Fig. 4.
(A) Phases of the soliton as a function of . (B) The unit cell (four-bar linkage) configuration spaces in the flipper and spinner phases (four copies of each). The translation-symmetric points are marked in red (right leaning) and green (left leaning). There are two connected components in the spinner phase and just one in the flipper phase. (C) Pictures of the unit cell configuration space in the torus of θ1, θ2 angles (defined by δl1,2 = 0). (D) The topology of the configuration spaces depicted on 3D tori. In going from flipper to spinner, one circle splits into two linked Villarceau-like rings.