# Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-driven Robots

arXiv: https://arxiv.org/abs/2401.02730 · HTML: https://mlsanity.com/paper/2401.02730/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Jan 2024.

## Built on by (most cited first, 2 of 2)

- [Mechanical Intelligence-Aware Curriculum Reinforcement Learning for Humanoids with Parallel Actuation](https://mlsanity.com/paper/2507.00273/) (2025)
- [Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots](https://mlsanity.com/paper/2507.04235/) (2025)

## Abstract (arXiv)

One of the most important features of tendon-driven robots is the ease of wire arrangement and the degree of freedom it affords, enabling the construction of a body that satisfies the desired characteristics by modifying the wire arrangement. Various wire arrangement optimization methods have been proposed, but they have simplified the configuration by assuming that the moment arm of wires to joints are constant, or by disregarding wire arrangements that span multiple joints and include relay points. In this study, we formulate a more flexible wire arrangement optimization problem in which each wire is represented by a start point, multiple relay points, and an end point, and achieve the desired physical performance based on black-box optimization. We consider a multi-objective optimization which simultaneously takes into account both the feasible operational force space and velocity space, and discuss the optimization results obtained from various configurations.