This study proposes a compact robot capable of cleaning stair treads, risers, and nosings, and removing obstacles. Equipped with multiple manipulators, the robot uses a shared mechanism to climb stairs, grasp objects, and wipe surfaces with sponges. To address directional deviations caused by sponge friction during cleaning, proportional control based on yaw angle error adjusts wheel speeds. Experiments confirmed the effectiveness of the robot in stair climbing, cleaning each section, and obstacle removal. A visualization experiment recorded a cleaning coverage of 47.3% for risers and 51.8% for treads. Future work includes integrating these operations into a continuous sequence and addressing wet wiping.