[IEEE 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium (SBR-LARS) - Fortaleza, Brazil (2012.10.16-2012.10.19)] 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium - Adhesion Force Control and Active Gravitational Compensation for Autonomous Inspection in LPG Storage Spheres

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