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The human motions are generated through the interaction between the body and its environments. The information processing system defines the current motion using the signal feedback of the body state and environments. The motion pattern dose not exits a priori but emerges as the result of the entrainment phenomenon for the dynamics of the information processing, the human body and its environments. In this paper, based on the dynamics-based information processing system, we propose the motion emergency system design method for a humanoid robot designing a dynamical system that has an attractor considering the robot body dynamics. From the control engineering point of view, the proposed method designs a controller that stabilizes the robot to an equilibrium trajectory.