Designing Cable Driven Actuation Networks for Kinematic Chains and Trees

In this paper we present an optimization-based approach for the design of cable-driven kinematic chains and trees. Our system takes as input a hierarchical assembly consisting of rigid links jointed together with hinges. The user also specifies a set of target poses or keyframes using inverse kinematics. Our approach places torsional springs at the joints and computes a cable network that allows us to reproduce the specified target poses. We start with a large set of cables that have randomly chosen routing

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