# Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots

arXiv: https://arxiv.org/abs/2507.04235 · HTML: https://mlsanity.com/paper/2507.04235/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 20 references that are in the map.
- First posted on arXiv 6 Jul 2025.

## Builds on (most cited first, 7 of 7)

- [Optuna: A Next-generation Hyperparameter Optimization Framework](https://mlsanity.com/paper/1907.10902/) (2019)
- [Task-Based Design and Policy Co-Optimization for Tendon-driven Underactuated Kinematic Chains](https://mlsanity.com/paper/2405.14566/) (2024)
- [Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-driven Robots](https://mlsanity.com/paper/2401.02730/) (2024)
- [Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems](https://mlsanity.com/paper/2410.22000/) (2024)
- [SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism](https://mlsanity.com/paper/2403.01803/) (2024)
- [CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment](https://mlsanity.com/paper/2410.05933/) (2024)
- [Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture](https://mlsanity.com/paper/2502.12803/) (2025)

## Abstract (arXiv)

Tendon-driven mechanisms are useful from the perspectives of variable stiffness, redundant actuation, and lightweight design, and they are widely used, particularly in hands, wrists, and waists of robots. The design of these wire arrangements has traditionally been done empirically, but it becomes extremely challenging when dealing with complex structures. Various studies have attempted to optimize wire arrangement, but many of them have oversimplified the problem by imposing conditions such as restricting movements to a 2D plane, keeping the moment arm constant, or neglecting wire crossings. Therefore, this study proposes a three-dimensional wire arrangement optimization that takes wire crossings into account. We explore wire arrangements through a multi-objective black-box optimization method that ensures wires do not cross while providing sufficient joint torque along a defined target trajectory. For a 3D link structure, we optimize the wire arrangement under various conditions, demonstrate its effectiveness, and discuss the obtained design solutions.