Caterpillar-type robots are widely used for medium- and large-sized pipe inspections. However, existing prototypes smaller than 80 mm lack both an active variable diameter capability and a contact force sensing function, which are crucial for safe and automatic exploration of unknown rigid/soft pipes (e.g., the colon). This study develops a variable diameter caterpillar-type miniature robot (VCMR) featuring a small size of Φ34.6 mm × 41 mm, a large variable-diameter range of 34.6-89.6 mm, and an integrated contact force sensing function. The VCMR actively adapts to pipe diameter changes using contact force feedback, demonstrates high load capacity in both vertical and horizontal rigid/soft pipes, and traverses a 150-cm colon phantom with sharp bends at an average velocity of 3.07 ± 0.48 cm/s. It holds promise for exploring tiny variable-diameter rigid/soft pipes and delivering cargoes through such pipes.