Tejada-Begazo, Maria, Esther Luna Colombini, and Alexandre da Silva Simões. " Controlador desacoplado livre de modelo para caminhada de robôs humanoides." Companion Proceedings of the 14th Brazilian Symposium of Robotics and 19th Latin American Robotics Symposium, São Bernardo do Campo/SP, 2022. SBC, 2022, pp.49-60.