Abstract
Currently, in order to prevent road accidents depression caused by aging of sewer pipes, the inspection of the pipe is required. In particular, pressure pipes in existing equipment becomes complex pipeline is difficult inspection. So we have developed a peristaltic crawling robot that reproduces the earthworm locomotion. This robot is composed of seven units, six joints, and the head part with an attached camera. In this study, we developed a new joint to reduce buckling which causes a reduction in traveling speed, and aimed to improve the running speed of the robot. Then, to perform the running test into the horizontal, vertical and two types of bent pipe having different radius of curvature and confirmed the effectiveness of the joint.
