Abstract In this study a moving platform for a mobile robot that can be traveling with a full automatic standing arm was developed. Conventional mobile robots generally may equip 4 wheels or 3 wheels with a caster wheelor independent driven wheels and have good statistic stability. When a mobile robot travels on a sharply perpendicular and narrow crossroad, it may need a special steer ing scheme such as going forward and back-ward repeatedly or it is sometimes physically impossible for the robot to go through the crossroad because of the size limit. The upright running mobile robot changes its posture to the upright posture which has asmall planar area and is able to go through the crossroad. The upright control which was manually per-formed step by step before such as sequences of uprighting (ret urning), checking, and balancing, is now automated.Key Words : Automatic standing arm, Upright running, Wheeled inverted pe ndulum.Received: Jun. 11, 2015Revised : Jul. 9, 2015Accepted: Jul. 22, 2015