Abstract
The traveling wave type omni-directional mobile robot (TORo-IV) imitates the snail locomotion mechanism. An advantage of this movement mechanism is to be able to do a stable run because the landing area is large. The other omni-directional movement mechanism has the fault that is easy to slip, but this robot can do the stable run by imitating locomotion mechanism of a snail. In this paper, we propose a path planning method that allows the robots to be transformed and is based on potential method. Furthermore, we confirmed the usefulness of this proposed method through experiments.
