**Authors: **[tex2html_wrap4196]*W. Lenhart, S. Whitesides*

**Investigator username:** sue

**Category: ** perception

**Subcategory:** geometric algorithms

We give a necessary and sufficient condition, testable in linear time, for determining whether a closed link chain can be reconfigured from one given position to another without disassembly. When the chain can be reconfigured, we give an algorithm for producing a set of motions that perform the reconfiguration. The algorithm runs in linear time and applies to closed chains in arbitrary dimensional space.

baron@cim.mcgill.ca