The plan is the develop a tube-shaped robot that will have several polymer 'feet'. The feet stick to the mucus lining the inside of the intestines. The forward-most foot will grip the intestine wall while the back feet will be made to slide freely forward by spraying them with water. Then, the back foot will grip the wall, by using a different polymer surface, and the front feet will advance forward. The process can then be repeted to create an inch-worm-like movement through the intestines.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/blog/show/robot-to-travel-through-human-intestines-on-mucus-trail