Gait design for an ice skating humanoid robot

Chris Iverach-Brereton, Jacky Baltes, John Anderson, Andrew Winton, Diana Carrier

Abstract: Highlights•Unmodified ZMP-based walking gaits are unsuitable for walking on low-friction surfaces.•A skating-style gait for a humanoid robot using only lateral motions is possible and improves stability.•Modified ZMP-based walking gaits maintain higher speeds, but are less stable than skating-style gaits.