The present invention is to realize a robot apparatus and a control method thereof that can remarkably improve the entertainment ability. In a robot apparatus with plural leg parts having multi-step of joint mechanisms respectively connected to a body part and a control method thereof, it is designed so that after the external and/or the internal state was detected, whether or not the above detected external and/or internal state is in the state lifted in the user's arms or the lifted state is determined, and a driving system is controlled so as to stop the operation of each joint mechanism based on the above determination result.