Simulation und Regelung eines Rohrkrabblers. - Thomas Roßmann; Friedrich Pfeiffer (AMS, 1995)

Control of an Eight Legged Pipe Crawling Robot. - Thomas Roßmann; Friedrich Pfeiffer (ISER, 1997)

About Friction in Walking Machines. - Friedrich Pfeiffer; Thomas Roßmann (ICRA, 2000)