Abstract

The continuous contact-based skating technique utilises the sideways movement of the two skates while changing the orientation of the two skates simultaneously. The skates remain in contact with the surface. A mathematical model mimicking a continuous skating technique is developed to analyse the kinematic behaviour of the platform. Kinematic and dynamic equations of motion are derived for the impending non-holonomic constraints. Heuristic-based motion primitives are defined to steer the robotic platform. For the lateral movement of the platform, a creeping based motion primitive is proposed. A prototype of the robotic platform is developed with three actuated degrees of freedom – orientation of two skates and distance between them. A multibody model of the platform is also developed in MATLAB. Analytical expressions are verified to be useful using the simulation and experimental results. The robotic platform follows the desired motion profiles. However, the initial deviation has been observed in both the simulations and experiments due to the slipping of the roller skate at the contact point with the surface. The platform can be effectively used in a structured environment autonomously.

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