The voluntary movement of antennae of blinded cockroaches was examined in the tethered-walking condition. An object of metal plate was presented to a tip of a single antenna in order to induce tactile orientation behavior. Horizontal movements of the antenna before and during the object presentation were analyzed both before and after ablation of a mechanosensory organ, the scapal hair plate (S-HP), at the base of antenna. The resting antennal position shifted outwardly by about 20° after the S-HP ablation. Spontaneous antennal movements in ablated animals became stiff and wider ranged. The tactile object was set at two different horizontal positions, 45° and 90° clockwise to the head, for the right side antenna. The number of contacts in a constant test period was significantly decreased in the tests at 45° after ablation. Trajectories of antennal movements before and after contacts were categorized into four patterns. In the case that an antenna made contact with the object during its abduction (outward) movement, it then passed the object outwardly or withdrew inwardly. These were termed “outward-pass (O-P)” and “outward-withdrawal (O-W)” patterns, respectively. Similarly, contacts during the adduction (inward) movement were divided into “inward-pass (I-P)” or “inward-withdrawal (I-W)” pattern. Significant effects of the S-HP ablation appeared in the tests at 90°: the I-P pattern mostly disappeared and was replaced by the I-W pattern. The results strongly suggest that the S-HP has crucial roles for controlling both spontaneous and stimulated movements of the cockroach antenna.