Abstract
Presently, the wheel mechanism is mainly used as a mechanism which moves in the ground. However, the wheel mechanism is difficult to run at the narrow and complicated pass which exists in a hospital and a factory. Therefore, an omni-directional mobile mechanism which can move freely at such a place is required. The omni wheel is mostly used at this mechanism. However, the omni wheel has the fault that a steady run is difficult because it is slippery. On the other hand, the snail has the locomotion mechanism using the traveling wave. This locomotion mechanism is not easy to slip. In addition, this locomotion mechanism can move omnidirectionaly by changing the propagative direction of the traveling wave. Therefore, we developed the omni-directional mobile robot using the snail locomotion mechanism. And, we studied the locomotion strategies of the robot.
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