Locked and Unlocked Chains of Planar Shapes

We extend linkage unfolding results from the well-studied case of polygonal linkages to the more general case of linkages of polygons. More precisely, we consider chains of nonoverlapping rigid planar shapes (Jordan regions) that are hinged together sequentially at rotatable joints. Our goal is to characterize the families of planar shapes that admit locked chains, where some configurations cannot be reached by continuous reconfiguration without self-intersection, and which families of planar shapes guarantee universal foldability, where every chain is guaranteed to have a connected configuration space. Previously, only obtuse triangles were known to admit locked shapes, and only line segments were known to guarantee universal foldability. We show that a surprisingly general family of planar shapes, called slender adornments, guarantees universal foldability: roughly, the distance from each edge along the path along the boundary of the slender adornment to each hinge should be monotone. In contrast, we show that isosceles triangles with any desired apex angle less than 90 degrees admit locked chains, which is precisely the threshold beyond which the inward-normal property no longer holds.Comment: 23 pages, 25 figures, Latex; full journal version with all proof details. (Fixed crash-induced bugs in the abstract.

Convex Configurations on Nana-kin-san Puzzle

We investigate a silhouette puzzle that is recently developed based on the golden ratio. Traditional silhouette puzzles are based on a simple tile. For example, the tangram is based on isosceles right triangles; that is, each of seven pieces is formed by gluing some identical isosceles right triangles. Using the property, we can analyze it by hand, that is, without computer. On the other hand, if each piece has no special property, it is quite hard even using computer since we have to handle real numbers without numerical errors during computation. The new silhouette puzzle is between them; each of seven pieces is not based on integer length and right angles, but based on golden ratio, which admits us to represent these seven pieces in some nontrivial way. Based on the property, we develop an algorithm to handle the puzzle, and our algorithm succeeded to enumerate all convex shapes that can be made by the puzzle pieces. It is known that the tangram and another classic silhouette puzzle known as Sei-shonagon chie no ita can form 13 and 16 convex shapes, respectively. The new puzzle, Nana-kin-san puzzle, admits to form 62 different convex shapes

Nested reconfigurable robots: theory, design, and realization

Rather than the conventional classification method, we propose to divide modular and reconfigurable robots into intra-, inter-, and nested reconfigurations. We suggest designing the robot with nested reconfigurability, which utilizes individual robots with intra-reconfigurability capable of combining with other homogeneous/heterogeneous robots (inter-reconfigurability). The objective of this approach is to generate more complex morphologies for performing specific tasks that are far from the capabilities of a single module or to respond to programmable assembly requirements. In this paper, we discuss the theory, concept, and initial mechanical design of Hinged-Tetro, a self-reconfigurable module conceived for the study of nested reconfiguration. Hinged-Tetro is a mobile robot that uses the principle of hinged dissection of polyominoes to transform itself into any of the seven one-sided tetrominoes in a straightforward way. The robot can also combine with other modules for shaping complex structures or giving rise to a robot with new capabilities. Finally, the validation experiments verify the nested reconfigurability of Hinged-Tetro. Extensive tests and analyses of intra-reconfiguration are provided in terms of energy and time consumptions. Experiments using two robots validate the inter-reconfigurability of the proposed module

Hinged Dissections Exist

We prove that any finite collection of polygons of equal area has a common hinged dissection. That is, for any such collection of polygons there exists a chain of polygons hinged at vertices that can be folded in the plane continuously without self-intersection to form any polygon in the collection. This result settles the open problem about the existence of hinged dissections between pairs of polygons that goes back implicitly to 1864 and has been studied extensively in the past ten years. Our result generalizes and indeed builds upon the result from 1814 that polygons have common dissections (without hinges). We also extend our common dissection result to edge-hinged dissections of solid 3D polyhedra that have a common (unhinged) dissection, as determined by Dehn's 1900 solution to Hilbert's Third Problem. Our proofs are constructive, giving explicit algorithms in all cases. For a constant number of planar polygons, both the number of pieces and running time required by our construction are pseudopolynomial. This bound is the best possible, even for unhinged dissections. Hinged dissections have possible applications to reconfigurable robotics, programmable matter, and nanomanufacturing.Comment: 22 pages, 14 figure

Square Trisection

A square trisection is a problem of assembling three identical squares from a larger square, using a minimal number of pieces. This paper presents an historical overview of the square trisection problem starting with its origins in the third century. We detail the reasoning behind some of the main known solutions. Finally, we give a new solution and three ruler-and-compass constructions. We conclude with a conjecture of optimality of the proposed solution

Dissection with the Fewest Pieces is Hard, Even to Approximate

We prove that it is NP-hard to dissect one simple orthogonal polygon into another using a given number of pieces, as is approximating the fewest pieces to within a factor of 1+1/1080−ε .National Science Foundation (U.S.) (Grant CCF-1217423)National Science Foundation (U.S.) (Grant CCF-1065125)National Science Foundation (U.S.) (Grant CCF-1420692

Computational design of steady 3D dissection puzzles

Dissection puzzles require assembling a common set of pieces into multiple distinct forms. Existing works focus on creating 2D dissection puzzles that form primitive or naturalistic shapes. Unlike 2D dissection puzzles that could be supported on a tabletop surface, 3D dissection puzzles are preferable to be steady by themselves for each assembly form. In this work, we aim at computationally designing steady 3D dissection puzzles. We address this challenging problem with three key contributions. First, we take two voxelized shapes as inputs and dissect them into a common set of puzzle pieces, during which we allow slightly modifying the input shapes, preferably on their internal volume, to preserve the external appearance. Second, we formulate a formal model of generalized interlocking for connecting pieces into a steady assembly using both their geometric arrangements and friction. Third, we modify the geometry of each dissected puzzle piece based on the formal model such that each assembly form is steady accordingly. We demonstrate the effectiveness of our approach on a wide variety of shapes, compare it with the state-of-the-art on 2D and 3D examples, and fabricate some of our designed puzzles to validate their steadiness

On Dissecting Polygons into Rectangles

What is the smallest number of pieces that you can cut an n-sided regular polygon into so that the pieces can be rearranged to form a rectangle? Call it r(n). The rectangle may have any proportions you wish, as long as it is a rectangle. The rules are the same as for the classical problem where the rearranged pieces must form a square. Let s(n) denote the minimum number of pieces for that problem. For both problems the pieces may be turned over and the cuts must be simple curves. The conjectured values of s(n), 3 <= n <= 12, are 4, 1, 6, 5, 7, 5, 9, 7, 10, 6. However, only s(4)=1 is known for certain. The problem of finding r(n) has received less attention. In this paper we give constructions showing that r(n) for 3 <= n <= 12 is at most 2, 1, 4, 3, 5, 4, 7, 4, 9, 5, improving on the bounds for s(n) in every case except n=4. For the 10-gon our construction uses three fewer pieces than the bound for s(10). Only r(3) and r(4) are known for certain. We also briefly discuss q(n), the minimum number of pieces needed to dissect a regular n-gon into a monotile.Comment: 26 pages, one table, 41 figures, 14 reference