GFALOP Errata

Chap	Page	Location	Old	New	Explanation	Corrector	Date
5	66	Eq. 5.2	l₃ <= (l₁-l₂) + (l₄+...+l_n) ... But Eq. (5.2) is just a rearrangment of Eq. (5.1), ...	l₃ <= (l₁-l₂) + (l₄+...+l_n) or (l₁+l₂) <= l₃+...+l_n... But Eq. (5.2) is just a rearrangment of Eq. (5.1), and Eq. (5.3) follows easily from Eq. (5.1) ...	Missed a case, which easily follows.	Ryuhei Uehara	5Jul08
8	135,136	Table of coords; Fig.8.7	v₄: ( 0, 0, (3/2)ε )	v₄: ( -1/2, 0, (3/2)ε )	Mental typo: v₃v₄ must be longer to force overlap.	Andrew Winslow	30Nov10
8	143	Line+12 of Sec. 8.2.1	Define such a chain to be convex if all of its vertices lie on the convex hull	Define such a chain to be convex if all of its edges lie on the convex hull	A zigzag chain could have all its vertices on the hull be not be convex in the sense we intended.	Sebsatien Collette	6 Feb 08
11	190	Line+1	2. ..., say α, is not acute ...	2. ..., say α, is not acute, and \|ac\| ≤ \|ab\| ... 3. If α is not acute but \|ac\| > \|ab\|, [click here for completion of new case].	Case 2 only covers a subcase; Case 3 completes the argument (due to Ryuhei Uehara).	Ryuhei Uehara	23Feb08
22	326	Sec. 22.5.2 Domes, Line+5	and at most one can have adjacent faces diverge (because divergence implies an angle greater than π, and there is only 2π total angle to G).	and at most one can have adjacent faces diverge (because divergence implies a turn angle greater than π, and there is only 2π total angle to G). The one exception, when G is a trapezoid and two turn angles are =π, is easily seen to unfold without overlap.	With G a trapezoid, P is a wedge of just four faces, and nonoverlap is straightforward.	JOR	9Aug07

Chap

Page

Location

Old

New

Explanation

Corrector

Date

Eq. 5.2

l₃ <= (l₁-l₂) + (l₄+...+l_n) ...
But Eq. (5.2) is just a rearrangment of Eq. (5.1), ...

l₃ <= (l₁-l₂) + (l₄+...+l_n)
or (l₁+l₂) <= l₃+...+l_n...
But Eq. (5.2) is just a rearrangment of Eq. (5.1), and Eq. (5.3) follows easily from Eq. (5.1) ...

Missed a case, which easily follows.

Ryuhei Uehara

5Jul08

135,136

Table of coords; Fig.8.7

v₄: ( 0, 0, (3/2)ε )

v₄: ( -1/2, 0, (3/2)ε )

Mental typo: v₃v₄ must be longer to force overlap.

Andrew Winslow

30Nov10

143

Line+12 of Sec. 8.2.1

Define such a chain to be convex if all of its vertices lie on the convex hull

Define such a chain to be convex if all of its edges lie on the convex hull

A zigzag chain could have all its vertices on the hull be not be convex in the sense we intended.

Sebsatien Collette

6 Feb 08

190

Line+1

2. ..., say α, is not acute ...

2. ..., say α, is not acute, and |ac| ≤ |ab| ...

3. If α is not acute but |ac| > |ab|, [click here for completion of new case].

Case 2 only covers a subcase; Case 3 completes the argument (due to Ryuhei Uehara).

Ryuhei Uehara

23Feb08

326

Sec. 22.5.2 Domes, Line+5

and at most one can have adjacent faces diverge (because divergence implies an angle greater than π, and there is only 2π total angle to G).

and at most one can have adjacent faces diverge (because divergence implies a turn angle greater than π, and there is only 2π total angle to G). The one exception, when G is a trapezoid and two turn angles are =π, is easily seen to unfold without overlap.

With G a trapezoid, P is a wedge of just four faces, and nonoverlap is straightforward.

JOR

9Aug07

Chap	Page	Location	Old	New	Explanation	Corrector	Date
Contents	viii; 165	Part II line	Part II: Paper	Part II: Origami	Part name changed	JOR	6Nov07
1	9	Line -10	when a linkage is rigid, that is, can move at all.	when a linkage is rigid, that is, cannot move at all.	Typo	Ryuhei Uehara	17Aug07
1	11	Line -3	It is sometime useful	It is sometimes useful	Typo	Ryuhei Uehara	17Aug07
2	18; 19	Line -7; Line -3	let us say that k=2n ... specifying the coordinates for point reduces this to k=2n-2. ... O( n^4n-2 ... )	let us say that k=2n+2 ... specifying the coordinates for one point reduces this to k=2n. ... O( n⁴ⁿ⁺² ... )	n links means n+1 vertices	Ryuhei Uehara	17Aug07
2	18	Line +9	(Abrams and Shrist 2002)	(Abrams and Ghrist 2002)	Typo	Julian Wilson	15Jan10
2	19	Box 2.1, Line +4	For a univariate polynomials	For univariate polynomials	Typo	Ryuhei Uehara	1Jun08
2	19	Box 2.2, Line -4	is in PSPACE (1988).	is in PSPACE.	~Typo	Ryuhei Uehara	17Aug07
2	21	Line -8	32⁷ > 10¹⁰	50¹⁴ > 10²³	~Typo	Ryuhei Uehara	17Aug07
2	22	Line -1	Plantingua	Plantinga	Typo	Julian Wilson	18Jan10
2	23	Sec. 2.2.2, Line +3	Mis	M is	Printer error on spacing	Ryuhei Uehara	8Nov07
2	24	Fig. 2.3 caption, Line +3	Each ... fan ... represent	Each ... fan ... represents	Typo	Ryuhei Uehara	8Nov07
2	26	Line +2	must both lie at 1 if all is to fit	must both lie at s if all is to fit	Typo	Joe Malkevitch	2Oct07
3	32	Figure 3.3	Edge connecting the α angle to the β angle	Should be labeled “a”	The length of this edge is referred to as a in the text	Gregory Price	10Sep07
3	32	Figure 3.3	Origin	Origin should be labeled “O”	Described as O in the text.	Ryuhei Uehara	28Nov07
3	33	Figure 3.5	Angle α at y, angle β at b	Angle β at y, angle α at b	Opposite contraparallelogram angles are equal	Andrea Hawksley & Howard Samuels	18Sep07
3	37	Fig. 3.10	[(a) of Fig. 3.10 ]	[horizontal edge should be labeled e]	e is used in the proof.	Ryuhei Uehara	5Jul08
3	37	Line+1 of 3.2.2.1	...locate a joint in the interior of a bar.	...locate a joint in the interior of a bar (as in Figure 3.5).	Used in Fig. 3.5 before its use in Fig. 3.10.	Ryuhei Uehara	30Nov07
2	41	Box 3.2, Line +4	constancy of ab . bd	constancy of ac . bd	Typo	Ryuhei Uehara	1Jun08
4	45	Figure 4.3 caption	graphy	graph	Typo	Gregory Price	20Sep07
4	48	Lines-8,-6	(Badoiu et al. to appear)	(Badoiu et al. 2006)	Editor error	Ryuhei Uehara	13Jan08
4	48	Theorem 4.3.2	A graph is generically rigid if some subgraph is minimally generically rigid	A graph is generically rigid only if some subgraph is minimally generically rigid	~Typo	Ryuhei Uehara	1Jun08
4	48	Line-2	Connelly (to appear)	Connelly (2005)	Editor error	Ryuhei Uehara	13Jan08
4	48	Line-2	in any dimension with vertex (d+1)-connectivity	in any dimension d with vertex (d+1)-connectivity	Typo	Ryuhei Uehara	13Jan08
4	51	Box 4.1, last two equations	v₃^x = v₄^x v₃^x = v₄^x = 0	v₃^x = v₄^x , v₃^x = v₄^x = 0 .	Typo: punctuation	Ryuhei Uehara	13Jan08
4	52	Line+3	infinitesimally rigid	infinitesimally rigid	Typo: should be italicized because being defined	Ryuhei Uehara	13Jan08
4	49	Section 4.4.1, first display equation	(L − x_i + x_j)² + (y_i + y_j)²	(L − x_i + x_j)² + (−y_i + y_j)²	Signs of y's should be opposite, like x's	Edwin Chen	18Sep07
5	60	Lemma 5.1.1 statement	of an arm A of n links	of an arm C of n links	Proof uses C for arm.	Greg Clark	6Jun08
5	60	Lemma 5.1.1 Proof eqn	{p + S(l_n) \| p ∈ R_n-1}	∪_{p ∈ R_n-1} p + S(l_n)	Intended union of circles, but specified a set of circles.	Greg Clark	6Jun08
5	61	End of statement of Thm.5.1.2	; else, r_i = l_m - s	; else, r_i = l_M - s	Typo	Ryuhei Uehara	5Jul08
5	62	Line+7 of 2nd para. of Sec. 5.1.1.3	(i.e, α_i=0 for all internal joints)	(i.e, α_i=π for all internal joints)	~Typo	Ryuhei Uehara	23Feb08
5	63	Caption to Fig. 5.5	(l_M=6)<(s=15)	(l_M=6)<(s=11)	Typo	Ryuhei Uehara	23Feb08
5	63	Line+4 of Sec.5.1.1.4	l₁ and l₃ respectively	l₁ and l₂ respectively	Typo	Ryuhei Uehara	23Feb08
5	66	Line-2	in R³	in R³	R should be \mathbb{R}.	Ryuhei Uehara	23Feb08
5	71	Line+5 of 2nd para. of Box. 5.1	Figure 5.17(b)	Figure 5.17(a)	Typo	Ryuhei Uehara	23Feb08
5	73	Last line of proof of Lemma 5.3.2	, which requires v₁ and v₃ to reach π.	, which requires v₁ and v₃ to reach π, respectively.	Did not mean to imply that the two triangles must collapse at the same time.	Ryuhei Uehara	23Feb08
5	77	Line+2 of Step 3	where ε _i = min {...}	where ε _i = min_k {...}	Clarification that min is over k.	Ryuhei Uehara	23Feb08
5	78	Last 2 paras. of proof.	Let ... [2 paragraphs]	[add indenting]	Should be indented to be part of Step 5.	Ryuhei Uehara	23Feb08
5	79	Line+2	on the lengths a,b,c,d of its edges:	on the lengths of its edges:	a,b,c,d are vertex labels, not edge lengths.	Ryuhei Uehara	23Feb08
5	79	Lines-9 to -6	The initial polygon P₀ Figure 5.27(a) ...	The initial polygon P₀ (Figure 5.27(a)) ...	Citations of the four parts of this figure should be in parentheses.	Ryuhei Uehara	23Feb08
5	82	Fig. 5.30	[circle]	[C]	Circle in the figure should be labeled C.	Ryuhei Uehara	23Feb08
5	84	Caption to Fig. 5.33	are shown shaded.	are shown red.	~Typo.	Ryuhei Uehara	23Feb08
5	84	Caption to Fig. 5.34	A 3D polygon	A 3D open chain	~Typo.	Ryuhei Uehara	23Feb08
6	87	Table 6.1 column heading	Can trees trees lock?	Can trees lock?	Typo.	Ryuhei Uehara	6Apr08
6	89	Line-3 of proof of Theorem 6.3.1	Unfolding of P.	Unfolding of K.	Typo.	Ryuhei Uehara	6Apr08
6	93	Line+8	--the set all positions	--the set of all positions	Typo.	Ryuhei Uehara	6Apr08
6	95	Figure 6.9 caption	Biedl et al. 1998a, Tech. Rep.	Biedl et al. 1998a.	~Typo.	Ryuhei Uehara	6Apr08
6	95	Section 6.5, para. 3	the tree in Figure 6.9 is locked	the tree in Figure 6.9(a) is locked	Figure 6.9 contains several trees; this sentence refers to the first	Gregory Price	20Sep07
6	105	Line+6 of Sec. 6.7.1	because each of the components are	because each of the components is	Typo	Ryuhei Uehara	6Apr08
6	111	Line+8	(p. 100 and	(p. 100) and	Typo	Ryuhei Uehara	6Apr08
6	115	Line+1 of Sec. 6.8.5	(all chains can be straightened)	(all chains can be straightened/convexified)	~Typo	Ryuhei Uehara	6Apr08
7	124	Table 7.1, 2f row	“? ?”	“– –”	This follows from Theorem 5 of Demaine et al (2002b), as described in the last sentence on p.125.	Stefan Langerman	21May07
7	124	Line-4	The columns of the table cover .... out to k=4.	The columns of the table cover .... out to k=4-5.	~Typo	Ryuhei Uehara	1May08
7	127	Fig. 7.4, 7.5 captions	... can lock.	... can interlock.	More precise terminology.	Ryuhei Uehara	1May08
7	127	Line+4	if e₁ and e₂ are long enough	if e₁ and e₃ are long enough	Typo	Ryuhei Uehara	1May08
7	127	Theorem 7.3.1	A triangle can interlock with a closed, flexible 4-chain	A triangle can interlock with an open, flexible 4-chain	See Figure 7.5.	Stefan Langerman	21May07
8	136	Line+9	composed of eight links	composed of nine links	~Typo	Ryuhei Uehara	5Jul08
8	138-141	Sections	8.1.5 8.1.6 8.1.7	8.1.4.1 8.1.4.2 8.1.4.3	Section numbering error.	Ryuhei Uehara	5May08
8	143	Lemma 8.2.1	--i.e., angle α'_i is replaced with α_i ≤ α'_i ≤π--	--angle α'_i is replaced with α_i ≤ α'_i ≤π--	Drop i.e., because there is not exact equivalence: at least one angle is strictly opened, i.e., cannot have α_i= α'_i for all i.	Ryuhei Uehara	5May08
8	146	Line-6	Instead of proving the lemma, we describe instead the fourth	Instead of proving the lemma, we describe the fourth	Drop 2nd instead.	Ryuhei Uehara	5May08
9	148	Central Eq.	...C...	...C'...	Typo. Replace C by C' throughout the equation.	Ryuhei Uehara	16May08
9	149-150	Figs. 9.2 & 9.3	Fig. 9.3 ... Fig. 9.2	Fig. 9.2 ... Fig. 9.3	Interchange ordering of figures, and renumber according to citation ordering.	Ryuhei Uehara	16May08
9	149-150	Figure captions	Demaine et al. 2006	Demaine et al. 2006c	Publisher error.	Ryuhei Uehara	16May08
9	153	Line+9	there is a positive probability	there is a positive probability ρ	Clarification.	Ryuhei Uehara	16May08
9	153	Line+10	> ρ	≥ ρ	More precise.	Ryuhei Uehara	16May08
9	153	Line+4	There is,	There is such a chain,	Clarification.	Ryuhei Uehara	16May08
9	155	Line+2	(He and A.Scheraga 1998)	(He and Scheraga 1998)	Remove "A." Publisher error.	Ryuhei Uehara	16May08
9	160	Line+12	(When two P nodes are not adjacent,	(When two P nodes are adjacent,	Drop "not"! ~Typo.	Ryuhei Uehara	16May08
10	170	Figure 10.1 caption	crane crease pattern	crane mountain-valley pattern	More precise description	Ryuhei Uehara	28Nov07
11	173	Line-2	on the folded state f.	on the folded state f(P).	Typo	Ryuhei Uehara	5Jul08
11	175	Sec. 11.1.3	One-Dimensional Paper	1D Paper	For consistency	Ryuhei Uehara	5Jul08
11	175	Line-6 of Sec. 11.1.3	\ {c}	\ {c_i}	Missing subscript i.	Ryuhei Uehara	5Jul08
11	177	Sec. 11.1.3	the asymmetry condition	the asymmetry condition	Italicize because definition.	Ryuhei Uehara	5Jul08
11	181	Line-1 of Case 2	the noncrossing constraint imposes no additional conditions	the noncrossing condition imposes no additional constraints	Typo	Ryuhei Uehara	5Jul08
11	182	Lines 1-4	, or if [...to end of Case 4]	,or if λ(p±,q+) are defined, as in Figure 11.8(d), then we require that these λ values are equal. However, if λ(p+,q±) are defined, as in Figure 11.8(e), then we require that λ(q+,p+)=−λ(q−,p+).	Superscripts do not match (d) and (e) of Fig.11.8.	Ryuhei Uehara	5Jul08
11	186	Fn.9	the resulting curve on P	the resulting curve on f(P)	Typo	Ryuhei Uehara	5Jul08
11	187	Line-9 before Sec. 11.5	the subpiece of paper B_q	the subpiece of paper B_p	Typo	Ryuhei Uehara	5Jul08
11	188	Line-7	(p,x)=	(p,q)=	Typo	Ryuhei Uehara	5Jul08
11	188	Line+14	winding number	winding number (cf. p. 200)	Used before defined.	Ryuhei Uehara	25Aug08
12	195	Line+20	mingling, if, for every maximal sequence ... of (at least two) consecutive creases	mingling, if, for every maximal sequence ... of consecutive creases	At the bottom of the page we permit j=i, so mingling works for one crease as well.	Ryuhei Uehara	25Aug08
12	195	Line-5	let ... be consecutive creases	let ... be maximally consecutive creases	Implied, but clearer to be explicit.	Ryuhei Uehara	25Aug08
12	196	Line+4	2. ... and (c_i-1,c_j) the innermost	2. ... and (c_i-1,c_i) the innermost	Typo	Ryuhei Uehara	25Aug08
12	198	Line+4	its crimp pattern	its mountain-valley pattern	More precise language.	Ryuhei Uehara	25Aug08
12	198	Figure 12.7	[Left / Right indices]	Left: i+1→i+2; i→i+1; []→i. Right: i+1→i+2; []→i+1.	Indices in figure incorrect.	Ryuhei Uehara	25Aug08
12	198	Line-1 of Proof of Thm. 12.1.6	if the list ever becomes empty,	if the list ever becomes empty before reaching a complete folded state,		Ryuhei Uehara	25Aug08
12	202	Line+2	Figure 12.9(c) (right to middle) shows a simple example of this process. Figures 12.10 and 12.11 illustrate ... a more complex example.	Figures 12.10 and 12.11 illustrate ... a complex example.	The reference to 12.9(c) is incorrect.	Ryuhei Uehara	25Aug08
12	206	Fig. 12.13	θ_i-1+θ_i+k-θ_i-1	θ_i-1+θ_i+k-θ_i	Typo	Ryuhei Uehara	25Aug08
12	206	L+4	the smallest extreme angle	the smaller extreme angle	More elegant language.	Ryuhei Uehara	25Aug08
12	206	L-8	By Theorem 12.2.3,	By Theorem 12.2.4,	Typo	Ryuhei Uehara	25Aug08
12	208	L+2 of Proof	Corollary 12.2.9	Theorem 12.2.9	Typo	Ryuhei Uehara	25Aug08
12	209	L+2 of Proof	n-1 mountains and n+1 valleys	n/2-1 mountains and n/2+1 valleys	Typo (they sum to n)	Ryuhei Uehara	25Aug08
12	209	L-10	Figures 12.8(c) and 12.9	Figures 12.8(c) and 12.9(c)	Typo	Ryuhei Uehara	25Aug08
12	211	L+12	xy-plane plane	xy-plane	Typo	Ryuhei Uehara	25Aug08
12	211	Middle	R_yz(θ_i) =	R_yz(φ_i) =	Typo	Ryuhei Uehara	25Aug08
13	214	Figure 13.6(b), top right	Vertical mountain/valley lines	Vertical valley/mountain lines	Typo	ED	2Jan16
13	215	Line+5 of Proof	Thus, θ_i-1 and θ_i remain	Thus, θ_i-1 and θ_i+1 remain	Typo	Ryuhei Uehara	27Oct08
13	215	L-2	Figure 13.1	Figure 13.1(b)	Typo	Ryuhei Uehara	27Oct08
13	230	Fig. 14.6	v₀,v₁	Vertical creases at v₀,v₁ missing in figure.	~Typo	Ryuhei Uehara	27Oct08
13	219	Fig. 13.5	[Rightmost figure, top, above upward arrow]	[label false missing]	Typo	Ryuhei Uehara	30Nov07
13	222	Line+8	Each of these three ... per input produce	Each of these three ... per input produces	Typo	Ryuhei Uehara	30Nov07
15	232	Line+13	and that too only	and then only	More elegant language.	Ryuhei Uehara	18Nov08
15	234	Caption of Fig. 15.2	(> 180°) ... (> 270°)	(> 90°) ... (> 135°)	Typos.	Ryuhei Uehara	18Nov08
16	241	Fig. 16.2(f)	[some crease lines incorrect]	[Part (f) fixed (PDF)]	~Typo.	Ryuhei Uehara	29Nov08
16	244	Fig. 16.5 label	Forele g	Foreleg	Typo.	Ryuhei Uehara	29Nov08
17	266	Lines+9,+11	1. the first offset amount ... 2. the first offset amount ...	1. the smallest offset amount ... 2. the smallest offset amount ...	Inaccurate word choice.	Ryuhei Uehara	27Dec08
17	268	Lines+7	Figure 17.19(c)	Figure 17.19(c)	Typo	Ryuhei Uehara	27Dec08
17	258	Fig. 17.8 (turtle)	[Two vertical creases]	One M crease should be a V; one V crease missing. Corrected `turtle.color.pdf` here.	Typos	JOR	23Jan08
17	278	Line -2	See Section 26.2 (p.437)	See Section 26.2 (p.438)	Typo	ED	6Jul08
18	283	Line -1	the skeletal subdivision	the straight-skeleton subdivision	Clearer	Ryuhei Uehara	12 Jan09
19	287	Footnote	"petals of conics"	"pedals of conics"	Typo	Ryuhei Uehara	12 Jan09
20	292	Line -2	0 nor 180^o ... 0 or 180^o	0^o nor 180^o ... 0^o or 180^o	Clearer	Ryuhei Uehara	12 Jan09
20	293	Sec. 20.2, Line+2	Ukranian	Ukrainian	Typo	Ryuhei Uehara	12 Jan09
20	293	Footnote 2	[URL]	http://www.ronresch.com/	Stale URL	Ryuhei Uehara	12 Jan09
21	299	Section 21.1, paragraph 2, sentence 1	unfoldings, are now called “nets”	unfoldings, what are now called “nets”	Grammatical error caused by typesetter	Edwin Chen	17Oct07
21	303	Lines+13	the locus of points of S at a distance r of p	the locus of points of S at most a distance r of p	disk, not circle	Ryuhei Uehara	22Jan09
21	303	Lines-1	(108°)	(108°).	period missing at end of sentence	Ryuhei Uehara	22Jan09
21	304	Section 21.2, last paragraph	notation of curvature	notion of curvature	Typo	Edwin Chen	17Oct07
22	308	Line+12	to a bound of 2/3(F-2) pieces.	to a bound of (2/3)(F-2) pieces.	~Typo	Ryuhei Uehara	11Mar09
22	308	Line+17	(and polyhedral duals are ... (p.339)	(and polyhedral duals are ... (p.339))	Typo	Ryuhei Uehara	11Mar09
22	319	Line+2	If α is even larger, satisyfing α > 2 β + γ / 2,	If α is even larger, satisyfing α > 2 β + γ,	~Typo	Ryuhei Uehara	11Mar09
22	322	Line+1	We conclude this section on special classes with a proof sketch (...) that "dome" polyhedra can be edge-unfolded without overlap.	After sketching a proof that "dome" polyhedra can be edge-unfolded without overlap, we look at convex unfoldings, orthogonal polyhedra, and conclude with open problems in Section 22.5.5.	Sentence reflected earlier sectioning.	Ryuhei Uehara	11Mar09
22	333	Last line before Sec. 22.6	(p. 361)	(p. 362)	~Typo	JOR	8Jun09
22	333	Fig. 22.38 caption	unfolding of a cuboctahedron	unfolding of a great rhombicuboctahedron	~Typo	Ryuhei Uehara	11Mar09
22	322	Line+1 of Section 22.5.1	A prismoid is ... equiangular convex polygons	A prismoid is ... angularly similar convex polygons	~Typo	Don Hatch	31Jul08
23	339	Line+2 of Steinitz's Theorem	The graph of edges and vertices of a convex polyhedron forms ...	The edges and vertices of a convex polyhedron form ...	~Typo	Ryuhei Uehara	9Apr09
23	342	Line+13	different, isolated, incongruent convex shapes	isolated, incongruent convex shapes	Redundant description	Ryuhei Uehara	9Apr09
23	346	Line-7	two dashed diagonals	two red diagonals	Figure changed	Ryuhei Uehara	9Apr09
23	351	Line+11	Then all vertices have curvature ≥ π	Then at least four vertices have curvature ≥ π	~Typo	Ryuhei Uehara	9Apr09
23	355	Line+2	vector of squared edge lengths l	vector l of squared edge lengths	Clearer	Ryuhei Uehara	9Apr09
23	355	Line-19	attaching simplices ... at their faces	attaching simplices ... at their facets	More precise	Ryuhei Uehara	9Apr09
24	362	Line-2	continuuous Dijkstra	continuous Dijkstra	Typo	C.E.E. Zonneveld	8 Oct 09
24	366 367	Line-6 Line-3	\triangle ( x_i, v_j, v_k )	\triangle x_i, v_j, v_k	Notational consistency	Ryuhei Uehara	17Apr09
24	366	Footnote 6	Aleksandrov	Alexandrov	Spelling consistency	Ryuhei Uehara	17Apr09
24	369	Line+3	cutting edges a'a and ax'	cutting edges a'a and ax	x, not x'	Ryuhei Uehara	17Apr09
24	370	Line-9	at the v_i	at the v_j	Notational consistency	Ryuhei Uehara	17Apr09
24	375	Section 21.4.0.1 numbering	24.4.0.1	24.4.1	Typo	ED	1Dec07
24	376	Line+4	the corners of C	the corners of curve C	~Typo	Ryuhei Uehara	17Apr09
24	377	Line-3	(see Figure 24.23.	(see Figure 24.23).	Typo	Ryuhei Uehara	17Apr09
24	378	Caption to FIg. 24.23	∂Q.	∂Q, the boundary of Q.	First use of ∂.	Ryuhei Uehara	17Apr09
25	382	Line before Thm. 25.1.3	[at end of sentence]	, where \|x,y\|=\|y,x\|	Clearer to spell out implication	Ryuhei Uehara	10May09
25	383	Line-11	xv_i < r	\| xv_i\| < r	Typo.	Ryuhei Uehara	3May09
25	389	2nd boxed table	(6,0): 108	(6,0): 98	Typo.	Kensuke Yoshida & Takashi Horiyama	14Jun10
25	389	4th boxed table	(6,4): 168	(6,0): 158	Typo.	Kensuke Yoshida & Takashi Horiyama	14Jun10
25	390	Item 3., Line+2	v₁, v₅ and v₆, v₀	{ v₁, v₅ } and { v₆, v₀ }	Notational consistency	Ryuhei Uehara	3May09
25	390	Sec. 25.2.3 Line+1	Figure 24.22(b)	Figure 25.6(b)	Typo	Ryuhei Uehara	3May09
25	393	Line-11	Figure 25.11(c)	Figure 25.11(c)	Typo	Ryuhei Uehara	3May09
25	394	Line	≤ 1	≤ π	Units of π later	Ryuhei Uehara	3May09
25	397	Proof, Line+3	...an even number m...	(The choice of even m is for illustration convenience; the proof is no different for odd m.)	To cover all even n=2m+2	Ryuhei Uehara	3May09
25	399	Sec. 25.5, Line+3	Koishi Hirata	Koichi Hirata	Typo	Ryuhei Uehara	3May09
25	399	Line-12	vertices v_i and e_i	vertices v_i and edges e_i	Clearer	Ryuhei Uehara	3May09
25	401,2	Figs. 25.20, 25.22	[ μ ]	[ μ is the supplement of the angle illustrated]	~Typo	Ryuhei Uehara	10May09
25	401	Line-16	interior of e_j	interior of e_j-1	Typo	Ryuhei Uehara	3May09
25	401	Line-10	between v_i and v_k	between v_i and v_j	Typo	Ryuhei Uehara	3May09
25	410	Line-6,-5	e₀, e₃, e₆, e₉ ... e₃	e₀, e₄, e₇, e₁₀ ... e₄	Indices off by 1	Ryuhei Uehara	3May09
25	412	Line+1 after Proof	this lemma	this corollary	~Typo	Ryuhei Uehara	3May09
25	422	Table 25.1	Comb. Type Y, 2nd Geom. Type Y	Comb. Type Y, 2nd Geom. Type T	Typo	Ryuhei Uehara	10May09
25	423	Line+2	dissection ... is a partition of each into a finite number of pieces so that the pieces of A can be rearranged to form B	dissection ... is a partition of each into a finite number of congruent pieces, so that the pieces of A can be rearranged to form B and vice versa	Clearer	Ryuhei Uehara	3May09
25	425	Fig. 25.53(b)	[interior bold line]	[should be dashed]	Typo	Ryuhei Uehara	3May09
25	427	Line+6	the the	the	Typo	Ryuhei Uehara	3May09
25	428	Line-1 of Proof	claimed by the lemma.	claimed by the theorem.	~Typo	Ryuhei Uehara	3May09
25	434	Fig. 25.62	[topmost pink rectangle]	[should be blue]	~Typo	Ryuhei Uehara	10May09
26	437	Sec. 26.2, Line+2	definitions ... has been	definitions ... have been	Plural.	Ryuhei Uehara	4May09
26	438	Line -3 before Sec. 26.3	mentioned in Part II (p.273)	mentioned in Part II (p.278)	Typo	ED	6Jul08
Biblio	443	3rd entry	Aaron Abrams and Robert Shrist	Aaron Abrams and Robert Ghrist	Typo	Julian Wilson	15Jan10
Biblio	445	-5th entry, bellcastro and Hull 2002b	348: 1-290	348: 273-282	Typo in page numbers	Ryuhei Uehara	25Aug08
Biblio	452	15th entry	Graver, Servatius, Servatius, Combinatorial Rigidity	Move to become 6th entry on the page	Bibliographical item out of sorted order.	Joe Malkevitch	1Oct07
Index	468	Open Problem, 9.1	9.1: Locked Length Ratio, 154 9.2: Locked Fixed-Angle Chains, 154	9.2: Locked Length Ratio, 154 9.3: Locked Fixed-Angle Chains, 154	Two open problems are accidentally labeled 9.1	ED	10Sep07

Chap

Page

Location

Old

New

Explanation

Corrector

Date

Contents

viii; 165

Part II line

Part II: Paper

Part II: Origami

Part name changed

JOR

6Nov07

Line -10

when a linkage is rigid, that is, can move at all.

when a linkage is rigid, that is, cannot move at all.

Typo

Ryuhei Uehara

17Aug07

Line -3

It is sometime useful

It is sometimes useful

Typo

Ryuhei Uehara

17Aug07

18; 19

Line -7; Line -3

let us say that k=2n ... specifying the coordinates for point reduces this to k=2n-2. ... O( n^4n-2 ... )

let us say that k=2n+2 ... specifying the coordinates for one point reduces this to k=2n. ... O( n⁴ⁿ⁺² ... )

n links means n+1 vertices

Ryuhei Uehara

17Aug07

Line +9

(Abrams and Shrist 2002)

(Abrams and Ghrist 2002)

Typo

Julian Wilson

15Jan10

Box 2.1, Line +4

For a univariate polynomials

For univariate polynomials

Typo

Ryuhei Uehara

1Jun08

Box 2.2, Line -4

is in PSPACE (1988).

is in PSPACE.

~Typo

Ryuhei Uehara

17Aug07

Line -8

32⁷ > 10¹⁰

50¹⁴ > 10²³

~Typo

Ryuhei Uehara

17Aug07

Line -1

Plantingua

Plantinga

Typo

Julian Wilson

18Jan10

Sec. 2.2.2, Line +3

Mis

M is

Printer error on spacing

Ryuhei Uehara

8Nov07

Fig. 2.3 caption, Line +3

Each ... fan ... represent

Each ... fan ... represents

Typo

Ryuhei Uehara

8Nov07

Line +2

must both lie at 1 if all is to fit

must both lie at s if all is to fit

Typo

Joe Malkevitch

2Oct07

Figure 3.3

Edge connecting the α angle to the β angle

Should be labeled “a”

The length of this edge is referred to as a in the text

Gregory Price

10Sep07

Figure 3.3

Origin

Origin should be labeled “O”

Described as O in the text.

Ryuhei Uehara

28Nov07

Figure 3.5

Angle α at y, angle β at b

Angle β at y, angle α at b

Opposite contraparallelogram angles are equal

Andrea Hawksley & Howard Samuels

18Sep07

Fig. 3.10

[(a) of Fig. 3.10 ]

[horizontal edge should be labeled e]

e is used in the proof.

Ryuhei Uehara

5Jul08

Line+1 of 3.2.2.1

...locate a joint in the interior of a bar.

...locate a joint in the interior of a bar (as in Figure 3.5).

Used in Fig. 3.5 before its use in Fig. 3.10.

Ryuhei Uehara

30Nov07

Box 3.2, Line +4

constancy of ab . bd

constancy of ac . bd

Typo

Ryuhei Uehara

1Jun08

Figure 4.3 caption

graphy

graph

Typo

Gregory Price

20Sep07

Lines-8,-6

(Badoiu et al. to appear)

(Badoiu et al. 2006)

Editor error

Ryuhei Uehara

13Jan08

Theorem 4.3.2

A graph is generically rigid if some subgraph is minimally generically rigid

A graph is generically rigid only if some subgraph is minimally generically rigid

~Typo

Ryuhei Uehara

1Jun08

Line-2

Connelly (to appear)

Connelly (2005)

Editor error

Ryuhei Uehara

13Jan08

Line-2

in any dimension with vertex (d+1)-connectivity

in any dimension d with vertex (d+1)-connectivity

Typo

Ryuhei Uehara

13Jan08

Box 4.1, last two equations

v₃^x = v₄^x
v₃^x = v₄^x = 0

v₃^x = v₄^x ,
v₃^x = v₄^x = 0 .

Typo: punctuation

Ryuhei Uehara

13Jan08

Line+3

infinitesimally rigid

Typo: should be italicized because being defined

Ryuhei Uehara

13Jan08

Section 4.4.1, first display equation

(L − x_i + x_j)² + (y_i + y_j)²

(L − x_i + x_j)² + (−y_i + y_j)²

Signs of y's should be opposite, like x's

Edwin Chen

18Sep07

Lemma 5.1.1 statement

of an arm A of n links

of an arm C of n links

Proof uses C for arm.

Greg Clark

6Jun08

Lemma 5.1.1 Proof eqn

{p + S(l_n) | p ∈ R_n-1}

∪_{p ∈ R_n-1} p + S(l_n)

Intended union of circles, but specified a set of circles.

Greg Clark

6Jun08

End of statement of Thm.5.1.2

; else, r_i = l_m - s

; else, r_i = l_M - s

Typo

Ryuhei Uehara

5Jul08

Line+7 of 2nd para. of Sec. 5.1.1.3

(i.e, α_i=0 for all internal joints)

(i.e, α_i=π for all internal joints)

~Typo

Ryuhei Uehara

23Feb08

Caption to Fig. 5.5

(l_M=6)<(s=15)

(l_M=6)<(s=11)

Typo

Ryuhei Uehara

23Feb08

Line+4 of Sec.5.1.1.4

l₁ and l₃ respectively

l₁ and l₂ respectively

Typo

Ryuhei Uehara

23Feb08

Line-2

in R³

R should be \mathbb{R}.

Ryuhei Uehara

23Feb08

Line+5 of 2nd para. of Box. 5.1

Figure 5.17(b)

Figure 5.17(a)

Typo

Ryuhei Uehara

23Feb08

Last line of proof of Lemma 5.3.2

, which requires v₁ and v₃ to reach π.

, which requires v₁ and v₃ to reach π, respectively.

Did not mean to imply that the two triangles must collapse at the same time.

Ryuhei Uehara

23Feb08

Line+2 of Step 3

where ε _i = min {...}

where ε _i = min_k {...}

Clarification that min is over k.

Ryuhei Uehara

23Feb08

Last 2 paras. of proof.

Let ... [2 paragraphs]

[add indenting]

Should be indented to be part of Step 5.

Ryuhei Uehara

23Feb08

Line+2

on the lengths a,b,c,d of its edges:

on the lengths of its edges:

a,b,c,d are vertex labels, not edge lengths.

Ryuhei Uehara

23Feb08

Lines-9 to -6

The initial polygon P₀ Figure 5.27(a) ...

The initial polygon P₀ (Figure 5.27(a)) ...

Citations of the four parts of this figure should be in parentheses.

Ryuhei Uehara

23Feb08

Fig. 5.30

[circle]

[C]

Circle in the figure should be labeled C.

Ryuhei Uehara

23Feb08

Caption to Fig. 5.33

are shown shaded.

are shown red.

~Typo.

Ryuhei Uehara

23Feb08

Caption to Fig. 5.34

A 3D polygon

A 3D open chain

~Typo.

Ryuhei Uehara

23Feb08

Table 6.1 column heading

Can trees trees lock?

Can trees lock?

Typo.

Ryuhei Uehara

6Apr08

Line-3 of proof of Theorem 6.3.1

Unfolding of P.

Unfolding of K.

Typo.

Ryuhei Uehara

6Apr08

Line+8

--the set all positions

--the set of all positions

Typo.

Ryuhei Uehara

6Apr08

Figure 6.9 caption

Biedl et al. 1998a, Tech. Rep.

Biedl et al. 1998a.

~Typo.

Ryuhei Uehara

6Apr08

Section 6.5, para. 3

the tree in Figure 6.9 is locked

the tree in Figure 6.9(a) is locked

Figure 6.9 contains several trees; this sentence refers to the first

Gregory Price

20Sep07

105

Line+6 of Sec. 6.7.1

because each of the components are

because each of the components is

Typo

Ryuhei Uehara

6Apr08

111

Line+8

(p. 100 and

(p. 100) and

Typo

Ryuhei Uehara

6Apr08

115

Line+1 of Sec. 6.8.5

(all chains can be straightened)

(all chains can be straightened/convexified)

~Typo

Ryuhei Uehara

6Apr08

124

Table 7.1, 2f row

“? ?”

“– –”

This follows from Theorem 5 of Demaine et al (2002b), as described in the last sentence on p.125.

Stefan Langerman

21May07

124

Line-4

The columns of the table cover .... out to k=4.

The columns of the table cover .... out to k=4-5.

~Typo

Ryuhei Uehara

1May08

127

Fig. 7.4, 7.5 captions

... can lock.

... can interlock.

More precise terminology.

Ryuhei Uehara

1May08

127

Line+4

if e₁ and e₂ are long enough

if e₁ and e₃ are long enough

Typo

Ryuhei Uehara

1May08

127

Theorem 7.3.1

A triangle can interlock with a closed, flexible 4-chain

A triangle can interlock with an open, flexible 4-chain

See Figure 7.5.

Stefan Langerman

21May07

136

Line+9

composed of eight links

composed of nine links

~Typo

Ryuhei Uehara

5Jul08

138-141

Sections

8.1.5
8.1.6
8.1.7

8.1.4.1
8.1.4.2
8.1.4.3

Section numbering error.

Ryuhei Uehara

5May08

143

Lemma 8.2.1

--i.e., angle α'_i is replaced with α_i ≤ α'_i ≤π--

--angle α'_i is replaced with α_i ≤ α'_i ≤π--

Drop i.e., because there is not exact equivalence: at least one angle is strictly opened, i.e., cannot have α_i= α'_i for all i.

Ryuhei Uehara

5May08

146

Line-6

Instead of proving the lemma, we describe instead the fourth

Instead of proving the lemma, we describe the fourth

Drop 2nd instead.

Ryuhei Uehara

5May08

148

Central Eq.

...C...

...C'...

Typo. Replace C by C' throughout the equation.

Ryuhei Uehara

16May08

149-150

Figs. 9.2 & 9.3

Fig. 9.3 ... Fig. 9.2

Fig. 9.2 ... Fig. 9.3

Interchange ordering of figures, and renumber according to citation ordering.

Ryuhei Uehara

16May08

149-150

Figure captions

Demaine et al. 2006

Demaine et al. 2006c

Publisher error.

Ryuhei Uehara

16May08

153

Line+9

there is a positive probability

there is a positive probability ρ

Clarification.

Ryuhei Uehara

16May08

153

Line+10

> ρ

≥ ρ

More precise.

Ryuhei Uehara

16May08

153

Line+4

There is,

There is such a chain,

Clarification.

Ryuhei Uehara

16May08

155

Line+2

(He and A.Scheraga 1998)

(He and Scheraga 1998)

Remove "A." Publisher error.

Ryuhei Uehara

16May08

160

Line+12

(When two P nodes are not adjacent,

(When two P nodes are adjacent,

Drop "not"! ~Typo.

Ryuhei Uehara

16May08

170

Figure 10.1 caption

crane crease pattern

crane mountain-valley pattern

More precise description

Ryuhei Uehara

28Nov07

173

Line-2

on the folded state f.

on the folded state f(P).

Typo

Ryuhei Uehara

5Jul08

175

Sec. 11.1.3

One-Dimensional Paper

1D Paper

For consistency

Ryuhei Uehara

5Jul08

175

Line-6 of Sec. 11.1.3

\ {c}

\ {c_i}

Missing subscript i.

Ryuhei Uehara

5Jul08

177

Sec. 11.1.3

the asymmetry condition

the asymmetry condition

Italicize because definition.

Ryuhei Uehara

5Jul08

181

Line-1 of Case 2

the noncrossing constraint imposes no additional conditions

the noncrossing condition imposes no additional constraints

Typo

Ryuhei Uehara

5Jul08

182

Lines 1-4

, or if [...to end of Case 4]

,or if λ(p±,q+) are defined, as in Figure 11.8(d), then we require that these λ values are equal. However, if λ(p+,q±) are defined, as in Figure 11.8(e), then we require that λ(q+,p+)=−λ(q−,p+).

Superscripts do not match (d) and (e) of Fig.11.8.

Ryuhei Uehara

5Jul08

186

Fn.9

the resulting curve on P

the resulting curve on f(P)

Typo

Ryuhei Uehara

5Jul08

187

Line-9 before Sec. 11.5

the subpiece of paper B_q

the subpiece of paper B_p

Typo

Ryuhei Uehara

5Jul08

188

Line-7

(p,x)=

(p,q)=

Typo

Ryuhei Uehara

5Jul08

188

Line+14

winding number

winding number (cf. p. 200)

Used before defined.

Ryuhei Uehara

25Aug08

195

Line+20

mingling, if, for every maximal sequence ... of (at least two) consecutive creases

mingling, if, for every maximal sequence ... of consecutive creases

At the bottom of the page we permit j=i, so mingling works for one crease as well.

Ryuhei Uehara

25Aug08

195

Line-5

let ... be consecutive creases

let ... be maximally consecutive creases

Implied, but clearer to be explicit.

Ryuhei Uehara

25Aug08

196

Line+4

2. ... and (c_i-1,c_j) the innermost

2. ... and (c_i-1,c_i) the innermost

Typo

Ryuhei Uehara

25Aug08

198

Line+4

its crimp pattern

its mountain-valley pattern

More precise language.

Ryuhei Uehara

25Aug08

198

Figure 12.7

[Left / Right indices]

Left: i+1→i+2; i→i+1; []→i. Right: i+1→i+2; []→i+1.

Indices in figure incorrect.

Ryuhei Uehara

25Aug08

198

Line-1 of Proof of Thm. 12.1.6

if the list ever becomes empty,

if the list ever becomes empty before reaching a complete folded state,

Ryuhei Uehara

25Aug08

202

Line+2

Figure 12.9(c) (right to middle) shows a simple example of this process. Figures 12.10 and 12.11 illustrate ... a more complex example.

Figures 12.10 and 12.11 illustrate ... a complex example.

The reference to 12.9(c) is incorrect.

Ryuhei Uehara

25Aug08

206

Fig. 12.13

θ_i-1+θ_i+k-θ_i-1

θ_i-1+θ_i+k-θ_i

Typo

Ryuhei Uehara

25Aug08

206

L+4

the smallest extreme angle

the smaller extreme angle

More elegant language.

Ryuhei Uehara

25Aug08

206

L-8

By Theorem 12.2.3,

By Theorem 12.2.4,

Typo

Ryuhei Uehara

25Aug08

208

L+2 of Proof

Corollary 12.2.9

Theorem 12.2.9

Typo

Ryuhei Uehara

25Aug08

209

L+2 of Proof

n-1 mountains and n+1 valleys

n/2-1 mountains and n/2+1 valleys

Typo (they sum to n)

Ryuhei Uehara

25Aug08

209

L-10

Figures 12.8(c) and 12.9

Figures 12.8(c) and 12.9(c)

Typo

Ryuhei Uehara

25Aug08

211

L+12

xy-plane plane

xy-plane

Typo

Ryuhei Uehara

25Aug08

211

Middle

R_yz(θ_i) =

R_yz(φ_i) =

Typo

Ryuhei Uehara

25Aug08

214

Figure 13.6(b), top right

Vertical mountain/valley lines

Vertical valley/mountain lines

Typo

2Jan16

215

Line+5 of Proof

Thus, θ_i-1 and θ_i remain

Thus, θ_i-1 and θ_i+1 remain

Typo

Ryuhei Uehara

27Oct08

215

L-2

Figure 13.1

Figure 13.1(b)

Typo

Ryuhei Uehara

27Oct08

230

Fig. 14.6

v₀,v₁

Vertical creases at v₀,v₁ missing in figure.

~Typo

Ryuhei Uehara

27Oct08

219

Fig. 13.5

[Rightmost figure, top, above upward arrow]

[label false missing]

Typo

Ryuhei Uehara

30Nov07

222

Line+8

Each of these three ... per input produce

Each of these three ... per input produces

Typo

Ryuhei Uehara

30Nov07

232

Line+13

and that too only

and then only

More elegant language.

Ryuhei Uehara

18Nov08

234

Caption of Fig. 15.2

(> 180°) ... (> 270°)

(> 90°) ... (> 135°)

Typos.

Ryuhei Uehara

18Nov08

241

Fig. 16.2(f)

[some crease lines incorrect]

[Part (f) fixed (PDF)]

~Typo.

Ryuhei Uehara

29Nov08

244

Fig. 16.5 label

Forele g

Foreleg

Typo.

Ryuhei Uehara

29Nov08

266

Lines+9,+11

1. the first offset amount ...
2. the first offset amount ...

1. the smallest offset amount ...
2. the smallest offset amount ...

Inaccurate word choice.

Ryuhei Uehara

27Dec08

268

Lines+7

Figure 17.19(c)

Typo

Ryuhei Uehara

27Dec08

258

Fig. 17.8 (turtle)

[Two vertical creases]

One M crease should be a V; one V crease missing. Corrected turtle.color.pdf here.

Typos

JOR

23Jan08

278

Line -2

See Section 26.2 (p.437)

See Section 26.2 (p.438)

Typo

6Jul08

283

Line -1

the skeletal subdivision

the straight-skeleton subdivision

Clearer

Ryuhei Uehara

12 Jan09

287

Footnote

"petals of conics"

"pedals of conics"

Typo

Ryuhei Uehara

12 Jan09

292

Line -2

0 nor 180^o ... 0 or 180^o

0^o nor 180^o ... 0^o or 180^o

Clearer

Ryuhei Uehara

12 Jan09

293

Sec. 20.2, Line+2

Ukranian

Ukrainian

Typo

Ryuhei Uehara

12 Jan09

293

Footnote 2

[URL]

http://www.ronresch.com/

Stale URL

Ryuhei Uehara

12 Jan09

299

Section 21.1, paragraph 2, sentence 1

unfoldings, are now called “nets”

unfoldings, what are now called “nets”

Grammatical error caused by typesetter

Edwin Chen

17Oct07

303

Lines+13

the locus of points of S at a distance r of p

the locus of points of S at most a distance r of p

disk, not circle

Ryuhei Uehara

22Jan09

303

Lines-1

(108°)

(108°).

period missing at end of sentence

Ryuhei Uehara

22Jan09

304

Section 21.2, last paragraph

notation of curvature

notion of curvature

Typo

Edwin Chen

17Oct07

308

Line+12

to a bound of 2/3(F-2) pieces.

to a bound of (2/3)(F-2) pieces.

~Typo

Ryuhei Uehara

11Mar09

308

Line+17

(and polyhedral duals are ... (p.339)

(and polyhedral duals are ... (p.339))

Typo

Ryuhei Uehara

11Mar09

319

Line+2

If α is even larger, satisyfing α > 2 β + γ / 2,

If α is even larger, satisyfing α > 2 β + γ,

~Typo

Ryuhei Uehara

11Mar09

322

Line+1

We conclude this section on special classes with a proof sketch (...) that "dome" polyhedra can be edge-unfolded without overlap.

After sketching a proof that "dome" polyhedra can be edge-unfolded without overlap, we look at convex unfoldings, orthogonal polyhedra, and conclude with open problems in Section 22.5.5.

Sentence reflected earlier sectioning.

Ryuhei Uehara

11Mar09

333

Last line before Sec. 22.6

(p. 361)

(p. 362)

~Typo

JOR

8Jun09

333

Fig. 22.38 caption

unfolding of a cuboctahedron

unfolding of a great rhombicuboctahedron

~Typo

Ryuhei Uehara

11Mar09

322

Line+1 of Section 22.5.1

A prismoid is ... equiangular convex polygons

A prismoid is ... angularly similar convex polygons

~Typo

Don Hatch

31Jul08

339

Line+2 of Steinitz's Theorem

The graph of edges and vertices of a convex polyhedron forms ...

The edges and vertices of a convex polyhedron form ...

~Typo

Ryuhei Uehara

9Apr09

342

Line+13

different, isolated, incongruent convex shapes

isolated, incongruent convex shapes

Redundant description

Ryuhei Uehara

9Apr09

346

Line-7

two dashed diagonals

two red diagonals

Figure changed

Ryuhei Uehara

9Apr09

351

Line+11

Then all vertices have curvature ≥ π

Then at least four vertices have curvature ≥ π

~Typo

Ryuhei Uehara

9Apr09

355

Line+2

vector of squared edge lengths l

vector l of squared edge lengths

Clearer

Ryuhei Uehara

9Apr09

355

Line-19

attaching simplices ... at their faces

attaching simplices ... at their facets

More precise

Ryuhei Uehara

9Apr09

362

Line-2

continuuous Dijkstra

continuous Dijkstra

Typo

C.E.E. Zonneveld

8 Oct 09

366
367

Line-6
Line-3

\triangle ( x_i, v_j, v_k )

\triangle x_i, v_j, v_k

Notational consistency

Ryuhei Uehara

17Apr09

366

Footnote 6

Aleksandrov

Alexandrov

Spelling consistency

Ryuhei Uehara

17Apr09

369

Line+3

cutting edges a'a and ax'

cutting edges a'a and ax

x, not x'

Ryuhei Uehara

17Apr09

370

Line-9

at the v_i

at the v_j

Notational consistency

Ryuhei Uehara

17Apr09

375

Section 21.4.0.1 numbering

24.4.0.1

24.4.1

Typo

1Dec07

376

Line+4

the corners of C

the corners of curve C

~Typo

Ryuhei Uehara

17Apr09

377

Line-3

(see Figure 24.23.

(see Figure 24.23).

Typo

Ryuhei Uehara

17Apr09

378

Caption to FIg. 24.23

∂Q.

∂Q, the boundary of Q.

First use of ∂.

Ryuhei Uehara

17Apr09

382

Line before Thm. 25.1.3

[at end of sentence]

, where |x,y|=|y,x|

Clearer to spell out implication

Ryuhei Uehara

10May09

383

Line-11

xv_i < r

| xv_i| < r

Typo.

Ryuhei Uehara

3May09

389

2nd boxed table

(6,0): 108

(6,0): 98

Typo.

Kensuke Yoshida & Takashi Horiyama

14Jun10

389

4th boxed table

(6,4): 168

(6,0): 158

Typo.

Kensuke Yoshida & Takashi Horiyama

14Jun10

390

Item 3., Line+2

v₁, v₅ and v₆, v₀

{ v₁, v₅ } and { v₆, v₀ }

Notational consistency

Ryuhei Uehara

3May09

390

Sec. 25.2.3 Line+1

Figure 24.22(b)

Figure 25.6(b)

Typo

Ryuhei Uehara

3May09

393

Line-11

Figure 25.11(c)

Typo

Ryuhei Uehara

3May09

394

Line

≤ 1

≤ π

Units of π later

Ryuhei Uehara

3May09

397

Proof, Line+3

...an even number m...

(The choice of even m is for illustration convenience; the proof is no different for odd m.)

To cover all even n=2m+2

Ryuhei Uehara

3May09

399

Sec. 25.5, Line+3

Koishi Hirata

Koichi Hirata

Typo

Ryuhei Uehara

3May09

399

Line-12

vertices v_i and e_i

vertices v_i and edges e_i

Clearer

Ryuhei Uehara

3May09

401,2

Figs. 25.20, 25.22

[ μ ]

[ μ is the supplement of the angle illustrated]

~Typo

Ryuhei Uehara

10May09

401

Line-16

interior of e_j

interior of e_j-1

Typo

Ryuhei Uehara

3May09

401

Line-10

between v_i and v_k

between v_i and v_j

Typo

Ryuhei Uehara

3May09

410

Line-6,-5

e₀, e₃, e₆, e₉ ... e₃

e₀, e₄, e₇, e₁₀ ... e₄

Indices off by 1

Ryuhei Uehara

3May09

412

Line+1 after Proof

this lemma

this corollary

~Typo

Ryuhei Uehara

3May09

422

Table 25.1

Comb. Type Y, 2nd Geom. Type Y

Comb. Type Y, 2nd Geom. Type T

Typo

Ryuhei Uehara

10May09

423

Line+2

dissection ... is a partition of each into a finite number of pieces so that the pieces of A can be rearranged to form B

dissection ... is a partition of each into a finite number of congruent pieces, so that the pieces of A can be rearranged to form B and vice versa

Clearer

Ryuhei Uehara

3May09

425

Fig. 25.53(b)

[interior bold line]

[should be dashed]

Typo

Ryuhei Uehara

3May09

427

Line+6

the the

the

Typo

Ryuhei Uehara

3May09

428

Line-1 of Proof

claimed by the lemma.

claimed by the theorem.

~Typo

Ryuhei Uehara

3May09

434

Fig. 25.62

[topmost pink rectangle]

[should be blue]

~Typo

Ryuhei Uehara

10May09

437

Sec. 26.2, Line+2

definitions ... has been

definitions ... have been

Plural.

Ryuhei Uehara

4May09

438

Line -3 before Sec. 26.3

mentioned in Part II (p.273)

mentioned in Part II (p.278)

Typo

6Jul08

Biblio

443

3rd entry

Aaron Abrams and Robert Shrist

Aaron Abrams and Robert Ghrist

Typo

Julian Wilson

15Jan10

Biblio

445

-5th entry, bellcastro and Hull 2002b

348: 1-290

348: 273-282

Typo in page numbers

Ryuhei Uehara

25Aug08

Biblio

452

15th entry

Graver, Servatius, Servatius, Combinatorial Rigidity

Move to become 6th entry on the page

Bibliographical item out of sorted order.

Joe Malkevitch

1Oct07

Index

468

Open Problem, 9.1

9.1: Locked Length Ratio, 154
9.2: Locked Fixed-Angle Chains, 154

9.2: Locked Length Ratio, 154
9.3: Locked Fixed-Angle Chains, 154

Two open problems are accidentally labeled 9.1

10Sep07

Geometric Folding Algorithms:
Linkages, Origami, Polyhedra

by Erik D. Demaine and Joseph O'Rourke

ERRATA

SUBSTANTIVE ERRATA

NONSUBSTANTIVE ERRATA (typos, etc.)

Geometric Folding Algorithms: Linkages, Origami, Polyhedra

by Erik D. Demaine and Joseph O'Rourke

ERRATA

SUBSTANTIVE ERRATA

NONSUBSTANTIVE ERRATA (typos, etc.)

Geometric Folding Algorithms:
Linkages, Origami, Polyhedra