An apparatus for traversing obstacles having an elongated, round, flexible body that
includes a plurality of Segments interconnected by an integrated joint actuator assembly.
The integrated joint actuator assembly includes a plurality of bellowS-type actuators
individually coupling adjacent Seg ments to permit pivotal actuation of the apparatus
therebe tween. A controller is employed to maintain proper posi tional control and stiffness
control while minimize air flow.

An apparatus for traversing obstacles having an elongated, round, flexible body that
includes a plurality of segments interconnected by an integrated joint actuator assembly.
The integrated joint actuator assembly includes a plurality of bellows-type actuators
individually coupling adjacent segments to permit pivotal actuation of the apparatus
therebetween. A controller is employed to maintain proper positional control and stiffness
control while minimize air flow.