Abstract
This paper describes a modularized inchworm-type robot that we developed and used for searching for victim. The robot we called AIT-ReBol has two types of modules, one is the head module that is equipped at the terminal of the robot's body with small wireless camera and wireless network functions to communicate with outside, another module is the joint that has two rotational and a linear driven degree of freedom with the decentralized controller module and energy source in a compact form. We pay attention to moving mechanism and realized the motion patterns such as moving straight, side and rotational by the progressive wave in body without any wheel or crawler. This robot has already successfully debut at the AICHI EXPO 2005 and stably played for about one month.
