The intent of this work was to design an innovative robot to imitate inchworm locomotion. The prototype built demonstrates successful implementation of using only friction and variable masses to generate the motion. The theoretical model was simulated using working model and validated experimentally. The computer simulation shows the dynamic and kinetic effects on inchworm mobility, providing a complete understanding of the design concept. The experimental results compare well with the theoretical model, although the exact coefficient of friction during the experiment was not measured. Theoretical and experimental results both indicate a slight backward motion of the robot during the contractile phase of the cycle of motion. Although the results are similar, the theoretical model fails to include such phenomena as the friction in the revolute joints and the vibration produced by the pump and servos. The theoretical model will be used in future work to optimize the design of the robot for dynamic performance.