Robotic device

A method of operating a locomotive robotic device inside a structure having opposing walls, the locomotive robotic device having an elongate body comprising a plurality of segments configured to move in at least a first direction, and an elastic mesh outer sleeve surrounding the plurality of segments, wherein a stiffness of the elastic mesh outer sleeve changes in dependence on a movement of one or more of the plurality of segments in the first direction;

• wherein the first direction is along a longitudinal axis of the elongate body, the method further comprising:
• the plurality of segments increasing or decreasing in length;
• anchoring at least a first segment, of the plurality of segments, to the structure via a jamming anchoring method and a pinching anchoring method;
• wherein the jamming anchoring method comprises the first segment bending at an angle to the longitudinal axis of the elongate body such that, upon bending, a tip of the first segment pushes against a first wall of the structure and a body of the first segment pushes against a second wall of the structure to thereby wedge the first segment between the first wall and the second wall of the structure to anchor the first segment to the structure;
• and
• wherein the pinching anchoring method comprises the first segment bending to the extent that the tip of the first segment pinches a wall of the structure, thereby pressing a section of the structure between the tip of the first segment and the body of the first segment to anchor the first segment to the structure;
• and
• the stiffness of the elastic mesh outer sleeve increasing in response to a decrease in length, and decreasing in response to an increase in length.