2 and 3 may be combined together in the invention this is shown in table 4 below prior to execution of the task for a specific robot motion e g the rejection response one of the types of robot motion is chosen from the motion information table 9a thereafter the steps s 1 to s 5 as shown in fig4 are carried out successively in the step s 1 the motion controller 5 makes an inquiry about the battery information i e the current remaining power of the battery 8 to the remaining power detector 6 in response to this the detector 6 detects the current remaining power of the battery 8 to make an answer to the inquiry then the detector 6 sends the answer thus made to the controller 5 in the step s 2 the controller 5 sends the information about the current battery power sent from the detector 6 and the type of motion chosen prior to the step s 1 to the motion information extractor 7 in response to this the extractor extracts the piece of the motion information according to the type chosen for example if the motion type chosen is the u201c rejection response u201d and the u201c state 2 u201d of the battery 8 is extracted the extractor 7 extracts the set of the detailed information of the robot motion and the repetition frequency in the step s 3 the controller 5 judges whether or not the motion of the type chosen should be performed based on the repetition frequency extracted if the set of information to be referred is that listed in table 2 the frequency is kept at 100 therefore the motion is always executed on the other hand if the set.