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Fig. 1 | ROBOMECH Journal

Fig. 1

From: Development of a steerable in-pipe locomotive device with six braided tubes

Fig. 1

Six braided-tube in-pipe locomotive device. Group R tubes form the right-handed helices, and Group L tubes form the left-handed helices. a is an appearance of a device. b, c are Group L and R tubes, respectively. d, e Deformations with an inflation with a left- and right-handed tubes. A left- and right-handed tubes deforms a device into right- and left-handed helices, respectively

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