A self-propelled carriage having spherical-body-driven modules (10; 65) attached to a base of a carriage frame (11; 91), each of the spherical-body-driven modules (10; 65), comprising: a spherical body (14; 66) in direct contact with a floor surface from above; a first drive wheel (15; 67) and a second drive wheel (16; 68) contacting a vertically middle position of the spherical body (14; 66) respectively from an X-axis direction and a Y-axis direction within a level surface, and rotationally driven respectively by a first rotary drive source (28; 71) and a second rotary drive source (29; 72); a first uncontrolled-ball bearing mechanism (17; 69) and a second uncontrolled-ball bearing mechanism (18; 70) respectively on a side opposite to the first drive wheel (15; 67) and on a side opposite to the second drive wheel (16; 68) and respectively receiving reaction force from the first drive wheel (15; 67) and reaction force from the second drive wheel (16; 68); a third uncontrolled-ball bearing mechanism (19; 80) at a position above the spherical body (14; 66) and holding the spherical body (14; 66) by receiving a load applied on the spherical body (14; 66); and a base (20; 85) supporting the first and the second drive wheels (15, 16; 67, 68) and the first to the third uncontrolled-ball bearing mechanisms (17, 18, 19; 69, 70, 80), characterized in that the base (20; 85) is at a position above the spherical body (14; 66), each of the spherical-body-driven modules (10; 65) is provided to the carriage frame (11; 91) through a plurality of suspension mechanisms (12; 90) for each of which an elastic material is used, and uncontrolled wheels (43, 44; 102) in direct contact with the floor surface are provided on a circumference of the carriage frame (11; 91), and the third uncontrolled-ball bearing mechanism (19; 80) has a first uncontrolled-ball supporting body positioned on a top of the spherical body (14; 66) and second uncontrolled-ball supporting bodies arranged in plurality and surrounding the first uncontrolled-ball supporting body, and the first uncontrolled-ball bearing mechanism (17; 69) and the second uncontrolled-ball bearing mechanism (18; 70) respectively have a third uncontrolled-ball supporting body and a fourth uncontrolled-ball supporting body, the third uncontrolled-ball supporting body arranged above the fourth uncontrolled-ball supporting body with the equator of the spherical body (14; 66) in between and respectively receiving pressing force of the first drive wheel (15; 67) and pressing force of the second drive wheel (16; 68). a spherical body (14; 66) in direct contact with a floor surface from above; a first drive wheel (15; 67) and a second drive wheel (16; 68) contacting a vertically middle position of the spherical body (14; 66) respectively from an X-axis direction and a Y-axis direction within a level surface, and rotationally driven respectively by a first rotary drive source (28; 71) and a second rotary drive source (29; 72); a first uncontrolled-ball bearing mechanism (17; 69) and a second uncontrolled-ball bearing mechanism (18; 70) respectively on a side opposite to the first drive wheel (15; 67) and on a side opposite to the second drive wheel (16; 68) and respectively receiving reaction force from the first drive wheel (15; 67) and reaction force from the second drive wheel (16; 68); a third uncontrolled-ball bearing mechanism (19; 80) at a position above the spherical body (14; 66) and holding the spherical body (14; 66) by receiving a load applied on the spherical body (14; 66); and a base (20; 85) supporting the first and the second drive wheels (15, 16; 67, 68) and the first to the third uncontrolled-ball bearing mechanisms (17, 18, 19; 69, 70, 80), characterized in that the base (20; 85) is at a position above the spherical body (14; 66), each of the spherical-body-driven modules (10; 65) is provided to the carriage frame (11; 91) through a plurality of suspension mechanisms (12; 90) for each of which an elastic material is used, and uncontrolled wheels (43, 44; 102) in direct contact with the floor surface are provided on a circumference of the carriage frame (11; 91), and the third uncontrolled-ball bearing mechanism (19; 80) has a first uncontrolled-ball supporting body positioned on a top of the spherical body (14; 66) and second uncontrolled-ball supporting bodies arranged in plurality and surrounding the first uncontrolled-ball supporting body, and the first uncontrolled-ball bearing mechanism (17; 69) and the second uncontrolled-ball bearing mechanism (18; 70) respectively have a third uncontrolled-ball supporting body and a fourth uncontrolled-ball supporting body, the third uncontrolled-ball supporting body arranged above the fourth uncontrolled-ball supporting body with the equator of the spherical body (14; 66) in between and respectively receiving pressing force of the first drive wheel (15; 67) and pressing force of the second drive wheel (16; 68).