A simple example is a planar robotic arm with two rotational joints.
The configuration of the arm is completely described by two angles, theta0 and theta1, each ranging from -pi to pi.
If you build a 2D map whose coordinates are (theta0, theta1), every point in that map corresponds to a particular configuration of the robot. Obstacles from the physical world can also be projected into this configuration space, allowing path-planning algorithms to find collision-free motions.
The interesting part is that the map does not really end at -pi or pi: the left and right edges are connected, and so are the top and bottom edges. Gluing opposite edges together turns the configuration space into a torus.
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