Preliminary design of a whole-arm manipulation system (WAMS). - Kenneth Salisbury; William T. Townsend; Brian S. Eberman; David M. Dipietro (ICRA, 1988)

Design and performance evaluation of an actively compliant underwater manipulator for full-ocean depth. - Dana R. Yoerger; Hagen Schempf; David M. Dipietro (J. Field Robotics, 1991)