Abstract
Recently, the humanoid robot can do various movements (walk, run, up and down the stairs, jump and dance). In addition, because the humanoid robot can work like a human, it is expected that the humanoid robot works as substitute for the people in the disaster area where human being cannot enter. However, the humanoid robot can move flatland and the stairs, but it cannot move over big step and debris by the current movement method. It is necessary to be able to go ahead when there is an obstacle. Therefore, we present the humanoid robot which is equipped each leg with duct fan. The influence of ground form disappears by hovering, and mobility improves.
