Fig. 4From: Development of a steerable in-pipe locomotive device with six braided tubesFour-tube-driven locomotion with a steering hook. a–c The pressurization pattern for four-tube travel, the deformation of the device driven by four tubes, and the locomotion trajectory driven by four tubes. In c, the device switches a travel trajectory between a right-handed helix (a red and solid arrow) and a left-handed helix (a blue and dotted arrow)Back to article page