Many problems arise in biochemistry, robotics, and other fields in which flexibility of a polygonal or polyhedral structure plays an important role. In biochemistry, the flexibility and folding of molecules is an important factor in drug design and is a subject of ongoing research (Erickson et al. 2004). In robotics, stable configurations of manipulators (e.g., a mechanical arm grasping) as well as mechanical joints for locomotion (e.g., walking) must be calculated for safe, smooth movement.

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