Discrete trajectory control algorithms for NIMS3D, an autonomous underconstrained three-dimensional cabled robot. - Per Henrik Borgstrom; Nils Peter Borgstrom; Michael J. Stealey; Brett L. Jordan; Gaurav S. Sukhatme; Maxim A. Batalin; William J. Kaiser (IROS, 2007)

Generation of energy efficient trajectories for NIMS3D, a three-dimensional cabled robot. - Per Henrik Borgstrom; Nils Peter Borgstrom; Michael J. Stealey; Brett L. Jordan; Gaurav S. Sukhatme; Maxim A. Batalin; William J. Kaiser (ICRA, 2008)

Design and Implementation of NIMS3D, a 3-D Cabled Robot for Actuated Sensing Applications. - Per Henrik Borgstrom; Nils Peter Borgstrom; Michael J. Stealey; Brett L. Jordan; Gaurav S. Sukhatme; Maxim A. Batalin; William J. Kaiser (IEEE Trans. Robotics, 2009)