Per Henrik Borgstrom Brett L. Jordan Maxim A. Batalin Gaurav S. Sukhatme William J. Kaiser Field-tests of a redundantly actuated cable-driven robot for environmental sampling applications. 615-620 2009 CASE http://dx.doi.org/10.1109/COASE.2009.5234181 conf/case/2009 db/conf/case/case2009.html#BorgstromJBSK09