Abstract: 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.

Key words: Center of gravity kinematics model, Dynamic model of mobile manipulator, Motion planning of leaping over a ditch