Abstarct: Explorer robot, is the one of more important once in exploration activities. They have been built in various type like legged robot and wheeled driven robots and have been shaped in various structure according to different missions. Different structures provide some disadvantages and problems. For example, some restrictions of action can be mentioned. Multimode robots have more ability in exploring than other simple mode robots. Using an assistant arm for exploring can be helpful for improving the ability of exploring robots. If the robot faces ambiguous and complex surfaces, it must be able to hold various objects and move on the uneven surface. In this research, it is considered by innovating new mobile robot and combining it by new continuum robot, more mechanical ability will be obtained. On the other hand, the stability is one of more important matters in new robot actions. So in this new case, a more level of stability is provided in comparison with the other robots. Proofing the ability of the new structure and advantages of the novel robot is provided by dynamic equation extracting by langrage method, dynamic capability equations, stability margins investigated in 3D space, proposing new index (volume of ability). Demonstrating some advantages have not been limited to theoretical proofs and simulations. There are some experimental tests and producing some new parts that are innovated for the first time. On the other hand, the experimental results can be used in correction of formulations and determination of some constant forces. New robot is named ROTOPOD which is inspired by ability of being in legged and wheeled modes. This idea is expanded by this phnomenon that no new element is added to robot. The advantages are provided not only by no new elements but also by exchanging geometrical form of robot.