Motion planning and contact control for a tele-assisted hydraulic underwater robot. - David M. Lane; Matthew W. Dunnigan; A. W. Quinn; Andrew C. Clegg (Auton. Robots, 1996)

Self-tuning Position and Force Control of an Underwater Manipulator. - Andrew C. Clegg; Matthew W. Dunnigan; David M. Lane (ICRA, 2001)