@article {Yoerger1991,
	title = {{Design and performance evaluation of an actively compliant underwater manipulator for full-ocean depth}},
	journal = {Journal of Robotic Systems},
	volume = {8},
	number = {3},
	year = {1991},
	pages = {371{\textendash}392},
	keywords = {ROV Jason (Remotely Operated Vehicle)},
	issn = {0741-2223},
	doi = {10.1002/rob.4620080306},
	url = {http://dx.doi.org/10.1002/rob.4620080306},
	author = {Yoerger, D R and Schempf, H and DiPietro, D M}
}
