Modular Robotic System for Moving Inside of Pipelines - Part 1
In this paper, the authors present an in-pipe modular robotic system for inspection inside pipes with diameters ranged between 140 and 200 mm. The paper describes the components used for building the modules and the actuating systems.
Cornel Brișan, Vistrian Mătieș, Sergiu-Dan Stan and Stelian Brad
M. O. Tatar et al., "Modular Robotic System for Moving Inside of Pipelines - Part 1", Solid State Phenomena, Vols. 166-167, pp. 403-408, 2010