In this paper, a walking pipe robot for an inpipe inspection of an underground urban gas pipeline is presented. The robot is developed for visual and Non-Destructive Testing of pipeline networks. The robot is configured as an articulated structure – resembling a snake shape. Two active driving vehicles are located in the front and rear parts of the system. Passive modules such as a control module and other optional modules are inserted between the active vehicles. The design scheme of an inpipe inspection robot with a vibratory impulse actuator is discussed. The dynamic model of a robot with a vibratory pneumatic actuator was developed and the equations of its movement were derived.