Motion planning for biped robot with quad roller skates

The locomotion of legged robots is less effective than that of wheeled robots in a regular terrain. Thus, to improve the locomotion efficiency in a regular terrain, this paper presents a small biped walking robot with an auxiliary transportation device consisting of quad roller skates. Skating motion data is generated by planning the skating motion based on considering the Zero Moment Point (ZMP). The results indicate that the developed robot is able to generate an effective skating motion.