The kinematic state space representation and its corresponding control equation of the ice skater robot were presented.

设计了溜冰机器人运动学状态空间表达式和运动学控制方程。

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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.

综合轮式和腿式机器人的优点，提出基于溜冰原理的从动轮式溜冰机器人概念。

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At last, the paper analyzes the kinematics of the Ice-skater Robot when it turns and skates forwards respectively.

最后，以溜冰机器人为例分析了其转弯和直线滑行时的运动学问题。

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