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Study and Development of the Biped Ice Skating Robot with Passive Wheels
Authors:XU Zi-li  LV Tian-sheng  TIAN Hua  XU Zhen-hua  SONG Li-bo  
Abstract:A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn.
Keywords:biped ice-skating robot(BISR)  gait plan  kinematics mapping  control system
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