Simultaneous position and stiffness control for an inflatable soft robot. - Morgan T. Gillespie; Charles M. Best; Marc D. Killpack (ICRA, 2016)

A New Soft Robot Control Method: Using Model Predictive Control for a Pneumatically Actuated Humanoid. - Charles M. Best; Morgan T. Gillespie; Phillip Hyatt; Levi Rupert; Vallan Sherrod; Marc D. Killpack (IEEE Robotics Autom. Mag., 2016)

Learning nonlinear dynamic models of soft robots for model predictive control with neural networks. - Morgan T. Gillespie; Charles M. Best; Eric C. Townsend; David Wingate; Marc D. Killpack (RoboSoft, 2018)