Hiroyuki Yaguchi, Keito Murai and Keita Yaegashi 2017. Capability of pipe inside an actuator to move in various fluid and oil surfaces. Journal of Mechanical Engineering and Sciences. 11, 3 (Sep. 2017), 2906–2918. DOI:https://doi.org/10.15282/jmes.11.3.2017.11.0262.