Li Han, Lee Rudolph. Simplex-Tree Based Kinematics of Foldable Objects as Multi-body Systems Involving Loops. In Oliver Brock, Jeff Trinkle, Fabio Ramos, editors, Robotics: Science and Systems IV, Eidgenössische Technische Hochschule Zürich, Zurich, Switzerland, June 25-28, 2008. The MIT Press, 2008. [doi]
Abstract is missing.