Dynamical Modelling and Structural parameter Optimization of a Novel Spiral in-pipe robot. - Liang Liang; Puhua Tang; Bai Chen; Yong Tang; Yan Xu; Daiyong Lin (Int. J. Robotics Autom., 2016)

Effect of operating parameters of a magnetically controlled spiral capsule robot on its performance. - Liang Liang; Puhua Tang; Yu Liu; Yan Xu (Robotica, 2022)

Performance Analysis of Multi-Structure Capsule robots Driven by Permanent magnets. - Yu Liu; Liang Liang; Puhua Tang (Int. J. Robotics Autom., 2024)