抄録
The purpose of this study is to put the humanoid robot into practical use. The concrete aims are realizing the motion which the humanoid robot don't fall and increasing the moving speed of the robot. In this study, we focus on roller-skates because of its simple mechanism. And we propose skating motion as a new moving method of the humanoid robot. The skating motion is faster and easier to control than walking. The skating humanoid robot has the advantage that it can choose the means of transportation. We examined "Stable skating motion" by both trial and error and simulation. In trial and error, we realized "one leg skating motion" and "swizzle skating motion". In simulation, we made "simulation model" with MATLAB.
