Abstract
This study discusses the search and rescue mobile robot which is aimed to go through narrow and curving routes and pipes inside the collapsed houses. This robot is inspired by the action of the octopus drawing out its arms. It is expected to carry a camera without depending on the size of pipes. In previous study, it can go through some curving pipes. However, it is difficult to go through inside the gas pipes because there are bumps inside the gas pipe and it cannot select routes at the branching point. To solve these problems, the arms with rollers are mounted on the head unit. Finally, it is verified through experiments that this method is effective against the problems.
