The motion of the movable sections of the robot is taken for a periodic
motion so that the attitude of the robot can be stably controlled in a
broad sense of the word by regulating the transfer of the movable
sections. More specifically, one or more than one phase generators are
used for the robot system and one of the plurality of controllers is
selected depending on the generated phase. Then, the controller controls
the drive of the movable sections according to continuous phase
information. Additionally, the actual phase is estimated from the
physical system and the frequency and the phase of the phase generator
are regulated by using the estimated value, while the physical phase and
the phase generator of the robot system are subjected to mutual
entrainment so that consequently, it is possible to control the motion of
the robot by effectively using the dynamics of the robot.
