Imagine, if you will, a man who has lived on a remote island for he's entire life, alone, far away from the touch of the world. It is a rich tropical island abundant with natural resources that he requires to survive, and he does not worry about starvation while at the same time having many spare hours to do as he pleases. When he wants to eat, he eats, when he wants to sleep, he sleeps. There is no other human to restrain him, and the only rules to abide by are he's own. He does as he pleases. One could argue that this man is free.
However, this would mean that freedom is ignorance, as this man is far from free. If he wanted to cross the ocean to visit some far off place, he could not. The ocean around him is a cage, stopping him from ever leaving he's small, isolated home. The only reason that he never seeks to visit a far off place is because he is unaware that such a place exists. I'm sure if a book with pictures of these locations washed up on he's shore, he may start to feel he's little island is more of a prison than a paradise.
So freedom is ignorance of the laws that restrain you. As long as you aren't aware that there are other options, you will feel free. Still, we seek understanding of our limits, not because we long to feel trapped, but because it is the only way we will ever find a way off our tiny island of ignorance, and enjoy the greater splendour that the world has to offer... Until he realise that gravity has become our cage now, and seek to free ourselves from that too.