Abstract
This paper describes the suggestion of in-pipe mobile robot can inspect pipe inside without excavation underground gas pipe and so on. Manufacture the green caterpillar type in-pipe mobile robot using suction brake for correspond to various the pipes inner diameter. This robot used pneumatic actuator which is advantageous in powor-weight ratio. This robot imitate structure of abdominal prolegs and movement of the somites of the green caterpillar. The inspection by in-pipe mobile robot is necessary to reciprocate the inspection section to a robot runs by oneself. The inspection is needed to runs not only straight pipe but also right angle pipe and pipe such as a three-forked road. So I executed motion experiment in laying pipes form of various. Paper report this experiment results.
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