The motion of a walking robot with n legs, that ensure the desired motion of the robot body, is described using general dynamics theoretical framework. When each of the robot legs contacts the surface in a single foothold, the momentum and angular momentum theorems yield a system of six differential equations that form a complete description of the robot motion. In the case of two-leg robot (n= 2) the problem of the existence of the solution can be reduced to a system of algebraic inequalities. Using numerical analysis, the classification of footholds positions for different values of the friction coefficient is obtained.
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