Abstract
Rescue robots are expected to search for survivors trapped under the rubble by moving thorough narrow spaces. However, searching for the survivors under the rubble is a complex task. This paper proposes a new method to inspect narrow spaces by building a tunnel through the path. A tunnel is built by pulling out a belt from the inside of the tunnel, and it is combined with itself into a spiral form by the head unit. Fasteners are used to combine the belt with itself, and a pneumatic driving system called "Pinch Roller" is used for driving the fastener sliders. By this way, the authors have developed a prototype of Tunnel Building Robot and built a spiral tunnel with it.
