Figure 2.

Parameterization of subloops via independent subchains. Left: a 5-angle block for a planar chain with fixed end frames Ti-1 and Ti+4. Right: a second IK solution for the dependent subchain.

Zhang and Hauser BMC Structural Biology 2013 13(Suppl 1):S9   doi:10.1186/1472-6807-13-S1-S9