MOVING DEVICE, AND CONTROL METHOD AND CONTROL PROGRAM FOR MOVING DEVICE

A traveling robot 10 includes: a plurality of wheels 16 supported by a frame 20, and a control unit 37. The control unit 37 detects lift-off of the wheel 16, and, in a case where lift-off of one wheel 16 is detected, controls operations of the wheels 16 excluding the lifted-off one wheel 16 among the plurality of wheels 16 and causes the lifted-off one wheel to make ground contact.