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Figure: The three-modules star configuration.
The last configuration tested was a three-modules star, shown in Figure. The modules form a star of three points with an angular distance of .
It can move on a 2D surface, in three directions, as well as performing rotations in the yaw axis. If two adjacent modules are in phase and the opposite has , it moves on a straight in the direction of the module out of phase. However, this movement is very surface-dependant.
When the increment of phase between the three modules is , for example, , and , the robot performs a slow rotation in the yaw axis.