Аннотация:https://clawar.org/wp-content/uploads/2020/08/CLAWAR2020-proceedings.pdfThe algorithm of the hexapod robot motion control is described. The aim of the motion is to ship the robot on a raft together with a cargo to the other shore of a body of water in the simple case when the robot imparts to the raft an initial push from the shore. The motion consists of transporting the cargo from the shore to the raft, moving the cargo across the moving raft, and carrying the cargo from the raft to the other shore. The algorithm was worked out using computer simulation within the complete dynamical model of motion taking into account the nonstationary action of water on the raft. Computer simulation was performed using the Universal Mechanism software package. Numerical results prove the validity of the algorithm if enough data about the motion for the purpose of control is available.