A robot apparatus includes a command controller (101) for outputting an
output command associated with an input command, management units (102),
(103) and (104) for outputting data associated with the commands output by
the command controller (101), a command transmitter (105) for controlling
the transmission of the data output by the management units (102), (103)
and (104) and controllers (106), (107) and (108) for controlling action
units (109), (110) and (111), such as a motor, based on data output by the
command transmitter (105). The command transmitter (105) sends the action
control data for synchronization, output by the management units (102),
(103) and (104), in synchroneity to the action units (109), (110) and
(111).
