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I. INTRODUCTION HE concept of the modular robotic system has attracted

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Figure

Fig. 1. Platonic solids: f – face; v – vertex; e – edge; n -number of edges  per face; m - faces at each vertex
Fig. 2.  Octahedral module of adaptive mobile parallel spatial robot (a) and its structure (b)
Fig. 3. Structure and basic notations of dodekapod in pipe constant cross-sections.
Fig. 7. Possibility of control over of physico-mechanical properties,  geometrical shape of contact surface and displacement trajectory
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