This paper proposes a basic near-environmental recognition framework based on groping for risk-tolerance disaster response robot (DRR). In extreme disaster sites, including high radiation and heavy smog, external sensors such as cameras and laser range finders do not work properly, and such sensors may be broken in accidents in the tasks. It is hoped that DRRs can continue to perform tasks, even if the external sensors cannot work, and at least, they can safely evacuate from the site. In this preliminary study, for recognizing near environments without using external sensors, we proposed a groping method. In this method, a robot actively touches the environment using arms or other movable parts, records the contact information, and then reconstructs a three-dimensional local map around the robot by the detected information, e.g., robot arm's position and reactive force. The proposed groping system can recognize the existence of three situations, such as an object, step, and pit, and those geometry, by exploring the designated space using arms. The groping strategy was designed considering both robot specification, time limitation, and required resolution. Experiments were performed using four-arm and four-crawler robot OCTOPUS. The results indicate that the proposed framework could recognize step, pit, and object, and calculate the position and size of the object, and confirm that the robot successfully removed the object on the basis of groped data.