Author

Qi-Bing Shao

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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. · 0 citations