Abstract We study a simple type of modular robot, consisting of a collection of identical d -dimensional cubes in {R}^d R d, which change position by sliding along each other (parallel to the axes). We describe the configuration space of such a mechanism, and show that it has a dense open smooth submanifold, and that book singularities are generic in its complement.
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David Blanc
Nir Shvalb
Journal of Applied and Computational Topology
University of Haifa
Ariel University
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Blanc et al. (Mon,) studied this question.
www.synapsesocial.com/papers/69df2cb9e4eeef8a2a6b1e62 — DOI: https://doi.org/10.1007/s41468-026-00236-0