The environmental conditions within the boiler tube can be highly aggressive, which can alter the micro-structure of tubing. Ultrasonic sensors have the capability to scan through these tubes and detect these defects at early stages. In this work a Lizard Inspired Robot with ultrasonic sensors embedded in its fingers is being developed for boiler tube inspection. Frictional properties and design of the grippers have been characterized and optimized for carrying higher loads. This gives the robot the capability to carry more on-board sensors and maneuver in all possible orientations. In the future, motion planning can be done for smooth maneuvering on different material and sizes of boiler tubes.