抄録
The robot is developed by various purposes. However, it enters the human society, and the robot to which the symbiosis relation is made up has not been achieved so much. The robot that develops in the present study has two features. One is "The mobile robot that the steps such as stairs can climb ", and another one is "An omni-directional mobile robot". By giving these features, it corresponds to obstacles, such as a narrow passage in a dwelling, and a minute level difference. Our robot has "soft cluster crawler" and it is driven by "crawler on crawler" mechanism. In this report, a basic stairs climbing experiment of the prototype machine is described.
