A Generalized Carpenter's Rule Theorem for Self-Touching Linkages

Timothy G. Abbott Erik D. Demaine Blaise Gassend A Generalized Carpenter's Rule Theorem for Self-Touching Linkages http://arxiv.org/abs/0901.1322 2009 CoRR abs/0901.1322 db/journals/corr/corr0901.html#abs-0901-1322 informal publication