Roller skating is highly favored by humans. This paper presents a series–parallel hybrid six-legged skating robot with a ducted-fan propulsion system. The robot has two skateboards and two middle legs. Passive wheels for roller skating are installed under the skateboards and at the ends of the middle legs. The robot can slide on two skateboards or six legs. The robot platform we designed can be used to study the behavior characteristics of human roller skating. First, the ducted fan enables the robot to skate at a high speed. And a speed controller is designed so that the robot can slide at a constant speed. In addition, the robot can slide uphill under the thrust of the ducted fan, which provides the possibility for inspection, detection, and service. And an adaptive body position adjustment method based on thrust sensing is proposed to make the skateboard force uniform and reduce sliding resistance. Furthermore, we developed the robot's braking behavior. The robot can choose to perform slow braking or rapid braking according to different environmental conditions. Finally, virtual simulations and prototype experiments are conducted to verify the feasibility of the robot and the proposed control strategy.