An optical system for communication and sensing in millimetre-sized swarming microrobots P Corradi, O Scholz, T Knoll et al. -This content was downloaded from IP address 207.241.231.83 on 25/07 Abstract.In the first part of the paper, authors present a new in pipe inspection minirobot with wheeled adaptable structure for pipe diameters ranging from 220 to 380 mm. The mechanical structure is composed of three adaptable mechanisms placed at 120 degrees around the central axes. For adapting to the

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... interior surface of the pipe, a passive method is used which utilizes elastic elements. In the second part of the paper, authors present the simulation of in pipe minirobot locomotion, components of driving and control systems, user interface, conclusions and future development areas.