1. A robot apparatus having an instinct model for outputting the instinct information, said robot apparatus comprising: detection means for detecting extraneous states, said detection means including extraneous data inputting means, wherein extraneous data is inputted by said extraneous data inputting means; storage means for storing data; write control means for writing pre-set data in said storage means, wherein said write control means writes said pre-set data in said storage means based on said instinct information, and wherein said write control means writing the extraneous input data inputted as said pre-set data to said extraneous data input means in said storage means; and a plurality of legs for walking.