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Automatic T-Branch Travel of an Articulated Wheeled In-Pipe Inspection Robot Using Joint Angle Response to Environmental Changes

Atsushi Kakogawa, Kenya Murata, Shugen Ma. Automatic T-Branch Travel of an Articulated Wheeled In-Pipe Inspection Robot Using Joint Angle Response to Environmental Changes. IEEE Transactions on Industrial Electronics, 70(7):7041-7050, July 2023. [doi]

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