Patent ID: 7146251

Claim:
A robot apparatus having a dynamic instinct 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, wherein said write control means writes said pre-set data in said storage means based on said instinct information; re-arraying means for re-arraying said pre-set data written in said storage means depending on said instinct information associated with said pre-set data; and a plurality of legs for walking, wherein the dynamic instinct model 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 the pre-set condition associated with the pre-set behavior command holds.