A cable handling system mounted to a mobile robot to dispense and retrieve cable at zero tension includes a cable reel drive and a downstream tension roller drive that includes an idler. As a cable passes through the tension roller drive, position along the length of the cable and/or the cable speed...http://www.google.com/patents/US7546912?utm_source=gb-gplus-sharePatent US7546912 - Communications spooler for a mobile robot
