The robot used a telescopic umbrella stand as a basic structure.
Xu Kejie, Xu Hong, Yu Qikuan, Wang Zhiqiang, Xu Wenjiao 2016, 'A Novel Crawling In-pipe Robot Design', MATEC Web of Conferenceshttp://dx.doi.org/10.1051/matecconf/20166104017. Retrieved from DOAJ CC BY 4.0 (https://creativecommons.org/licenses/by-sa/4.0/legalcode)