Roberts will take to the track over all three days, beginning with a fan lap on Friday.
On Saturday Roberts will ride a specially prepared factory YZR-M1 distinguished in 50th Anniversary livery for several laps during the lunch break.
Then on Sunday, just prior to the start of the MotoGP race, Roberts will ride his 1980 World Championship winning YZR500!
“I'm really looking forward to it!" said Kenny from his home in northern California, “as this will be the very first time I've ridden at the USGP and my 31-year-old championship-winning YZR is ready to go!"
“These very special on-track activities are part of our plans to celebrate Yamaha's prestigious 50th Anniversary of World Grand Prix racing," said Bob Starr, General Manager of Communications for Yamaha.
“We are truly honored to have Kenny in our family and he continues to give back to his fans as he has done for so long!"
Two years ago Roberts took a few laps around the famed Indy Mile, during the Indianapolis MotoGP weekend, to recall his incredible win in 1975.
The 2011 US Grand Prix takes place from July 22-24.