Abstract
With the development of the industry in recent years, mixing tanks used in chemical reactions, equip "jacket" for adjusting temperature of a container on outer circumference. The heat medium or refrigerant inject to jacket, to adjust the temperature. Although a large amount of deposits are formed in the inner wall of jacket, there is no way to clean up or to inspect inside of the jacket because it's too narrow space and entrance. Therefore, we developed peristaltic crawling robot for vertical narrow space, and realized the locomotion in 50[mm] wide space. In addition to that, to achieve in locomotion between curved surfaces.
