PURPOSE:To permit the automatic ascent and descent for stairs by detecting the inclination angle by the front and rear arms of a robot when the robot starts ascent and descent for stairs or completes the movement, and by preventing the fall of the robot from the detection value for the angle. CONSTITUTION:A fundamental posture forming means 1 for ascending stairs holds the front and rear arms 12a and 12b of a robot 12 by the inclination of 45 deg. and 30 deg. with respect to a floor surface. When the front arm 12a travels a flat road and contacts with a stairs 11, a posture forming means 2 for ascent operation sets the front arm nearly horizontal by the detection signal of the sensor on the arm, and the ascending operation for stairs is started. When the rear arm 12b detects the stairs, and the value is below a prescribed value, a posture control means 3 for asecnding stairs advances the robot 12. When the ascent for stairs is completed, and the front arm 12a is set at -30 deg. or less again, a final- posture forming means 4 turns the inclination angle of the robot 12 in the direction of reduction. When the robot 12 is set horizontal, a fundamental-posture forming means 5 for the completion of ascent for stairs stops traveling, and the initial fundamental posture is restored.
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