Abstract
In recent years, in the field of bio mechatronics, a robot that imitates a creature's motion has been developed. In this study, we develop the locomotion robot based on snail locomotion. The snail moves by propagation of traveling waves from tail to head. If it is possible to propagate a traveling wave to some directions, an omni-directional mobile robot is realized. Moreover, since locomotion mechanism of the snail has larger area to move than that of other creatures, it is able to move on irregular grounds such as not only swamp but also wall (ceiling). We developed the omni-directional mobile robot using the traveling wave. It is confirmed that the robot can be moved to the some directions by using traveling wave.
