Fig. 7From: Development of a steerable in-pipe locomotive device with six braided tubesStrategy for right-hand turns at Type A branch. a Device approaches the end of the pipe, keeping the tip of the device turned to the right. b Tip of the device comes into contact with the end of the pipe, causing it to bend rightward. c Tip enters the right branched pathway, with the device following. This strategy also enables left-hand turns with 180° rotationBack to article page