This article demonstrates a pneumatically actuated soft robot capable of navigating the inside of a tube. This robot was built using buckling pneumatic actuators (vacuum-actuated muscle-inspired pneumatic structures, or VAMPs). The tube climber can navigate through a tube with turns, inclines, and varying diameters. The robot is also able to remove obstacles (of more than 10 times its own weight) from tubes to perform a clearing function. It maintains climbing and clearing performance in wet conditions and under water. The tube climber is lightweight and completely soft and thus has the potential to be collaborative (i.e., work with humans) and also to interact safely with delicate environments.
Keywords: buckling; elastomer; locomotion; muscle; pneumatic; vacuum.