Cusp is an Eclipse IDE plugin available from which runs on top of SBCL. There are builds for Windows, Linux and OS X (Intel) available.

(Note: It seems to be very difficult to find where to download Cusp at present. If you have trouble, use the following Eclipse update site).

Cusp is maintained by Tim Jasko

Project's site is (seem to be dead)

Source was found at

And there is a clone at github:

Article on CUSP at IBM Developerworks: