# Control and Mechanical Design of a Multi-diameter Tri-Legged In- Pipe Traversing Robot

> Research article (2019 IEEE/SICE International Symposium on System Integration (SII), 2019) · cited 16× · AI/ML

**Wikidata**: [openalex:W2943478839](https://www.wikidata.org/wiki/openalex:W2943478839)  
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