To provide an autonomous walking robot device capable of naturally taking in battery charging as the amusement operation in which a tired robot takes a break.

When a battery 3 of the robot is charged, an actuator drives forelegs 6A, 6B and hind legs 7A, 7B by a walking guide signal transmitted from a battery charger on the basis of a charge request signal from an antenna part 11, and the robot approaches the battery charger. The forelegs 6A, 6B, the hind legs 7A, 7B, a mouth part 15, and a tail part 8 are driven on the basis of a peripheral environment map formed by detecting a landmark by an external world pickup sensor. The robot is arranged in the battery charger in the charging attitude, charging is performed, a charge stop request signal is transmitted from the antenna part 11 when charging is finished, the operation of the battery charger is stopped, and the robot is separated from the battery charger. Charging of the battery 3 is naturally performed as the amusement operation in which the tired robot takes a break in the position of the battery charger, and an operator can enjoy amusement also during charging.