Abstract
In Japan, taking advantage of the Great Hanshin Earthquake, attentions gather and are developed by the rescue activities of the disaster victim using robot. Each feature of the rescue robot was investigated, and its attention was paid to the peristalsis performed as move mechanism replaced with them when earthworm is movement. In precedence research, the robot which uses retentivity with wall by expansion and contraction of segments, and moves forward was manufactured. But, there was a fault that it could not move if there is no wall in right and left. In this study, the purposes are manufacture of the robot which can move forward by grounding with the ground and development of the mechanism which took movement in pipe into consideration.
