Frederico A. Ramalho Filho Alexandre Queiroz Bracarense Eduardo Jose Lima II Kassio Maciel Kienitz Emanuel Barbosa Ribeiro Development of Robots for the Pipeline Industry. 1-6 2010 ISR/ROBOTIK http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5756908 conf/isr/2010 db/conf/isr/isr2010.html#FilhoBLKR10