Abstract: An articulating object is provided, and may include a first body portion, a second body portion, a first cable segment and a cable drive system. The second body portion has a neutral axis and is articulatable. The first cable segment extends along the second body portion on a first side of the neutral axis. The first cable segment is of a push-pull cable type. The cable drive system is drivable to move the first cable segment in a first direction to generate a first moment on the second body portion in a first moment direction, thereby driving articulation of the second body portion in a first articulation direction, and is drivable to move the first cable segment in a second direction to generate a first moment on the second body portion in a second moment direction, thereby driving articulation of the second body portion in a second articulation direction.