The head incorporates all of the important sensors for localization and communication.

The internal robot consists of two 3-D printed pneumatic actuators. It enables the sidewards movement of RoBoa.

The main body of RoBoa is the expandable black tube made out of coated nylon. The robot moves forward by everting its hull.

The box stores the tube, cables, pneumatic pipes and electronics.

The software enables precise movements and provides feedback for the user.