This project aims to develop a miniaturized mobile robot for inspection of ferromagnetic structures. The robot should be small enough to fit inside water pipes with a diameter of typically 1 inch (2.5 cm), for inspection purposes. However, if a mechanism is found which has the potential to be miniaturized, this constraint does not necessarily need to be fulfilled in a first stage. Besides piping, tanks need to be inspected as well. They are composed of several segments which are soldered together, forming a structure of all kinds of perpendicularly intersecting surfaces. The robot needs to be capable to overcome these obstructions.