Lecture 2: Linkages, configurations, configuration space, trace; Kempe Universality Theorem, his proof, the bug; topological universality; signing your name
Page 3: Reduction to angle gadgets, contraparallelogram, multiplicator, additor
You can view applets for a contraparallelogram, multiplicators, and an additor.
These are rough, personal lecture notes handwritten by Erik Demaine used during lecture. Their primary purpose is for reading/review by students of the class.