Design of a Pneumatically Driven Inchworm-Like Gas Pipe Inspection Robot with Autonomous Control. - Yang Shen; Ryu Isono; Satoshi Kodama; Yoka Konishi; Taiga Inoue; Akihiko Onuki; Ryo Maeda; Jia-Yeu Lin; Hiroyuki Ishii; Atsuo Takanishi (RoboSoft, 2023)