Figure 16. 30º pipe surface slope with 8V supply voltage of actuators

From

Experimental Analysis of Fixation Curves of Snake Robot Moving in the Pipe

Ivan Virgala, Michal Kelemen, Martin Hagara, Erik Prada, Tomáš Lipták

American Journal of Mechanical Engineering. 2016, 4(7), 297-305 doi:10.12691/ajme-4-7-13