Long-reach articulated robots for inspection and mini-invasive interventions in hazardous environments: Recent robotics research, qualification testing, and tool developments. - Yann Perrot; Laurent Gargiulo; Michael Houry; Nolwenn Kammerer; Delphine Keller; Yvan Measson; Gérard Piolain; Alexandre Verney (J. Field Robotics, 2012)