This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe inspection in industrial environments. The objective was to allow the aerial robot to perch and crawl along the pipe. minimizing the energy consumption. and allowing to perform contact inspection. https://www.remtavares.com/limited-find-Interstella-Sequin-Long-Sleeve-Mini-Dress-Black-huge-savings/