Dynamic Stability Evaluation of Excavators Using IMU Measurements and ZMP Analysis

Jae-Kyung Lee; Tae-Gyun Oh; Chae-Hyun Kim; Minji Choi

doi:10.55785/JCAR.5.1.1

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2026 Vol.5, Issue 1 Next Page

Dynamic Stability Evaluation of Excavators Using IMU Measurements and ZMP Analysis IMU 센서 기반 ZMP 분석을 통한 굴착기 동적 안정성 분석

31 March 2026. pp. 1-7

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Abstract

Excavators are widely used in construction sites but are vulnerable to rollover accidents due to uneven terrain and load variations. This study evaluates the feasibility of assessing excavator rollover risk using inertial measurement unit (IMU) sensors and the Zero Moment Point (ZMP) concept. A 1:16 scaled excavator model equipped with IMU sensors was used to collect acceleration and angular velocity data, from which ZMP coordinates were calculated to analyze stability. Experiments were conducted under flat ground conditions, slope angles of 10°, 20°, and 30°, and bucket load variations of 150 g, 300 g, and 450 g. Multibody dynamic simulations using RecurDyn were also performed to validate the experimental results, and calibration coefficients were derived to improve accuracy. The results showed that the ZMP moved toward the boundary of the support polygon as slope angle and load increased, shifting to the risk region during rollover events. The study demonstrates the potential of IMU-based ZMP analysis for excavator stability assessment.

Keywords

Excavator

Rollover Risk

IMU Sensor

Zero Moment Point (ZMP)

Construction Equipment Safety

굴착기는 건설 현장에서 널리 사용되는 장비이지만 작업 환경과 하중 변화에 따라 전복 사고가 발생할 수 있다. 본 연구는 IMU(Inertial Measurement Unit) 센서와 ZMP(Zero Moment Point) 이론을 활용하여 굴착기의 전복 위험성을 평가하는 방법의 적용 가능성을 분석하는 것을 목적으로 한다. 이를 위해 1:16 축소형 굴착기 모델에 IMU 센서를 부착하여 가속도 및 각속도 데이터를 수집하고 ZMP 좌표를 계산하였다. 실험은 평지, 경사면(10°, 20°, 30°), 버킷 하중 변화(150g, 300g, 450g) 조건에서 수행되었다. 또한 RecurDyn 기반 동역학 시뮬레이션을 수행하여 실험 결과와 비교하고 보정 계수를 도출하였다. 연구 결과 경사각 증가와 하중 변화에 따라 ZMP가 지지면 경계 방향으로 이동하는 경향이 나타났으며, 전복 시 위험 영역으로 이동하는 것을 확인하였다. 본 연구는 IMU 기반 ZMP 분석을 통해 굴착기 안정성 평가의 가능성을 제시한다.

키워드

굴착기

전복 위험성

IMU 센서

ZMP(Zero Moment Point)

건설장비

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Information

Publisher :Korean Society of Automation and Robotics in Construction
Publisher(Ko) :(사)한국건설자동화·로보틱스학회
Journal Title :Journal of Construction Automation and Robotics
Journal Title(Ko) :건설자동화·로보틱스 논문집
Volume : 5
No :1
Pages :1-7
Received Date : 2026-03-10
Revised Date : 2026-03-22
Accepted Date : 2026-03-23
DOI :https://doi.org/10.55785/JCAR.5.1.1

Journal of Construction Automation and Robotics ISSN:2800-0552(Print) 2951-116X(Online) 건설자동화·로보틱스 논문집

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