This paper presents the concept of computer simulating model for robot-environment behaviour study and control. The modelling is aimed to particullar physical implementation of fourlegged robot. The schema of simulating model includes four main sub-models: environment-robot interaction, sensory data processing, robot action planning and action executing. Forward and inverse kinematics of robot is also mentioned. Described model was used for the development and testing of control gait algorithm for irregular terain. Further, arbitrary other action planning algorithm can be engaged in the model. and Obsahuje seznam literatury