Abstract
This paper suggests a dynamic skating method propelled by switching skates with swing motion in frontal plane. On switching skates, directional characteristic of skate separates swing motion to motion for propulsion and motion lifting former contact leg. The swing motion is maintained by alternate sinusoidal leg extension. A robot with slider-crank mechanism for leg extension is developed and leg extension cycle to obtain a limit cycle of swing motion is experimentally found. The robot performed dynamic skating with speed of 2.34km/h.
