significant research has been done for bipedal walking and progress has been made, such as the ASIMO robot from Honda. However, although bipedal walking is an efficient solution for movement over uneven surfaces; conversely, bipedal robot walking is inefficient over an even surface because of speed and stability limitations. As a result, using a wheeled locomotion rather than a bipedal method could be ideal when movement across even surfaces is required. This paper focuses on a wheeled biped robot with two passive wheels on each foot. The robot's design allows for movement that is more efficient across even surfaces, but also produces a greater human-like inline-skating motion than previously produced inline-skating simulations.978-1-4244-8030-2/10/$26.00 ©2010 IEEE