Articulated arm and special multi-flags (corrected version)
  In this paper we give a kinematical illustration of some distributions called special multi-flags distributions. Precisely we define the kinematic model in angular coordinates of an articulated arm constituted of a series of (n + 1) segments in Rk+1 and construct the special multi-flag distribution associated to this model. 
F. Pelletier, M. Slayman
math.DS