  One of the most important features of tendon-driven robots is the ease of
wire arrangement and the degree of freedom it affords, enabling the
construction of a body that satisfies the desired characteristics by modifying
the wire arrangement. Various wire arrangement optimization methods have been
proposed, but they have simplified the configuration by assuming that the
moment arm of wires to joints are constant, or by disregarding wire
arrangements that span multiple joints and include relay points. In this study,
we formulate a more flexible wire arrangement optimization problem in which
each wire is represented by a start point, multiple relay points, and an end
point, and achieve the desired physical performance based on black-box
optimization. We consider a multi-objective optimization which simultaneously
takes into account both the feasible operational force space and velocity
space, and discuss the optimization results obtained from various
configurations.
