We present the design and gait generation for an experimental ROLLERBLADER. The ROLLERBLADER is a robot with a central platform mounted on omnidirectional casters and two 3 degree of freedom legs. A set of passive rollerblading wheels is attached to the end of each leg. The wheels give rise to nonholonomic constraints acting on the robot. The legs can be picked up and placed back on the ground allowing a combination of skating and walking gaits. We present two types of gaits for the robot. In the first gait, the legs are picked up and placed back on the ground. In the second gait, the wheels stay on the ground at all times. Experimental gait results for a prototype robot are also presented.

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