Disclosed are a friction-type drive device and an omnidirectional movable body using the same, wherein the respective outer circumferential faces of first free rollers (25) and second free rollers (3R, 3L) that are arranged in a skew relationship are in contact, and motive power is transmitted to the first free rollers from the second free rollers by means of friction, wherein slippage between the first free rollers and the second free rollers is drastically reduced, motive power loss is reduced, and the first free rollers accurately move according to the control target by providing the outer circumferential part which forms the outer circumferential face of the first free rollers (25) and the outer circumferential part which forms the outer circumferential face of the second free rollers (3R, 3L) with different stiffness.