Study of skating robot

Walk movement of a humanoid robot is necessary on undulation surface. However, efficiency is not so good because much energy losses occur by friction at the time of reaching the ground. Therefore, think about slide movement to assume the foot is a blade. This case, it is necessary to control balance because there are few ground contact areas. In this paper, propose of the skating robot mechanism and examine optimal control to an easy model. Also, the dynamic equation of the skating robot is derived using the Projection Method.