Mechanisms of Autonomous Pipe-Surface Inspection Robot with Magnetic Elements. - Masayuki Suzuki; Toshihiro Yukawa; Yuichi Satoh; Hideharu Okano (SMC, 2006)

Design of Magnetic Wheels in Pipe Inspection Robot. - Toshihiro Yukawa; Masayuki Suzuki; Yuichi Satoh; Hideharu Okano (SMC, 2006)