most citedHierarchical self-assembly for high-yield addressable complexity at fixed conditions

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cs.RO2025

A Constrained Saddle Search Approach for Constructing Singular and Flexible Bar Frameworks

Xuenan Li, Mihnea Leonte, Christian D. Santangelo +1

Singularity analysis is essential in robot kinematics, as singular configurations cause loss of control and kinematic indeterminacy. This paper models singularities in bar framewor…