Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

April 2004


Copyright 2004 IEEE. Reprinted from Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), Volume 4, pages 3944-3949.

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We present the design and gait generation for an experimental ROLLERBLADER1. The ROLLERBLADER is a robot with a central platform mounted on omnidirectional casters and two 3 degree-of-freedom legs. A passive rollerblading wheel is attached to the end of each leg. The wheels give rise to nonholonomic constraints acting on the robot. The legs can be picked up and placed back on the ground allowing a combination of skating and walking gaits. We present two types of gaits for the robot. In the first gait, we allow the legs to be picked up and placed back on the ground while in the second, the wheels are constrained to stay on the ground at all times. Experimental gait results for a prototype robot are also presented.



Date Posted: 13 August 2005