Ice Skating Humanoid Robot

  • Chris Iverach-Brereton
  • Andrew Winton
  • Jacky Baltes
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)


Current humanoid walking gaits are ill-suited to traversing low-friction environments such as ice. For robots to be useful outdoors in the winter they must be able to move across ice without falling over. In this paper we present a skating gait for a small humanoid robot equipped with ice skates to enable it to traverse indoor and outdoor ice surfaces faster than an inverted pendulum-based walking gait would allow.


Ground Reaction Force Humanoid Robot Robot Soccer Walking Gait Inline Skate 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Chris Iverach-Brereton
    • 1
  • Andrew Winton
    • 1
  • Jacky Baltes
    • 1
  1. 1.University of ManitobaWinnipegCanada

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