Design optimization of tendon-driven robots considering tendon wrapping and shortcut

arXiv:2610.09645 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Comments: Accepted to Advanced Robotics, website: https://haraduka.github.io/opt-wrap-shortcut

DOI: 10.1080/01691864.2026.2723650

Code: https://github.com/ax-ml/jax

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Multi-objective Optimization — 11× in this paper · explained in 4 episodes
• Curse of Dimensionality — 2× in this paper · explained in 6 episodes
• Redundancy — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Objective Function — 1× in this paper · explained in 2 episodes

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