(1) We fabricate a robot that has an artificial intelligence and can turn the T-junction by itself. T-junction is recognized by an optical sensor unit and is passed by a steering mechanism that is made by a matrix bellows actuator (MBA). (2) The robot is moved by a driving mechanism that consists of three bellows and bulging brakes. The robot is confirmed to have a traction force of 22 N. (3) The fabricated robot is confirmed to recognize automatically several T-junctions and to move to the desirable direction of the pipe.
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