fig14

A review of worm-like pipe inspection robots: research, trends and challenges

Figure 14. Example of three-chamber (PBA) inchworm robot turning its head in multiple directions. Reprinted with permission from Zhang et al.[65]. PBA: Parallel Bellows Actuator.

Soft Science
ISSN 2769-5441 (Online)
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https://www.portico.org/publishers/oae/