Year: 2026
Type: article
Abstract: We study a simple type of modular robot, consisting of a collection of identical d -dimensional cubes in $${\mathbb {R}}^{d}$$ 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.
Authors: David Blanc, Nir Shvalb
Institutions: University of Haifa, Ariel University
Language: English
Subfield: Geometry and Topology
Field: Mathematics
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $3,390
Funder: Ariel University
OpenAlex ID: W7154175735