PURPOSE: To hold the standing attitude by the autonomic control system and carry out the walking control, suppressing the autonomic control system, by the motion intention of a user, by independently constituting each loop of the autonomic control system and the voluntary control system in the simulation of the structure of the leg part of a living body.

CONSTITUTION: A multileg type erecting and transfer device is equipped with a placing part 19 for placing a substance, detecting which is installed at the placing part 19 and means 20 detects the displacement state of a substance, standard member 28 for supporting the placing part 19, two leg parts F1 and F2 engaged in a movable state for the standard member 28, and a control means 29 which drive-controls each joint parts of two leg parts F1 and F2 on the basis of the displacement state of the detected substance. In each leg part F1, F2, the first-third driving means 30, 31, and 32 are combined with the multileg type self erection device.