Abstract
There is an advantage that it is possible to move in the space narrower can the movement by characterizing about the peristaltic motion, and adjusting flexibly in the environment such as unleveled land compared with the movement by the wheel running and the meander of the past. Moreover, it has the feature that it is possible to move even if a part of the metamere doesn't function. In this research, it aims at the development of the peristaltic crawling robot that uses the pneumatic artificial muscle that can be moved by making the best use of these features, and turnabout while running.
