Related papers: The configuration space of planar spidery linkages
A kinematic chain in three-dimensional Euclidean space consists of $n$ links that are connected by spherical joints. Such a chain is said to be within a closed configuration when its link lengths form a closed polygonal chain in three…
This article surveys the use of configuration space integrals in the study of the topology of knot and link spaces. The main focus is the exposition of how these integrals produce finite type invariants of classical knots and links. More…
It is known that a closed polygon P is a critical point of the oriented area function if and only if P is a cyclic polygon, that is, $P$ can be inscribed in a circle. Moreover, there is a short formula for the Morse index. Going further in…
The study of topological information of spatial objects has for a long time been a focus of research in disciplines like computational geometry, spatial reasoning, cognitive science, and robotics. While the majority of these researches…
A linkage is a finite graph with lengths assigned to each edge. A planar realization is a map to the plane which preserves edge lengths. It can be thought of as a mechanical device formed from stiff rods and rotating joints. We look at the…
The total homology of the loop space of the configuration space of ordered distinct n points in R^m has a structure of a Hopf algebra defined by the 4-term relations if m>2. We describe a relation of between the cohomology of this loop…
This paper studies the configuration space of all possible positions of a linkage in R^n. For example, it shows that for every compact algebraic set, there is a linkage whose configuration space is analytically isomorphic to a finite number…
We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…
This paper studies the configuration spaces of linkages whose underlying graph is a single cycle. Assume that the edge lengths are such that there are no configurations in which all the edges lie along a line. The main results are that,…
Configuration spaces of many real mechanical systems appear to be manifolds with singularity. A singularity often indicates that geometry of motion may change at the singular point of configuration space. We face conceptual problem…
This paper focuses on studying the configuration spaces of graphs realised in $\mathbb C^2$, such that the configuration space is, after normalisation, one dimensional. If this is the case, then the configuration space is, generically, a…
Given a graph $G$, a configuration space of $G$ can be thought of as the set of all possible configurations of "robots" which can move throughout $G$, subject to some constraints. We introduce a type of configuration space which we call…
Spider mechanisms are the simplest examples of arachnoid mechanisms, they are one step more complicated than polygonal linkages. Their configuration spaces have been studied intensively, but are yet not completely understood. In the paper…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
Configuration spaces of distinct labeled points on the plane are of practical relevance in designing safe control schemes for Automated Guided Vehicles (robots) in industrial settings. In this announcement, we consider the problem of the…
For Gamma a finite, connected metric graph, we consider the space of configurations of n points in Gamma with a restraint parameter r dictating the minimum distance allowed between each pair of points. These restricted configuration spaces…
We study the geometry associated with the kinematics of a planar robot known as the "three-segment snake," whose velocity distribution belongs to a class of (2,3,5) distributions. We discover that, under certain assumptions on its…
A mechanical linkage is a mechanism made of rigid rods linked together by flexible joints, in which some vertices are fixed and others may move. The partial configuration space of a linkage is the set of all the possible positions of a…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
The closed homogeneous and isotropic universe is considered. The bundles of Weyl and Dirac spinors for this universe are explicitly described. Some explicit formulas for the basic fields and for the connection components in stereographic…