fig3
![A review of worm-like pipe inspection robots: research, trends and challenges](https://image.oaes.cc/45cb79a3-ca20-48c6-84be-de7a41b35aff/ss3049.fig.3.jpg)
Figure 3. Examples of Earthworm Robots and actuators. (A) Fluid-filled pneumatic actuator under positive and negative pressure adapted with permission from Das et al.[15]; (B) CMMWorm in a 15.2 cm Ø pipe developed by Daltorio and Kandhari. Provided by Daltorio et al.[24]; (C) Earthworm robot made from pneumatic artificial muscles, reprinted with permission from Sato et al.[26]; (D) Wireless magnetically actuated Earthworm Robot reprinted with permission from You et al.[30]. CMMWorm: Compliant Modular Mesh Worm.