Robots are used for so many different reasons such as industrial fabrication, medical assistance or military tasks. But what is it, that makes machines doing the right moves in order to accomplish a given task? And what is it, that makes them doing this autonomously and accurately timed? Essential for explaining this, is cybernetics. To understand the cybernetic principles, it is fundamental to be aware of the fact that it does not arise in robotics. It appears in many other areas such as economy, project management and even politics. From animals we can learn a lot about motion sequences for the development of walking robots, because of evolution animals are acting with a perfect coordination of their movements. On the long term the development of robots should lead to autonomous acting, because finally the independence from leading controlling processes makes the robot a real useful additive. The aim of this paper is to depict the requirements to robotic systems in order to enable cybernetic operations, which is finally indispensable for autonomous acting.