The robot system consists of a set of legs and attached locomotors, which allow for bi-directional travel due to their innovative actuation mechanism. A UT-sensor and video camera are carried by the robot and it is tethered through a deployment pod to an off-board controller suitcase.

The robot system accesses these tanks by collapsing its legs and locomotors to fit through a 4″ diameter opening. Locomotion is in cylindrical coordinates inside the tank to allow travel in circular and longitudinal directions.