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Control strategy of in-pipe robot passing through elbow:

, In: 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI),
Lee, Yoon Geon ; Kim, Ho Moon ; Choi, Yun Seok.. - p. 442-443 , 2016
Link: https://doi.org/10.1109/URAI.2016.7734077