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Аннотация:We consider the problem of brittle cylinder griping by the five manipulator fingers. Eachfinger contacts the cylinder in a single supporting point with Amontons-Coulomb frictionor for two footholds spinning friction. Using numerical simulations and analytically, possible locations of the contact points on the cylinder, for which there is a kinetostatics problemsolution when the cylinder is moved by five fingers, are received. There is an analogy ofthe equilibrium of a five-legged robot on a cylinder for the problems of transfer by a manipulator with a five-finger grip of a cylinder.