Abstract
This paper proposes a new way to build a passage inside the narrow and rugged space. Rescue robots are expected to be able to supply water and medicines to victims by using this passage. Key issues are how to reduce frictions between nibble and a passage building machine, and how to retain rigidity of the passage. The author examined the method of solving these two issues by referring to a silkwonn, and suggests method of constructing spiral tunnel which is made of compressed air tube and uses pinch-roller. The author made prototype building passage machine and experimented on a basic motion of constructing a spiral tunnel.
