Appliance stabilized by a gyroscope, in particular a two-legged robot

Appliance made up of at least one supporting leg (13, 33) and an upper body (11, 30) connected to the supporting leg, and configured in reverse pendulum relative to gravity, in which the upper body comprises a gyroscopic rotor wheel (2, 3) rotating about a rotor axle (4) and housed in a casing (1), characterised in that the casing is connected to the upper body by a mechanical connection which permits rotational movements about two non-parallel axes, the appliance comprises sensors (18, 19) for the measurement of an off-balance effect produced by gravity on the appliance, means to balance the appliance by exerting opposing forces, using the support of the gyroscopic rotor wheel via actuators (16, 17), and an associated command system able to take advantage of the actuators and sensors of the appliance to give it equilibrium.