Oscillations of a walking apparatus about the axis of a smooth supporting cylinder (Q5960256)

The author considers the sliding of an absolutely rigid multileg walking vehicle on the internal surface of a horizontal right circular cylinder. The vehicle moves by inertia due to gravity force without friction. The author studies the oscillations of the apparatus about the cylinder axis. Using a change of variables, the problem on distribution of reactions throughout the supporting points is reduced to the known problem on distribution of reactions in statics.