Abstract
Aging society in recent years, we propose using home-robots in house. But if these home-robots used in two story house, robots need to have a method of going up stairs. Last year, we realized that robot's whole body moved on bump. The method is rotated robot's body ninety degrees from bumps edge using only right leg. Simply motion can move quickly and easily. But this motion is difficult to control. So, we suppose to new motion that can exact control and move in stabilization. In this research, we used versatile robot "SRL-Bowkun". This robot is small humanoid robot and has twenty five degree of freedoms.
