Peristaltic Crawling Robot for Use on the Ground and in Plumbing Pipes

摘要

In Japan, after the Great Hanshin Earthquake, attention became focused on rescue activities by robots on behalf of disaster victims. Each feature of the rescue robots was investigated. Attention was devoted to the peristalsis performed as a movement mechanism replaced with them when earthworm is movement. This study assesses a robot that can move forward by contact with the ground and by development of a mechanism for movement in pipes.