Skip to main content


Springer Nature is making SARS-CoV-2 and COVID-19 research free. View research | View latest news | Sign up for updates

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

Back to article page