concertina. friction. locomotion. pipe. snake robotVirgala, Ivan Investigation of snake robot locomotion possibilities in a pipe / aut. Ivan Virgala, Michal Kelemen, Pavol Božek, Zdenko Bobovský, Martin Hagara, Erik Prada, Petr Oščádal, Martin Varga. -- 10.3390/sym12060939. -- 2-s2.0-85087441294. -- 000550813800001. -- 000550813800001. Kelemen, Michal. Božek, Pavol, 1954-. Bobovský, Zdenko. Hagara, Martin. Prada, Erik. Oščádal, Petr. Varga, Martin In: Symmetry. -- ISSN 2073-8994. -- Vol. 12, iss. 6 (2020), s.1-25.