Abstract
In this paper, We realize a skating motion by a simple small biped robot. The achieved skating motion is based on a swinging body skating model. The swinging body conflicts to the ground on its foot blade periodically. The swinging energy of body is converted to traveling energy on the conflict. The pitch joint of ankle pushes the ground to keep peak height of body swing. The yaw joint of ankle is used to avoid the traveling energy loss on the conflict. We developed a small and simple biped robot with 4 joints on each ankle. This 0.52m height robot achieved 0.13m stroke and 0.18m/s traveling velocity of skating.
