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Fig. 2 | ROBOMECH Journal

Fig. 2

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

Fig. 2

Motion of six braided-tube device in the case of driving only one group. Periodical pressurizations generate a revolution of a device around a center of a pipe and a rotation of a device around a center of a device. a and b Pressurization patterns for Group L and R tube propulsion, respectively. c is a motion of the device tip with Group L pressurization. d and e Motions driven by Group L and R tubes. The devices form left- and right-handed helices, which generates a right- and left-handed trajectories, respectively

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