Equilibrium Problem for a Two-legged Robot On Rough Horizontal Cylinder
Equilibrium problem for rigid body under three forces is considered. This problem has been applied to equilibrium problem for a two-legged walking robot with foot\-holds on the external surface of a rough horizontal cylinder under condition that reactions components along the cylinder axis
are absent. The existence criteria for static equations solution are given.
Under assuming that the cylinder is but a one-sided constraint the classification of both isolated equilibrium positions and these generating
a connected set is presented. The geometrical equilibrium criteria are formulated for two-legged robot.