Probing while driving for oil well surface profile measurement. - Qingyou Liu; Tao Ren 005; Yonghua Chen (CIVEMSA, 2013)

A helical drive in-pipe robot based on compound planetary gearing. - Tao Ren 005; Yonghua Chen; Qingyou Liu (Adv. Robotics, 2014)

Basic characteristics of a novel in-pipe helical drive robot. - Tao Ren 005; Qingyou Liu; Yujia Li 003; Yonghua Chen (Int. J. Mechatronics Autom., 2014)

A simple and novel helical drive in-pipe robot. - Yonghua Chen; Qingyou Liu; Tao Ren 005 (Robotica, 2015)

Variable pitch helical Drive in-pipe robot. - Tao Ren 005; Qingyou Liu; Yonghua Chen; Shouhong Ji (Int. J. Robotics Autom., 2016)