{"id":"https://openalex.org/W2126950418","doi":"https://doi.org/10.1109/robot.2009.5152378","title":"The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation","display_name":"The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2126950418","doi":"https://doi.org/10.1109/robot.2009.5152378","mag":"2126950418"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/50576","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102845632","display_name":"D. G. Cunningham","orcid":"https://orcid.org/0000-0003-1766-7189"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D. Cunningham","raw_affiliation_strings":["Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, USA","Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052171167","display_name":"H. Harry Asada","orcid":"https://orcid.org/0000-0003-3155-6223"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H.H. Asada","raw_affiliation_strings":["Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, USA","Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102845632"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":6.921,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.96541787,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1844","last_page":"1850"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/winch","display_name":"Winch","score":0.9907904267311096},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.7084515690803528},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.652752161026001},{"id":"https://openalex.org/keywords/excitation","display_name":"Excitation","score":0.6123046875},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.3866689205169678},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3691227436065674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35351645946502686},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.32485318183898926},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29987168312072754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11491021513938904},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06774520874023438}],"concepts":[{"id":"https://openalex.org/C116168119","wikidata":"https://www.wikidata.org/wiki/Q258534","display_name":"Winch","level":2,"score":0.9907904267311096},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.7084515690803528},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.652752161026001},{"id":"https://openalex.org/C83581075","wikidata":"https://www.wikidata.org/wiki/Q1361503","display_name":"Excitation","level":2,"score":0.6123046875},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3866689205169678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3691227436065674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35351645946502686},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.32485318183898926},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29987168312072754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11491021513938904},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06774520874023438},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152378","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/50576","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/50576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"pmh:oai:dspace.mit.edu:1721.1/53726","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/53726","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/50576","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/50576","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1768957880","https://openalex.org/W1864489837","https://openalex.org/W2003360230","https://openalex.org/W2112829158","https://openalex.org/W2166761666","https://openalex.org/W2179186822","https://openalex.org/W4232097448","https://openalex.org/W4248914237"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W1985210309","https://openalex.org/W2382602433","https://openalex.org/W2371208778","https://openalex.org/W592606397","https://openalex.org/W2383280341","https://openalex.org/W2353149517","https://openalex.org/W2462520704","https://openalex.org/W240924388","https://openalex.org/W2385027376"],"abstract_inverted_index":{"A":[0,140],"simple,":[1],"compact,":[2],"yet":[3],"powerful":[4],"robotic":[5],"winch,":[6],"called":[7],"ldquoWinch-Bot,rdquo":[8],"is":[9,16,34,96,105,143],"presented":[10],"in":[11,39],"this":[12],"paper.":[13],"The":[14,52,71],"Winch-Bot":[15,79,142],"an":[17],"underactuated":[18,136],"robot":[19],"having":[20],"only":[21],"one":[22,31],"controllable":[23],"axis.":[24],"Although":[25],"hanging":[26],"a":[27,40,59,100,109,121],"load":[28,46],"with":[29],"merely":[30],"cable,":[32],"it":[33,38],"capable":[35],"of":[36,61,69,77,99,108,138],"moving":[37,64],"large":[41],"workspace":[42],"by":[43,84],"swinging":[44],"the":[45,78,103,106,117,126,135],"dynamically":[47],"based":[48],"on":[49],"parametric":[50,152],"self-excitation.":[51],"generated":[53],"trajectories":[54],"can":[55,119],"be":[56,114,130],"used":[57],"for":[58],"variety":[60],"tasks,":[62],"from":[63],"material":[65],"to":[66,134],"cyclic":[67],"inspection":[68],"surfaces.":[70],"basic":[72],"principle":[73],"and":[74,87,102,145,147,151],"design":[75],"concept":[76],"are":[80,93,155],"first":[81],"described,":[82],"followed":[83],"dynamic":[85],"modeling":[86],"analysis.":[88],"Two":[89],"trajectory":[90],"generation":[91],"problems":[92],"solved.":[94],"One":[95],"point-to-point":[97],"transfer":[98],"load,":[101],"other":[104],"tracking":[107,127],"continuous":[110,149],"path.":[111],"It":[112],"will":[113],"shown":[115],"that":[116],"system":[118],"track":[120],"given":[122],"geometric":[123],"trajectory,":[124],"although":[125],"velocity":[128],"cannot":[129],"determined":[131],"arbitrarily":[132],"due":[133],"nature":[137],"dynamics.":[139],"prototype":[141],"designed":[144],"built,":[146],"point-to-point,":[148],"path,":[150],"excitation":[153],"control":[154],"implemented.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}