes said pre-set data in said storage means based on a pre-set transition state of said status transition model; erasure control means for erasing the pre-set data stored in said storage means, wherein said erasure control means erases said pre-set data from said storage means based on a pre-set transition state of said status transition model; and a plurality of legs for walking, wherein the instinct information is based on a dynamic instinct model that can be changed by the 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 instinct 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.