Abstract
This paper describes development of a three somite earthworm type inspection and repair work robot which is able to move in small diameter pipes. Deterioration of the water pipes is a problem in recent years. It's ideal to replace that. However, it takes a large amount of expense and time to replace it. There is Pipelining as a measure of aging. Pipelining is a method of repairing the water pipes. But, there are several problems with this method. We manufactured of inspection and repair work robot as a method to improve a problem. We confirmed that can work in the pipes.
