Keywords. Loop space, configuration space, finite type invariants, braid group, iterated integral
AMS subject classification. Primary: 55P35. Secondary: 20F36, 57M27.
Submitted to GT on 19 December 2001. (Revised 9 April 2002.) Paper accepted 22 July 2002. Paper published 19 September 2002. Corrections to superscripts of B on pages 148 and 149 made on 10 September 2003.
Graduate School of Mathematical Sciences
University of Tokyo, Tokyo 153-8914 Japan
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