ICRA'09 Paper Abstract


Paper FrA10.1

Cunningham, Daniel (Massachusetts Institute of Technology), Asada, Harry (MIT)

The Winch-Bot: A Cable-Suspended, Under-Actuated Robot Utilizing Parametric Self-Excitation

Scheduled for presentation during the Regular Sessions "Field Robots - III" (FrA10), Friday, May 15, 2009, 08:30−08:50, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Robotics in Construction, Dynamics, Motion and Path Planning


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 with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks, from moving material to cyclic inspection of surfaces. The basic principle and design concept of the Winch-Bot are first described, followed by dynamic modeling and analysis. Two trajectory generation problems are solved. One is point-to-point transfer of a load, and the other is the tracking of a continuous path. It will be shown that the system can track a given geometric trajectory, although the tracking velocity cannot be determined arbitrarily due to the underactuated nature of dynamics. A prototype Winch-Bot is designed and built, and point-to-point, continuous path, and parametric excitation control are implemented.



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