Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

October 2003


Copyright 2003 IEEE. Reprinted from Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Volume 1, pages 860-865.

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We develop the dynamic model for a planar ROLLERBLADER. The robot consists of a rigid platform and two planar, two degree-of-freedom legs with in-line skates at the foot. The dynamic model consists of two unicycles coupled through the rigid body dynamics of the planar platform. We derive the Lagrangian reduction for the ROLLERBLADING robot. We show the generation of some simple gaits that allow the platform to move forward and rotate by using cyclic motions of the two legs.



Date Posted: 13 August 2005