Inverse Kinematics for a Walking in-Pipe Robot Based on Linearization of Small Rotations. The Eurasia Proceedings of Science, Technology, Engineering and Mathematics, [S. l.], v. 4, p. 50–55, 2018. Disponível em: https://epstem.net/index.php/epstem/article/view/147. Acesso em: 24 mar. 2026.