Study on Kinematics of a Ice-Skater Robot of Passive Wheel Type and its Structure Characteristics

This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. The motion principle of a kind of leg-wheeled robot was analyzed. On the basis of introduction of kinematics analysis, the paper gives the model of the robot kinematics, Meanwhile, the paper analyzes the motion condition of the robot.

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