In the past few years, we have covered plenty of bio-inspired robots designed for inspection in hard to reach areas. The Soryu-C is also worth a look. It is a snakebot that can move through mud, water, sand, and over debris. It can fit through openings as small as 100mm.
Soryu-C has two high definition cameras for navigation and inspection. It weighs 10.5kg and has a max speed of 100mm/s.