A robot, capable of appropriately adjusting position and/or posture on a current spot to execute a designated task involving interaction with a target object. The Robot is configured to enable adjustment of the position and/or posture by controlling movement of at least a hip joint mechanism, and a knee joint mechanism in the spot while the robot is allowing each foot to keep its floor-arriving state. Accordingly, when the position and/or posture is inappropriate to execute the designated task while the robot is at a standstill in a second designated area for executing the designated task, the robot can execute the designated task after the position and/or posture has been corrected in the second designated area.