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Any camera with live view, a screen on the back, a macro mode, and 3MP resolution.
All of those can be found on the cheapest digi compact cams these days. In fact it's probably impossible to find a camera with under 6MP these days.
If you want to spend more money, get something with a flexible screen or viewfinder so you can position it low on the floor and easily compose the picture.
The keys to photographing figures are much more lighting and tripod than the camera.
There is an article about it in the Articles.
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