arxivcs.RO2026-07-12
Learning Roller-Skating Motions of Humanoid Robots Based on Adversarial Motion Priors
Yunkang Cheng, Yutong Wu, Menghan Li, Shihe Zhou, Mingguo Zhao
Humanoid roller-skating is difficult because the robot must coordinate whole-body balance, rolling contacts, and velocity-dependent posture regulation. This paper presents an adversarial motion prior based reinforcement learning framework for two humanoid roller-skating gaits: Pu…