茶運び人形  Tea Serving Puppet
A tea cup  is  placed  on the tray held  by the doll, 
activating a mechanism to move the doll straight forward. 
The doll stops when the tea cup is picked up. 
When the cup is placed back on the tray, 
the doll turns around and returns to its original position.

 
Many photos of Tea-Serving-Puppet are in Gallary/Room puppets 
The explanation of structure is givn at Technical Note/
Illustrated Mechanical Puppet Mechanism
 

Puppet  Walking  Upstairs
  
 
 
On details of this puppet,see Great Artists from Edo-era/Shobei Tamaya