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Herein, a worm\u2010inspired soft robot that is capable of operating and performing a variety of tasks in a complicated pipeline\/tunnel environment is reported. The soft tubular robot consists of elongation pneumatic actuators (EPAs), radial expansion pneumatic actuators (REPAs), and a spatial bending pneumatic actuator (SBPA). A series of experiments are performed to demonstrate the capability of the soft robot to crawl robustly under different pipeline conditions, including varying diameter, different cross\u2010sectional shapes, and wet or oil\u2010covered internal surfaces, and underwater environment. The soft robot can carry a load of more than 11 times of its own weight in a vertical pipeline. Equipped with a visualization unit, the soft robot can detect the internal conditions of the pipeline and cross the multibranched pipeline as needed. The tubular soft robot provides a useful tool for the inspection, cleaning, and maintenance of pipelines and tunnels.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100128","type":"journal-article","created":{"date-parts":[[2021,9,28]],"date-time":"2021-09-28T01:43:02Z","timestamp":1632793382000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":103,"title":["Worm\u2010Inspired Soft Robots Enable Adaptable Pipeline and Tunnel Inspection"],"prefix":"10.1002","volume":"4","author":[{"given":"Xiaomin","family":"Liu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering Beihua University  Jilin 132013 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maozheng","family":"Song","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Beihua University  Jilin 132013 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuhui","family":"Fang","sequence":"additional","affiliation":[{"name":"Laboratory for Soft Machines and Electronics School of Packaging Departments of Mechanical Engineering Electrical and Computer Engineering Michigan State University  East Lansing MI 48824 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunwei","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering Beihua University  Jilin 132013 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5067-1716","authenticated-orcid":false,"given":"Changyong","family":"Cao","sequence":"additional","affiliation":[{"name":"Laboratory for Soft Machines and Electronics School of Packaging Departments of Mechanical Engineering Electrical and Computer Engineering Michigan State University  East Lansing MI 48824 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,9,27]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.25103\/jestr.114.20"},{"key":"e_1_2_8_2_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_2_8_2_3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20347"},{"key":"e_1_2_8_2_4","doi-asserted-by":"publisher","DOI":"10.3390\/robotics5030014"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0088"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2018.2879248"},{"key":"e_1_2_8_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah3690"},{"key":"e_1_2_8_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.tibtech.2013.03.002"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201900837"},{"key":"e_1_2_8_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201901075"},{"key":"e_1_2_8_6_3","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0001"},{"key":"e_1_2_8_6_4","doi-asserted-by":"publisher","DOI":"10.1002\/admt.202100084"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0008"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature25443"},{"key":"e_1_2_8_8_2","author":"Niu H.","year":"2020","journal-title":"Soft Rob."},{"key":"e_1_2_8_8_3","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/12\/1\/011003"},{"key":"e_1_2_8_8_4","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/6\/2\/026007"},{"key":"e_1_2_8_8_5","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00141"},{"key":"e_1_2_8_8_6","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aat2874"},{"key":"e_1_2_8_8_7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3003859"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2020.100854"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0078"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2204070"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/adem.201400246"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2018.02.004"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2018.12.004"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2018.01.018"},{"key":"e_1_2_8_15_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201908821"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0133"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0124"},{"key":"e_1_2_8_18_1","unstructured":"K.Wakana H.Namari M.Konyo S.Tadokoro presented at2013 IEEE Int. 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