1. Compliant motion of a multi-segmented inspection robot;Birkenhofer,2005
2. Pipetron series-robots for pipe inspection;Debenest,2014
3. Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization;Dertien,2014
4. Development of an inspection robot for small diameter gas distribution mains;Dertien,2011
5. A snake-like robot for internal inspection of complex pipe structures (piko);Fjerdingen,2009