The design of the capsule body for a self-propelled endoscope is important from the frictional resistance point of view. The motivation of this work was to gain a better understanding of the effect of capsule shape on the frictional resistance of the capsule inside a small intestine. Special experimental set-ups were built to investigate the frictional resistance of the capsule and the viscoelastic deformation characteristics of the small intestine specimen of a pig. Tests were performed with capsules of various shapes and dimensions. Experimental data showed that a smooth cylindrical capsule geometry resulted in the least frictional resistance due to the shape and relatively small surface area. Also, it was found that the variation of frictional resistance of the capsule was closely related to the local change in the viscoelastic property of the intestine due to the heterogeneity of the internal structure of the intestine.