IEEE - Institute of Electrical and Electronics Engineers, Inc. - The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Cunningham, D. ; Asada, H.H.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 1,844 - 1,850
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152378
Regular:

A simple, compact, yet powerful robotic winch, called "Winch-Bot," is presented in this paper. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load... View More

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