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Table 1 Comparison of four categories of duct travelling robots with respect to desired mobility features

From: Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts

  WTR DuCTT Wheeled robots Expanding robots
Move horizontally
Move vertically
Turn right/left into a branch
Turn up/down into a branch
Narrow horizontal u-turn
Narrow vertical u-turn
Speed of 0.7 m/s or higher
Move in an open plane