This paper investigates the regimes of locomotion of a capsule-type system actuated by a centrifugal force generator under anisotropic dry friction. The main goal is understanding how the interplay between the rotor’s dynamics and the direction-dependent friction influences the robot’s locomotion. The novelty lies in considering the combined effect of an imbalanced rotor and anisotropic friction, which has not been thoroughly investigated in previous research. The study uses Lagrange’s equations to derive a mathematical model and employs numerical methods of Wolfram Mathematica to analyze locomotion regimes. The main results include identifying distinct motion regimes, e.g., “non-detachable” and “detachable” modes, depending on the capsule’s contact with the bearing surface (track). The study also provides a detailed kinematic analysis of the capsule’s locomotion conditions, including the largest permissible rotational frequency of the exciter to prevent undesirable motion. The practical value lies in providing insights for improving designs and developing effective control systems of capsule-type robots operating in challenging environments with anisotropic friction, such as pipelines, vessels, intestines, etc.