(1999-) Slim Slime Robot (Fig.1) is an ACM with three-dimensional workspace composed of serially-connected modules driven by pneumatic actuators. Slim Slime Robot has been developed aiming at its applications to operations dangerous to man: the in-pipe inspection at chemical or nuclear energy plants and the rescue of victims under collapsed houses by making use of its shape, and the mine detection by distributing its own weight and so on.

Slime Robot is a pneumatically-driven robot configured to have multi-DOF without using many pipelines. The module of Slim Slime Robot has a main tube and three flexible pneumatic actuators, bellows (Fig.2). Compressed air is provided into each bellows from the main tube through an inlet valve built in bellows. Inlet and outlet valves built in each bellows make the bellows stretch, shrink and lock its length, therefore the module can stretch and bend in any direction actively.

Slim Slime Robot seems to acquire various locomotion because of its workspace as shown in Fig.3, some have already been realized: creep motion of snake (Fig.4), pedal waves of snail and limpet (Fig.5), lateral rolling (Fig.6) and pivot turn (Fig.7) etc..

Slim Slime Robot composed of 6 modules has the total length from 1120mm to 730mm, the total mass of 12kg and the maximum speed of about 60mm/sec

Fig.1 Slim Slime Robot (right) with a kid
Fig.2a Pneumatically-driven module	Fig.2b Pneumatically-driven module
Fig.3 Workspace	Fig.4 Snake-like glide
Fig.5 Snail-like pedal wave	Fig.6 Lateral rolling
Fig.7 Pivot turn