In order to achieve a high speed of skating robot based on the leg structure withpassive wheels on even ground, the motion characteristicsof human roller skating is studied in this paper.Utilizing three dimensionalmotion capture system, the linear andturning gait are analyzed to express the motioncharacteristics of human roller skating. According to the observation and analysis, the normal linear gait can be divided into four phases and normal turning can be dividedinto three phases.The spin angle between the sagittal plane and the roller skate of supporting leg is mainly generated by the external/internal rotation of hip joint instead of ankle, andthe spin angular velocity of body with one supporting leg is mainly generated by the roller angle of passive wheels.A new model named as skating inverted pendulum based on the motion and angle feature of the roller skating gaitis presented, which can be used to describe the characteristics of one supporting leg.The structure of roller skates improving the stability for the roller skating and the method oftheturning gait with a small radius are discussed.
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