1. An articulated robot which comprises a plurality of joints, the articulated robot including: a movement controller for controlling the movement of each of the joints; a motion language accumulator for accumulating a motion language formed by a motion pattern of the joints, the motion patterns being executed to express the intentions and details of communication; and a movement output controller for giving the motion language to be used to the movement controller as a result of taking the motion language to be used from the motion language accumulator.