Copyright © 2026 Authors retain the copyright of this article. This article is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

@article{200355,
        author = {MITHILESH BALAMURUGAN and Dr.K.K.Arun and DINUSH R and ANURANJITH R and GOWTHAM D},
        title = {DESIGN AND DEVELOPMENT OF A BIO-INSPIRED WORM ROBOT FOR PIPE INSPECTION},
        journal = {International Journal of Innovative Research in Technology},
        year = {2026},
        volume = {12},
        number = {12},
        pages = {2532-2535},
        issn = {2349-6002},
        url = {https://ijirt.org/article?manuscript=200355},
        abstract = {The integrity of modern pipeline infrastructure is critical for safety and continuous operation. Traditional inspection methods are often costly, time-consuming, and carry inherent risks in hazardous or confined environments. This project addresses these limitations by developing a soft, modular, worm-inspired robot specifically engineered for navigating and inspecting pipelines of varying diameters and complex geometries, including elbows and vertical sections. Drawing inspiration from the peristaltic motion of the earthworm, the robot employs a sequence of radial gripping and axial elongation/contraction to achieve stable, high-traction locomotion. The key design innovation lies in its underactuated or pneumatic/Shape Memory Alloy-based soft modular segments, which allow for passive adaptation to diameter changes. The prototype integrates a miniaturized Non-Destructive Evaluation sensor suite for detecting internal defects. Successful realization of this project provides a highly flexible, cost-effective, and robust robotic platform for autonomous pipeline inspection, significantly enhancing infrastructure maintenance and reducing human risk.},
        keywords = {Bio-inspired, Peristaltic Motion, Pipe Inspection, Soft Robotics, Non-Destructive Evaluation.},
        month = {May},
        }