Figure 5. Forces on bristle tip in backward locomotion

From

Machines for In-Pipe Inspection

Alexander Gmiterko, Ivan Virgala, Lubica Miková, Peter Frankovský, Tatiana Kelemenová, Michal Kelemen

Journal of Automation and Control. 2015, 3(3), 79-82 doi:10.12691/automation-3-3-8