Tache, F.Fischer, W.Moser, R.Mondada, F.Siegwart, R.2007-08-092007-08-092007-08-09200710.1109/AIM.2007.4412506https://infoscience.epfl.ch/handle/20.500.14299/10079[MOBOTS]inspectionroboticsmicroengineeringAdapted magnetic wheel unit for compact robots inspecting complex shaped pipe structurestext::conference output::conference proceedings::conference paper