A Novel Deformable Serial Pipeline Inspection Robots：Design， Modeling and Experimentation
Yixin ZHANG, Yinan MIAO, Zhiheng YI, Wenjing WAN, Xingjian WANG, Song ZENG, Shaoping WANG
China Mechanical Engineering . 2025, (9): 2140 -2149 .  DOI: 10.3969/j.issn.1004-132X.2025.09.026

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