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Palindromic, periodic and Möbius Rubik’s snakes

International Robotics & Automation Journal
Songming Hou,1 Jianning Su,2 Yu Chen3

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A Rubik’s Snake is an interesting toy which can be thought as a serial chain with applications in the construction of reconfigurable modular robots. In this paper, we present some theorems related to a Rubik’s snake with palindromic, periodic and Möbius properties. Examples are given for shape design using such properties.


rubik’s snake, möbius strip