Homology of planar telescopic linkages

Michael Farber*, Viktor Fromm

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


We study topology of configuration spaces of planar linkages having one leg of variable length. Such telescopic legs are common in modern robotics where they are used for shock absorbtion and serve a variety of other purposes. Using a Morse theoretic technique, we compute explicitly, in terms of the metric data, the Betti numbers of configuration spaces of these mechanisms.

Original languageEnglish
Pages (from-to)1063-1087
Number of pages25
JournalAlgebraic and Geometric Topology
Issue number2
StatePublished - 2010
Externally publishedYes


  • 55R80
  • 70B15


Dive into the research topics of 'Homology of planar telescopic linkages'. Together they form a unique fingerprint.

Cite this