New algorithms for multilink robot arms
Journal of Computer and System Sciences
Motions of a short-linked robot arm in a square
Discrete & Computational Geometry
Folding and Unfolding in Computational Geometry
JCDCG '98 Revised Papers from the Japanese Conference on Discrete and Computational Geometry
Determining Points of a Circular Region Reachable by Joints of a Robot Arm
Determining Points of a Circular Region Reachable by Joints of a Robot Arm
Limbless locomotion: learning to crawl with a snake robot
Limbless locomotion: learning to crawl with a snake robot
Chain Reconfiguration The Ins and Outs, Ups and Downs of Moving Polygons and Polygonal Linkages
ISAAC '01 Proceedings of the 12th International Symposium on Algorithms and Computation
A new dynamic programming algorithm for orthogonal ruler folding problem in d-dimensional space
ICCSA'07 Proceedings of the 2007 international conference on Computational science and its applications - Volume Part I
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An open chain or n-link is a sequence of n links with fixed lengths that are joined together at their endpoints and can turn about their endpoints, which act as joints. Positions of the joints of a chain define a configuration of the chain in the space. In one-dimensional space, we define a binary configuration as a sequence of direction of links. Open chain reconfiguration is a sequence of predefined transformation operations which can be used to convert a given binary configuration to another given binary configuration. Each transformation operation is assigned a cost. For two given binary configurations, there may be many reconfigurations whose costs are different. We formalize the problem, and we propose a dynamic programming approach to find a reconfiguration whose cost is minimum for the conversion of two given binary configurations of an open chain in the one-dimensional space. Our algorithm takes O(n^2) time using O(n) space.