Abstract
We proposed a new in-pipe propulsion method with a helical distortion mechanism. Helical distortion is a motion that a helix rotates about its body axis. This method has advantages in simplicity and flexibility compared with previous ones. We have developed a prototype of a helical body for experiments. The expansion and contraction of its wires produce this motion. The result have shown that the helical distortion mechanism is effective in in-pipe propulsion. For propulsion in an actual pipe, we will downsize the driving part of the prototype.
