A new piezoelectric in-plane traveling mechanism of miniature robot was proposed. It seems like a small tripod-type device and runs on stick-slip principle. There were three actuators acted as feet in the traveling mechanism. They were driven separately and controlled through a microcontroller unit to realize varied motion. Theoretically, the mechanism could revolve around any axis and translate along any direction under the appropriate control manner. Therefore, it was desired to serve as locomotive units for miniature robot, which perform various precise positioning tasks such as micromachining, micro-assembly etc.