Abstract: Based on inchworm locomotion principle,a 3-DOF miniature endoscopic inspection squirming robot system is designed,which is driven by a pneumatic rubber actuator and clamped by two air chambers.Dynamic model of the robot is built.With BP neural network PID scheme,an electro-pneumatic PWM(Pulse-Width Modulation)servo controller is designed to control the robot movement.With the predicted value of system output instead of measured value,the weight co-effient is corrected and the controller parameters are changed in real time to improve the control performance.Both simulation and experimental results indicate that this scheme can overcome the shortages of traditional PID controllers,improve the system static and dynamic performance,and is an ideal control method for pneumatic miniature squirming robots.