A robot operates accurately while canceling an affect of pitch-axis, rollaxis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. By calculating a pitch-axis moment and/or a roll-axis moment generated on the robot body at a preset ZMP by set motions of upper limbs, a trunk, and lower limbs, motions of the lower limbs and the trunk for canceling the pitch-axis moment and/or the roll-axis moment: are obtained. Then, by calculating a yaw-axis moment generated on the robot body lying at the preset ZMP by the calculated motions of the lower limbs and the trunk, a motion of the upper limbs for canceling the yaw-axis moment is obtained.