As one field of sports, there is a game of bike trial. Riders operate mountain bicycles with various advanced techniques. The purpose of this research is to create a bike trial robot that can operate a mountain bicycle and perform various maneuvers such as jumping, bike wheelie and etc. The bike-trial robot is able to clear level differences and ditches which other wheeled type robots cannot clear such obstacles and also cannot intrude into narrow spaces. Therefore, it is possible to use the bike-trial robot in the means of mobility at disaster sites. In this paper, in order to control the robot, it is studied how to generate the joint trajectories for maneuvers, for example, Daniel or Wheelie. The prototype physical model of bike-trial robot for experiments is designed and constructed on a scale of two to five.