Abstract: A novel wireless tadpole-like micro robot with spiral- type head is proposed. It imitates the swimming principle of tadpole to go forward suspendedly. Also, along with the rotation of spiral head, the adhesion traction is formed to drive the micro robot to go backward or adjust the location. The film can prevent direct contact between the micro robot and the pipelines. So it is non-invasive driving method. A branch system of the image acquisition, wireless transmission and control is des- igned to integrate with the driving system. All the designs of the physical system of the micro robot are proved feasible and valid experimentally.

Key words: Spiral-type Non-invasive, Swimming robot, Tadpole-like