Development of an in-pipe inspection robot for narrow pipes and elbows using pneumatic artificial muscles. - Megumi Ikeuchi; Taro Nakamura 001; Dai Matsubara (IROS, 2012)

Development of a peristaltic crawling inspection robot for 1-inch gas pipes with continuous elbows. - Tatsuya Kishi; Megumi Ikeuchi; Taro Nakamura 001 (IROS, 2013)