motion of the body are obtained, which can only be solved numerically. The equilibrium equations are solved and the basic stationary modes of body motion are obtained. The main result is the most gentle body planning mode. In the matlab computer mathematics system, a set of programs is written that searches for a numerical solution and outputs trajectories. The movement of the modes under consideration is modeled and the stability of the main modes is looked at using numerical calculations.

Keywords: body, planning mode, stability, geometric dimensions