Abstract
This paper proposes a new way to build a tunnel inside the narrow and rugged space. Rescue robots are expected to be able to supply water and medicines to victims by using this tunnel. Key issues are how to steer the direction of the tunnel. The author proposed two methods to steer the direction of the tunnel. One is the method transforming the tunnel material by using the actuator installed in the head, and another is that the tunnel has the actuator function operated by the signal from the head unit The author made prototype and conducted the experiment of these methods, and showed the possibility of the direction steer.
