# Pneumatic Duplex-Chambered Inchworm Mechanism for Narrow Pipes Driven by Only Two Air Supply Lines

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 42× · AI/ML

**Wikidata**: [openalex:W3036302049](https://www.wikidata.org/wiki/openalex:W3036302049)  
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