Geodesic
Visualisation of Configuration Spaces of Polygonal Linkages
Journal for geometry and graphics, Tome 4 (2000) no. 2, pp. 147-158 Cet article a éte moissonné depuis la source Heldermann Verlag

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Using Morse theory, the configuration space of a 4-gonal (respectively 5-gonal) linkage in the plane or on the unit-sphere can be visualised as a curve in [0, 2p] � [0, 2p] (respectively as a surface in [0, 2p] � [0, 2p] � [0, 2p]). 
@article{JGG_2000_4_2_a4,
     author = {O. Mermoud and M. Steiner},
     title = {Visualisation of {Configuration} {Spaces} of {Polygonal} {Linkages}},
     journal = {Journal for geometry and graphics},
     pages = {147--158},
     year = {2000},
     volume = {4},
     number = {2},
     url = {http://geodesic.mathdoc.fr/item/JGG_2000_4_2_a4/}
}
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O. Mermoud; M. Steiner. Visualisation of Configuration Spaces of Polygonal Linkages. Journal for geometry and graphics, Tome 4 (2000) no. 2, pp. 147-158. http://geodesic.mathdoc.fr/item/JGG_2000_4_2_a4/