A robot includes a first frame and a second frame. The first frame and the second frame each include a bearing module for bearing against a wall of a conduit, and at least one positioning system for the relative positioning of the first frame and the second frame, the robot where the positioning system includes at least a first pair of linear actuators disposed in a direction parallel to a longitudinal axis x of the robot, able to be independently actuated such that they move in translation, and free to rotate relative to at least one of either the first frame or the second frame, so as to position the first frame and the second frame relative to one another.