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  _  __    _____     _  __   __   __    ______  
 | |/ //  |  ___||  | |/ //  \ \\/ //  /_   _// 
 | ' //   | ||__    | ' //    \ ` //     | ||   
 | . \\   | ||__    | . \\     | ||     _| ||   
 |_|\_\\  |_____||  |_|\_\\    |_||    /__//    
 `-` --`  `-----`   `-` --`    `-`'    `--`

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Text this: Robust impedance control of a flexible structure mounted manipulator performing contact tasks