中文摘要：

针对一种自行车机器人进行了运动学分析，得到了机器人横滚角度与车把转角和驱动速度之间的函数关系．从理论上给出了能调整机器人平衡所需要的驱动速度下界，只要驱动速度高于此临界值，就能通过调整车把保持车体平衡．仿真结果表明，当机器人具有不同横滚角度和车把转角的姿态时，要将其调整回平衡态所需的驱动速度处于以该临界值为下限的一个区间．基于这种运动学关系，进行了运动控制实验．通过将横滚角度理论计算值与实验数据进行对比，发现这两者基本一致，从而通过实验验证了所提出运动学分析的正确性．

英文摘要：

The kinemics analysis of a kind of bicycle robot is presented. The function relation between the robot rolling angle and the drive speed and steering angle could be deduced. The lower bound of the drive speed which is needed to balance the robot is presented theoretically. The goal of balancing the robot could be achieved by tuning the steering angle in condition of the drive speed is higher than the critical value. Simulations show that the drive speed belongs to the interval which has the critical value as the lower bound when the robot has different rolling angle and steering angle. The simulation also verifies the validity of the kinemics model. The real bicycle robot control experiments are performed based on the kinemics analysis. It is found that the theoretical result is consistent with the experiment data by comparing them. The validity of the kinemics analysis is testified by experiments.