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This paper describes the developement of a microrobot running based on the principle of screw, and the running characteristics in a small bent pipe. To realize running in the bent pipe, a new small wheel preloading unit, which can keep the posture of the microrobot stable in the pipe, and a head guidance unit, which can prevent interference arising between the microrobot and the inner pipe wall, were developed. With these improvements the microrobot runned succesfully in a small bent pipe of 2 7 " in inner diameter and of 200" in the radius of curvature.

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