1. A legged moving robot including drive units with plural degrees of freedom of joints, the robot comprising: a motion pattern input unit for inputting a motion pattern from the exterior; a plurality of determining units for previously storing local feasible motion patterns regarding respective degrees of freedom of joints, and each determining agreement between a motion pattern inputted from said motion pattern input unit and the stored motion pattern; a gate unit for gating a determination result in each of said determining units; a merging unit for merging outputs from said gate unit and producing an overall motion pattern for a machine body of said legged moving robot; and a taught motion pattern realizing unit for storing a totalized result in said merging unit as taught motion pattern data, and/or reproducing the result on the machine body of said legged moving robot.