Model-less Hybrid Position/Force Control: A Minimalist Approach to Continuum Manipulator Control in Unknown Environments | Won the 2016 Best Paper Award for all IEEE Robotics and Automation Letters

M. Yip and D. Camarillo
IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 844-851, 2016.
2016
https://www.ucsdarclab.com/_files/ugd/e4c3d0_12d0605b188248f8b97dfb0547a43248.pdf