Preprint
Sep 2026
MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots
Tendon transmissions reduce distal inertia and add compliance, yet routing, slack, and friction govern motion and force transfer. Mainstream rigid-body robotics simulators such as MuJoCo do not jointly resolve moving noncircular contact, unilateral tension, and segment friction. We present MuJoCable, which adds a reduc...
Yi Zhang, Qi-Bing Shao, Yi-Cong Lin et al.
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