In Tsukuba Challenge 2011, the elevator and slope were adopted as a new challenge environment. This paper describes implemented behavior of a mobile robot getting on and off the elevator by the team OKUGAIGUMI at Intelligent Robot Laboratory, Univ. of Tsukuba. SOKUIKI senser are utilized for the behavior. Judgment of opening and closing door, path planning, the experiment and result in the Challenge are discribes in the paper.
