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![CDM architecture for the Nao robot, from [6]. | Download Scientific Diagram](https://www.researchgate.net/profile/Kristiina-Jokinen/publication/262205374/figure/fig2/AS:392475928743979@1470584961419/CDM-architecture-for-the-Nao-robot-from-6.png "CDM architecture for the Nao robot, from [6]. | Download Scientific Diagram")