Abstract

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.

• Keywords: Hybrid Mobile Robot(하이브리드 이동 로봇),Glide Locomotion(글라이드 추진),Skating Motion(스케이트 운동),Undulatory Locomotion(파동형 이동),Nonholonomic Constraint(논홀로노믹 구속)