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where C d is the drag coefficient, A is the reference area which is a function of the heading direction, and v com is the speed of the robot. Ahn, M. S., and Hong, D. (2020). Dynamic, robust locomotion for a non-anthropomorphic biped. In 2020 17th International Conference on Ubiquitous Robots (UR) (New Jersey, IEEE), 185–191. doi:10.1109/ur49135.2020.9144959 Miyamae H, Uchida M (2019) Constructing a control system using a time-state control form for a fish-type balloon robot. Artif Life Robot 25:316–321

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Wang, K. et al. Full-driving soft robotic colonoscope in compliant colon tissue. Journal of Medical Engineering & Technology 41, 1–8, https://doi.org/10.1080/03091902.2017.1394387 (2017). Lin, X., Fernandez, G., Ghassemi, S., and Hong, D. W. (2019). Feasibility Study of an Aerial Lifting Device Using Aerodynamic Drag for Ascent. Vol. Volume 5B: 43rd Mechanisms and Robotics Conference of International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. doi:10.1115/DETC2019-98138.V05BT07A016 This means the leg pushes off the pelvis along the line connecting the foot and the pelvis and allows to look at the entire body dynamics as interactions between the pelvis link and the two force vectors from each leg. 3.3 Height Control Strategy

The concept of BALLU is patented (US20180370040A1, WO2017087987A1) when the previous version of BALLU is introduced in “2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)”. Publisher’s Note Valdastri, P., Simi, M. & Webster, R. J. Advanced technologies for gastrointestinal endoscopy. Annual Review of Biomedical Engineering 14, 397–429, https://doi.org/10.1146/annurev-bioeng-071811-150006 (2012).

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Hu, F., Lv, H. & Tuzikov, A.V. Multi-objective cooperative control based on evolutionary process optimization of immune algorithm.Kim, B., Park, S., Yeol Jee, C. & Yoon, S.-J. An earthworm-like locomotive mechanism for capsule endoscopes. 2997–3002, https://doi.org/10.1109/IROS.2005.1545608 (2005). Schreuders, E. H. et al. Colorectal cancer screening: a global overview of existing programmes. Gut 64, 1637–1649, https://doi.org/10.1136/gutjnl-2014-309086 (2015).