6. Application of the developed simulation model

The proposed algorithm for controlling all robot's legs during standing or walking for different cases was tested using a simulation model created in the Mathematica software. The possibilities of the Mathematica concerning 3D animation of simulated objects are available in the recent versions of this environment (in this paper we used Mathematica 11.2 version). Thanks to the developed visualization, we can observe exactly the configuration of all robot legs at any time, and this can be treated as a virtual experiment. The most recent versions of the Mathematica program also allow relatively simple operation of different microcontrollers connected to a computer such as Arduino Uno or Raspberry Pi. Moreover, simpler versions of Mathematica can also be installed in the internal memory of the mentioned Raspberry Pi microcontroller. As a result, using both the appropriate microcontroller and motor drivers, it is possible to directly apply the calculated articulated variables into joints of all robot's legs. It is schematically shown in Figure 7.

Figure 7.

Control the robots' servos of a robot prototype using a simulation model developed in Mathematica.

These tasks will be the goal of our further research related to the problem of control of the robot's legs, using real constructions made on the basis of the designs shown in Figure 1.
