# Multimodal pipe-climbing robot with origami clutches and soft modular legs

> Research article (Bioinspiration & Biomimetics, 2019) · cited 40× · AI/ML

**Wikidata**: [openalex:W2991073648](https://www.wikidata.org/wiki/openalex:W2991073648)  
**Source**: https://4ort.xyz/entity/multimodal-pipe-climbing-robot-with-origami-clutches-and-soft-modular-legs