An application of metric geometry to robotics

My dissertation concerned an application of metric geometry to the problem of reconfiguring robotic systems.

I’m providing it here for any of my students who may be curious what doctoral-level math looks like—or what I was talking about in class that time I was saying how moving a robot arm with two 360° joints is like drawing a curve on a donut.

Caption: The document just wants you to trust it.

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