Kusunose, K., T. Akagi, S. Dohta, W. Kobayashi, T. Shinohara, Y. Hane, K. Hayashi, and M. Aliff. “Development of Inchworm Type Pipe Inspection Robot Using Extension Type Flexible Pneumatic Actuators”. International Journal of Automotive and Mechanical Engineering, vol. 17, no. 2, Aug. 2020, pp. 8019-28, doi:10.15282/ijame.17.2.2020.20.0601.