This paper presents a new design of worm robot whose body is constructed using a novel crimped elastic mesh braid inspired by the earthworm. The proposed worm robot is intended for inspection within the human body via natural orifices. The design and fabrication procedure of the worm robot are given in the paper. The imitation of peristalsis, used by natural worms, is used to control the worm robot for the purpose of producing motion while causing minimal trauma to biological tissue. The forward locomotive function of the worm robot has been tested on both a flat surface and in a rubber tube. It is shown that the worm robot is capable of propagating forwards for both test conditions in a form similar to the earthworm. The test results indicate the proposed worm robot design has promising application for natural tube inspection, like the colon and the esophagus.