Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped for rapid navigation on flat floors and good performance in overcoming stairs or obstacles. The mode transition is determined and implemented by adaptive driving mode control of the mobile robot. The terrain-adaptive and user-friendly remote control was verified through its navigation performance experiments in real and test-bed environments.