A situated behavior layer is formed from a tree structure of schemas, and a parent schema calls a Monitor function of a child schema using an external stimulus and an internal state as arguments whereas the child schema returns an AL value as a return value. The child schema calls a Monitor function of its child schema in order to calculate an AL value of the child schema itself. AL values from sub trees are returned to a root schema, and evaluation of behaviors and execution of a behavior are performed concurrently. Further, emotions are divided into a plurality of layers depending upon the significance of presence thereof, and it is determined which one of a plurality of such determined motions should be selectively performed depending upon an external environment and an internal state at the time. While a behavior is selected in each of the layers, such behavior is developed preferentially beginning with that of a comparatively low layer so that an instinctive behavior such as reflex and a higher order behavior such as selection of a motion by use of memory can be developed without a contradiction on a single individual. <IMAGE>
ROBOT BEHAVIOR CONTROL SYSTEM, BEHAVIOR CONTROL METHOD, AND ROBOT DEVICE