Here is a wave-like robot that can crawl between two straight surfaces or over a single flat surface. This miniature Wave-like crawling robot was developed by Lee-Hee Drory and David Zarrouk from Ben Gurion University of the Negev, Israel to study locomotion dynamics of such robots.
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Locomotion Dynamics of a Miniature Wave-Like Robot
As the above video shows, this robot was also tested inside a flexible tube.
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