Six-legged robot overcoming a not wide water obstacle by a raft

The short description is given of the mathematical model of the influence of water for a rectangular raft during its unsteady motion. Motion of the robot is formed with the aim of crossing from one side onto the other side of the water obstacle in the simplest case, when the robot initially pushes the raft from the shore. The proposed algorithm was worked out by means of computer simulation. The results of calculations showing the performance of the algorithm in the presence of a sufficient locomotion information are presented.