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Blewitt et al. Soft Sci 2024;4:13 Soft Science
DOI: 10.20517/ss.2023.49

Review Article Open Access

A review of worm-like pipe inspection robots:

research, trends and challenges

1
2
1,*
Gabrielle Blewitt , David Cheneler , Jeremy Andrew , Stephen Monk 1
1
Department of Engineering, University of Lancaster, Lancaster, LA1 4YW, UK.
2
Nuclear Restoration Services, the brand of Magnox Ltd., Dounreay Division, Caithness, KW14 7TZ, UK.
* Correspondence to: Gabrielle Blewitt, Department of Engineering, University of Lancaster, Gillow Ave, Bailrigg, Lancaster,
LA1 4YW, UK. E-mail: g.blewitt@lancaster.ac.uk
How to cite this article: Blewitt G, Cheneler D, Andrew J, Monk S. A review of worm-like pipe inspection robots: research, trends
and challenges. Soft Sci 2024;4:13. https://dx.doi.org/10.20517/ss.2023.49

Received: 31 Oct 2023 First Decision: 6 Dec 2023 Revised: 23 Dec 2023 Accepted: 16 Jan 2024 Published: 25 Mar 2024

Academic Editor: Zhifeng Ren Copy Editor: Pei-Yun Wang Production Editor: Pei-Yun Wang

Abstract
In recent years, the development of worm-like robots has increased significantly. These robots use peristaltic
motion comprised of radial expansion and axial elongation to move leglessly through their environments. Soft
worm-like robots have the advantage of conforming to their environment, making them ideal for confined spaces
such as pipelines which are essential to societal infrastructure. Pipeline contamination and corrosion can be
detrimental and costly and thus regular checking is vital. Some pipes are difficult to access due to size, access
restrictions and harmful waste contamination (such as in nuclear power plants). This has led to an increase of
research into soft worm-like robots for pipe inspection. This review will analyse the recent progress in this area to
assess current robotic capabilities and where work may be further needed to ensure they are applicable to real-
world applications.

Keywords: Worm robotics, pipe inspection robotics, soft robotics, inchworm, peristalsis

INTRODUCTION
Pipelines are relied on for their ability to transport substances economically and quickly such as water, gas,
oil, and waste products. Any breakages or blockages in them can be incredibly harmful to businesses and
infrastructures; hence, they are required to be well maintained. This typically involves periodic inspection
for signs of damage and potential blockages. Often, these pipes are difficult and dangerous to access for

© The Author(s) 2024. Open Access This article is licensed under a Creative Commons Attribution 4.0
International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, sharing,
adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as
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