Yes, you can use your Traditional IRA's required minimum distributions (RMDs) to contribute to your Roth IRA. This is because the cash to fund your IRA can come from any pool of cash that you have. The IRS requires is that you have enough taxable compensation to cover the contribution that year, but the actual source of your contribution need not be directly from your paycheck.
If you can afford to pay the taxes, you may want to think about converting your Traditional IRA to your Roth IRA. Once the funds are in the Roth IRA, you will no longer be required to take RMDs at all. Of course, you should check with your tax professional to determine whether a conversion would be a good financial move for you, as there are other factors to consider other than the RMD issue. If you do decide to convert to a Roth IRA, remember to take your RMD one last time; even if it's the conversion year, it counts, because the Traditional IRA still existed during that year.
This question was answered by Denise Appleby.