An insertion apparatus includes an insertion section (110), a motor (150) that rotates a spiral tube (132), a drive control unit (202) that supplies a driving current to the motor (150) to control driving of the motor (150), a driving current detector (2021) that detects the driving current flowing through the motor (150), a torque limit value storage unit (203) that stores a torque limit value, a temperature sensor (118) that detects a temperature of the spiral tube (132), a temperature measurement unit (204) that measures a temperature in a vicinity of the spiral tube (132) based on a detection result obtained from the temperature sensor (118), and a torque limit value correction unit (205) that corrects the torque limit value in accordance with the temperature measured by the temperature measurement unit (204).
