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Many researchers have developed various robots with novel gaits that can travel on rough terrain where conventional vehicles or other robots cannot. Many of these robots are bio-inspired since there is lots of amazing locomotions in nature that enable movement through various obstacles. This paper presents a robot based on the motion of ascotis selenaria, a type of inchworm with a locomotion that has an omega shape bending motion in between the extension motions. This type of inchworm can travel approximately its body length per stroke on a rough surfaces, leaf edges and branches of trees. The robot is built with smart composite microstructures, a fabrication method that uses laser micromachining to cut composites and assemble them into micro structures. The robot is actuated with a single shape memory alloy coil actuator. This robot can be used for search and rescue or gathering useful information in an area where only small scale robots can penetrate.