Designing cable-driven actuation networks for kinematic chains and trees

Symposium on Computer Animation, 2017.

Cited by: 17|Views74


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 spri...More



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