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中文摘要：
工作在废墟中的搜救机器人应具有一定的越障能力。由于质心决定越障稳定性和成功性,故提出基于质心坐标公式和机器人运动学的质心运动学模型,通过此模型可获取机器人在越障过程中质心变化情况,分析移动手臂姿态对跨越壕沟的影响,并得到最优跨越壕沟的初始和最终位置和速度。由于移动手臂的动态特性影响机器人越障稳定性,故通过建立的其动力学模型和零力矩点（Zero momentpoint,ZMP）稳定判据,分析移动手臂动态特性对跨越障碍的影响,并规划出最优加速度。最后通过试验验证了分析结果及动作规划的正确性。
英文摘要：
Because the center of gravity （CG） position plays an important role in the process of leaping over a ditch, the CG position kinematics model is built. By using this model, the CG change situation is obtained, and the maximum width of the ditch which can be leaped over is obtained. Then the position and the velocity of the mobile manipulator in the starting and terminal posture are calculated by using this model. Because the dynamic behavior of mobile manipulator has an effect on the stability of leaping over a ditch, the dynamic model is built. By using the dynamic model and zero moment point（ZMP）, dynamic effect of the mobile manipulator on leaping over a ditch is obtained. The accelerations of the mobile manipulator and the robot are obtained by using the dynamic model. Finally experiments are carried out to verify the correctness of analysis results and motion planning.
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