Fig. 15From: Development of a steerable in-pipe locomotive device with six braided tubesSteering through the experimental piping system. A video of the experiment is available in Additional file 1. a Steering motion in an A-type branch (Path A in Fig. 12). b Straight locomotion in a B-type branch (Path B in Fig. 12). c Steering motion in skew branches (Path C in Fig. 12)Back to article page