As a mechanical system, an anthropomorphic walking robot (AWR) is unstable, therefore at any phase of motion or equilibrium it must be additionally stabilized. But the stabilization if possible only if the center of mass projection (CMP) of the AWR is located inside bearing area. Otherwise additional action should be taken to stop the falling of the AWR. We investigate dynamics of 7-links AWR nearby stability boundary. The current position of CMP is identified on anthropic principle, as an interpolation of measurement data obtained from plantar pressure sensors. By processing data obtained from the sensors it is possible to detect the extremum of the surface reaction pressure and calculate the current position of the CMP. We distinguish between CMP localization in two quasi-radial areas. The area A is the bearing area, and inside it the AWR is stable. The area B is an external area adjoining to the bearing area, from which the AWR can be returned without changing positions of feet on the ground surface, just by applying appropriate torques in joints. The limits of area B restricted by AWR geometry and inertia parameters and by possible friction forces on the ground surface. The results of the analysis were twofold. First, in series of numerical simulations we have defined limits of area B. Second, we have found a control algorithm for returning of AWR from falling inside area B to stable position inside area A.
