1A1-D32 Development of biped skating robot "BSR-1" : 2nd report:Skating experiment of prototype robot

Abstract

We study of the biped skating robot "BSR-1"(Biped Skating Robot - 1) which performs skating action using the passive rollers which attached the sole of its each foot. In this paper, we consider the movement of the center of gravity of BSR-1 by moving the upper half of the body, moment compensation, and in curving and stopping action. And some experiments and those results are reported to development of the biped skating robot with wireless radio control.