This work is attempt to simulate the structure and locomotion of a walking robot platform using a standard simulation package called GRASP, designed and developed for conventional robots. The paper reports on the work carried out on geometrical and kinematic modelling and also animation of the walking robot. The six-legged robot platform and GRASP will be initially introduced. The hierarchical structure designed for the simulation of the robot will be discussed. The approach adopted for the modelling and animation of the robot will be explained and details will be given. © 1992.