List of Figures

•  The Argos  six-legged robot and its corresponding simulation.
•  The simulator logical structure. 
•  The processes of the simulator. Each oval represents an independent process 
•  The simulator initial appearance. 
•  The main panel. 
•  The tools panel. 
•  The move leg sub-panel. 
•  The body frame of reference (dashed lines) and a leg frame of reference (dotted lines). 
•  The set angles sub-panel. 
•  The set position sub-panel. 
•  The balances sub-panel. 
•  The references sub-panel. 
•  The tensions sub-panel. 
•  The sensors sub-panel. 
•  The move robot sub-panel. 
•  The load robot sub-panel. 
•  The legend robot sub-panel. 
•  The change view sub-panel. 
•  The traces management sub-panel. 
•  The camera control sub-panel. 
•  The load ground sub-panel. 
•  The load landmarks sub-panel. 
•  The manage landmarks sub-panel. 
•  The new landmark sub-panel. 
•  The move landmark sub-panel. 
•  Top view of the control grid of a ground definition. 
•  The step.grd ground.
•  A landmarks configuration file.
•  The frame of reference attached to the robot's body. 
•  The leg structure. Angles point toward its positive sense.
• Configuration file for a long hexapod robot.
• Configuration file for a spider-like hexapod robot.
•  The body frame of reference (dashed lines), two leg frame of references (dotted lines), and the world frame of reference (solid lines) in an arbitrary position.
•  The reference frame of reference. 
•  Graph of states for the example controller.