Investigation on Computer Simulation of Six Legged Walking Robot

Paper deals with the problem of creating computer programs for mathematical simulation of a sixlegged walking robot and with the effectiveness of these programs. The tool for this investigation is the UM-complex. It is proved that a choice of Lagrange coordinates is essential both for the synthesis of motion equations and for the number of operations needed for one step of numerical integration. The new method of synthesis of motion equations is offered to reduce the number of arithmetic operations. The way is pointed out how to increase the speed of computer simulation for systems containing closed kinematical loops by means of eliminating local joint coordinates.