This study presents a hybrid-type mobile robot, KAMOBOT(KAIST Mobile Robot). The mobile robot has a six-legged, cylindrical configuration, each leg of which is equiped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around it's geometric center. Such maneuverability can be achieved by using only three electric motors. In this study, the structure of HLV, kinematic analysis, several gate mode analysis and algorithms for path planning and navigation are presented.