SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles
The SKATER robot uses a deep reinforcement learning control framework to learn roller skating 'swizzle gaits' instead of traditional walking. This system significantly reduces joint impact forces and the cost of transport by leveraging passive wheels on its feet, proving roller skating is a more energy-efficient way for humanoid robots to move.