sim2real2026/9/9arXiv:2609.09612

MuJoCable: 腱駆動ロボットのための低次元表面配線ケーブル伝達モデル

MuJoCable: Reduced-Order Surface-Routed Cable Transmission for Tendon-Driven Robots

MuJoCoに、移動する非円形接触・片側張力・摩擦を考慮した低次元のケーブル伝達モデルを追加し、腱駆動ロボットの配線設計とシミュレーション精度を向上させた。

詳しい要約

1. どんなもの？

- MuJoCableは、tendon-driven robots向けのcable transmissionをMuJoCoに追加する手法。 - reduced-orderでconfiguration-dependentなcable transmissionを実現。 - routing algorithmがmoving analytic and mesh surfaces上のordered pathを最適化。 - unilateral axial law, directional Capstan propagation, nodal virtual workでsegment tensionsとbody forcesを計算。 - warm-started engine pluginとしてシミュレーション中に力を適用し、routeとload statesを設計用に公開。

2. 先行研究と比べてどこがすごい？

- 従来のMuJoCoなどのrigid-body simulatorsは、moving noncircular contact, unilateral tension, segment frictionを同時に解決できなかった。 - MuJoCableはこれらを統合的に扱うreduced-order cable transmissionを追加。 - Pulley benchmarksでCapstan-ratio errorが0.5%未満と高精度。 - underactuated 18-joint SpiRobsで、native tendonが表現できないfriction-driven load growthとproximal redistribution of joint rotationを明らかに。 - hardware testsで観察されたmotion sequencesを再現。

3. 技術・手法の肝は？

- routing algorithmがmoving analytic and mesh surfaces上のordered pathをjointly optimize。 - unilateral axial law, directional Capstan propagation, nodal virtual workでpathをsegment tensionsとbody forcesにマッピング。 - warm-started engine pluginがシミュレーション中にこれらの力を適用。 - routeとload statesを設計用に公開。 - reduced-orderでconfiguration-dependentなcable transmissionをMuJoCoに追加。

4. どうやって有効だと検証した？

- Pulley benchmarksでanalytical transmission relationsを回復し、Capstan-ratio errorが0.5%未満。 - underactuated 18-joint SpiRobsでfriction-driven load growthとproximal redistribution of joint rotationを確認。 - hardware tests on SpiRobs and a tendon-route-coupled fingerで観察されたmotion sequencesを再現。

5. 議論はある？

- 要旨からは不明。

6. 次に読むべき論文は？

- MuJoCo, Capstan propagation, SpiRobs, tendon-driven robots, underactuated robots

※ AIが要旨から生成した要約です。正確性は原文をご確認ください。

著者: Yi Zhang, Qi Shao, Yicong Lin, Muyuan Ma, Tao Sun, Yue Xie

分類: cs.RO, cs.CE

原文アブストラクト

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 reduced-order, configuration-dependent cable transmission to MuJoCo. Its routing algorithm jointly optimizes an ordered path across moving analytic and mesh surfaces. A unilateral axial law, directional Capstan propagation, and nodal virtual work map this path to segment tensions and body forces. The warm-started engine plugin applies these forces during simulation and exposes route and load states for design. Pulley benchmarks recover analytical transmission relations with a Capstan-ratio error below 0.5%. On the underactuated 18-joint SpiRobs, MuJoCable reveals friction-driven load growth and proximal redistribution of joint rotation that the native tendon does not represent. Hardware tests on SpiRobs and a tendon-route-coupled finger reproduce observed motion sequences. By making physical threading executable, MuJoCable brings transmission sources of the simulation-to-reality gap into route, cable, and actuator design before fabrication.

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