Lecture 2: Linkages, configurations, configuration space, trace; Kempe Universality Theorem, his proof, the bug; topological universality; signing your name
Page 5: Signing your name: Weierstrass approximation theorem, piecewise-polynomial curves; project ideas
You can view an applet signing the letter C.
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.