In-Pipe Modular Robotic Systems for Inspection and Exploration
In this paper the authors present three wheeled-type in-pipe modular robotic systems, which are characterized by their adaptable structure based on linkage mechanisms. These modular systems are composed of driving modules (which use mechanisms with articulated elements) and passive modules.
Andrejus H. Marcinkevičius and Algirdas V.Valiulis
M. O. Tătar et al., "In-Pipe Modular Robotic Systems for Inspection and Exploration", Solid State Phenomena, Vol. 164, pp. 425-430, 2010