Therblig to Robot: Action Packages, Robot Motion and Human-Robot Collaboration in Domestic Environments. SPOOL, [S. l.], v. 11, n. 1, p. 49–64, 2024. DOI: 10.47982/spool.2024.1.03. Disponível em: https://spool.ac/index.php/spool/article/view/254. Acesso em: 5 mar. 2026.