7. Conclusions

In this paper, a general model of a multi-legged robot has been developed and numerically investigated in Mathematica environment. The investigated robot was driven by a novel generator of gait proposed in our previous study. Using the developed simulation model, we performed some virtual experiments regarding locomotion process and stabilization of the position and orientation of the robot on unstable and vibrating ground. The obtained results show that the presented control possibility can be employed for full control of the robot position and orientation in space, also during locomotion of the robot. As a result, the robot can be used as a fully control walking Stewart platform. The most recent versions of Mathematica software allow to communicate with different microcontrollers, including Arduino Uno and Raspberry Pi. As a result, the developed simulation model can be relatively simply and successfully adopted to control the constructed prototypes of different kinds of multi-legged machines.
