Ryusei Okuma Sogo Matsuo Fumio Ito Taro Nakamura 0001 Basic Study on a Peristaltic Motion-Type In-Pipe Inspection Robot Using a Hyper-Extension Unit for Improving Locomotion Speed. 105-116 2024 CLAWAR (1) https://doi.org/10.1007/978-3-031-70722-3_12 conf/clawar/2024-1 db/conf/clawar/clawar2024-1.html#OkumaMIN24