Abstract
In the movement system which used a normal wheel, the movement of the cross direction and the turning at the place are difficult. Therefore we need much space for a turn. The mechanism that can move to an arbitrary course in a hospital or a factory is needed. On the other hand, recently, in the field of the biomechatronics, robots that imitates a creature's motion has been developed. We paid our attention to the movement of the snail. 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. We have developed a transformation type omni-directional mobile robot using a traveling and have confirmed that the robot can move in many directions using a traveling wave.
