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In this paper we describe an algorithm to generate energy efficient trajectories for NIMS3D, a three-dimensional cabled robotic platform. ... Experimental results on a physical system for a three cable deployment show substantial reductions in energy consumption as compared to linear trajectories. ... ACTUATOR MODELING In order to enable improved energy efficiency in a cabled robotic system, it is important to generate a valid model for its actuator systems. ...doi:10.1109/robot.2008.4543544 dblp:conf/icra/BorgstromBSJSBK08 fatcat:2bftuysixzdutj6mvwd5ku3kay