Li Han, Lee Rudolph, Sam Dorsey-Gordon, Dylan Glotzer, Dan Menard, Jon Moran, James R. Wilson. Bending and kissing: Computing self-contact configurations of planar loops with revolute joints. In 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009. pages 1346-1351, IEEE, 2009. [doi]
Abstract is missing.