This paper was focused to develop a robot which has a vibrating foxtail for treating thigh artery disease. Many legs are attached to the surface of the robot. An eccentric weight at the front end of the robot is rotated by a motor inside the robot. When the robot is inserted into a pipe, the legs bend with some angles due to pushing against the inside surface. When an eccentric weight is rotated, their centrifugal force results in deformation of legs of the robot according to angular position of an eccentric weight. Consequently, it causes change of friction force between the surface and legs. Accordingly, legs begin to slide along the inner surface of the pipe by the different friction force. In order to make the robot slides along the inner surface of pipe, it was operated with voltage of 0.7～1.1V. The velocity of the robot with soft legs is much faster than that of the robot with stiff legs since deformation of soft legs is much bigger than that of stiff legs under same centrifugal force of eccentric weight.
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