Lecture 2: Linkages, configurations, configuration space, trace; Kempe Universality Theorem, his proof, the bug; topological universality; signing your name
Page 4: Translator, bug, efficiency and generalization questions, topological universality
You can download the paper by Gao, Zhu, Chou, and Ge on polynomial bounds and algorithms for Kempe linkages and a generalization to 2D surfaces in 3D.
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.