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Table 2 Locomotion speed in a straight pipe
From: Development of a steerable in-pipe locomotive device with six braided tubes
| Prototype 1 (without a hook) | Prototype 2 (with a hook) | |
|---|---|---|
| 6 tubes | 3.4 mm/cycle | 2.9 mm/cycle |
| 4 tubes | 1.6 mm/cycle | 1.3 mm/cycle |
