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It takes the shape of a cube 30 cm to a side.  The pieces are fastened with 1.25 inch brad nails.  The bottom of the frame is covered with a o.25 inch thick piece of plywood.  Attached to this are four rubber feet which keeps the robot stable on any flat surface. The frame served as the physical support for all other components of the system.  Besides the circuitry attached directly to the sensor array,  all other functional parts of the complete robot were fastened to the frame.