Design of a wheeled-type In-Pipe Inspection Robot to overcome motion singularity in curved pipes. - Rajendran Sugin Elankavi; Dinakaran Devaraj; Arockia Selvakumar Arockia Doss; R. M. Kuppan Chetty; M. M. Ramya (J. Ambient Intell. Smart Environ., 2024)