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doi:10.1016/0097-8493(92)90048-Z 
Copyright © 1992 Published by Elsevier Science Ltd.
Technical section
Dichotomous paths: An algorithm originally devised to represent botanical trees, herein used to move the arm of a robot and to draw figures with a small amount of information
Available online 11 June 2003.
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Abstract
A dichotomy may be defined as the figure represented by two branches starting from the end of another branch with angles ±α; if the procedure is repeated a number of times a tree-like structure is obtained. From the whole structure we have herein considered one aspect only, that which corresponds to the path that may be traversed from the origin of the first dichotomy to the free end of the last branch. We have studied several aspects of this, herein called “dichotomous path,” which may be used as the articulate arm of a robot or as an algorithm to give the shape of figures with a small amount of information.
