Fig. 3
From: Development of a steerable in-pipe locomotive device with six braided tubes
Motion of six braided-tube device utilizes both groups of tubes. a and b Pressurizing patterns which generate only propulsion and rotation, respectively. With a pattern, the device travels in same direction and rotate in both directions, the propulsion exists while the rotations are canceled out. On the other hand, the rotation exists while the propulsion are canceled out with b pattern. c, d, and e The deformations when a tube of Group L (L3), one tube in each group (L3&R3), and a tube of Group R (R3) inflate, respectively. The device deforms into a left-handed helix, a planar wave, and a right-handed helix in c–e, respectively