To provide a system capable of operating a robot or an artificial human helping device according to the pasture dynamics of a human body.

A fuzzy logic controller controls the motion of a robot or a human helping device according to the posture dynamics of a human body. A fuzzy control system controls the attitude of an object including the robot or the human helping device having a part to be moved by at least a pair of actuators installed at one edge. This system is provided with a system dynamics unit for detecting the adjustment error of the part. This adjustment error is defined as the position error of the part against the desired position. Also, this system is provided with a fuzzy controller for providing an output for executing a fuzzy inference process in response to the adjustment error and an adjustment error rate, and for driving the pair of actuators. The pair of actuators provide antagonist/agonist to the part for restoring the object to the adjusted attitude.