An information communication system for use in a robot communicates a full-color light flux between a transmitting device and a receiving device separated from each other. The transmitting device receives a sensor signal to generate an optical information signal including a color signal based on a sensor identifying information and a brightness signal based on an output level of the sensor signal, and irradiates a light flux (an optical signal) enabling a user to recognize it through the optical information signal from a color LED. The receiving device is arranged away from the transmitting device, in which an analysis unit generates an identifying signal and an output level of a sensor on the basis of color information and brightness information extracted from an image processor from image data including the optical information signal imaged by an imaging unit.