抄録
This paper reports on identifying the moving principle of the robot, it is possible to know when designing the tractive force that can lead the inspection equipment. The prototype robot is made up of the inspection unit and the moving part. Moving section using three pneumatic actuators, to mimic the behavior of the beneficial earthworm to the movement of the narrow place. Pneumatic actuators, since it is possible to issue a large force is light, the robot has the merit force greater for pulling and inspection equipment.
