Hybrid mobile robot is the system that will practically combine legged walking and skated driving in the same system. Therefore, this robot has own problems of inverse kinematics that are not considered in typical walking robots. In this paper, I fully categorized the inverse kinematics problems for hybrid mobile robot with general motion by walking and driving on an inclined plane, including switching end-effectors between foots and blades. I also solved the inverse kinematics for each case of problems. I here actively adopted the coordinate transformation derived from the inclined plane to cope with the random motion of foots and blades on the plane. I then presented several examples of the inverse kinematics problems with specific situations, and verified the validity of the analysis method from the results.

This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.

This paper addresses the dynamic consideration of the athletic constraints on skating motion. In order to generate a human-like skating motion, the athletic constraints are distinctively analyzed into dynamic constraints and physical constraints. A close investigation of the athletic constraints evolved valid extent of dominant parameter for a leg muscle. During the human-like skating motion, the state of actuation was shifted from region of maximum force to region of maximum power. Simulation results were intuitively comprehensible, and the effectiveness of analytic algorithm was demonstrated for skating motion.