Normal-Force Control for an In-Pipe Robot According to the Inclination of Pipelines. - Jungwan Park; Dongjun Hyun; Woong-Hee Cho; Tae-Hyun Kim; Hyunseok Yang (IEEE Trans. Ind. Electron., 2011)

Design and control method for a high-mobility in-pipe robot with flexible links. - Woongsun Jeon; Inho Kim; Jungwan Park; Hyunseok Yang (Ind. Robot, 2013)