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    An in-pipe micro robot actuated by piezoelectric bimorphs

    A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections ...

    PinKuan Liu, ZhiJie Wen, LiNing Sun in Chinese Science Bulletin (2009)