function DesenharRobo( P, COG, COP )

DIM = size(P,2);
for k=1:50:DIM,
   
  clf, hold on 
  A=plot([P(1,k) P(3,k) P(5,k) P(7,k)],[P(2,k) P(4,k) P(6,k) P(8,k)],'b',...
         [P(1,k) P(3,k) P(5,k) P(7,k)],[P(2,k) P(4,k) P(6,k) P(8,k)],'k.',...
         [P(1,k)-0.1 P(1,k)+0.1], [0 0], 'b', ...
         [P(1,k)-0.1 P(1,k)-0.1+0.04 P(1,k)-0.1+0.02 P(1,k)-0.1], [0 0 -0.05 0], 'b',...
         [P(1,k)+0.1 P(1,k)+0.1-0.04 P(1,k)+0.1-0.02 P(1,k)+0.1], [0 0 -0.05 0], 'b',...
         [-1.4 1.4], [-0.05 -0.05], 'k',...
         COG(1,k),COG(2,k),'r.', COP(k),0,'r.');
% set(A(1));
%  set(A(1), 'LineWidth', 2); set(A(2), 'LineWidth', 2);
  xlabel(' X (m) '), ylabel(' Y (m) '), title(' Movimento da Perna de Suporte ')
  axis('equal'), axis([-1.0 1.0 -0.05 1.0]),  axis('off')
  pause(0.1)
  
end 