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 footholds 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.