A 2-DOF malleable robot arm with variable-stiffness links has a quartic workspace surface, and its kinematics can be computed purely from inter-point distances.
Theory and applications of distance geometr y, 1953
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Malleable Robots
A 2-DOF malleable robot arm with variable-stiffness links has a quartic workspace surface, and its kinematics can be computed purely from inter-point distances.