A legged mobile robot itself is responsive to the result of error detection during robot operations to perform error avoiding processing autonomously. In detecting an error, requested commands are all blocked by the internal processing within the robot so that an input to an actuating system does not affect the robot. The type of the error that has occurred is also notified to the actuating system so that feedback to an inputting system 32 may be applied in a manner specific to the error type. When the error is eliminated, that effect is notified to the actuating system to enable re-initiation of the usual command input from the remote operating system.