Traveling robot, motion planning method for traveling robot, and storage medium storing program for traveling robot

A traveling robot includes a mobile unit, an arm and an electronic control unit. The electronic control unit is configured to set a target position to which the traveling robot intends to travel. The electronic control unit is configured to calculate a center of gravity of the traveling robot. The electronic control unit is configured to plan a motion of a movable part of the mobile unit and/or arm to the set target position. The electronic control unit is configured to, in the case where the traveling robot is close to the set target position, plan the motion of the movable part of the mobile unit and/or arm such that a limitation on a range of the center of gravity is relaxed as compared to a limitation on the range of the center of gravity in the case where the traveling robot is far from the set target position.