1. A robot apparatus having an instinct model for outputting the instinct information, said robot apparatus comprising: detection means for detecting extraneous states; storage means for storing data; write control means for writing pre-set data in said storage means, wherein said write control means writing said pre-set data in said storage means based on said instinct information; erasure control means for erasing pre-set data stored in said storage means; said erasure control means erasing said pre-set data from said storage means based on said instinct information; and a plurality of legs for walking.