Time-Optimal Motion Generation and Load-Sway Suppression for Rotary Cranes with a Two-Stage S-Curve Trajectory Based on Skilled Operation Analysis. - Kazufumi Kudara; Hideki Takahashi; Shintaro Sasai; Hitoshi Sakurai; Masaki Okubo; Hiroki Nakayama; Teppei Maedo; Naoki Uchiyama (ECC, 2024)