ZMP를 이용한 굴삭기의 안정성에 관한 연구

최종환,엄혁,임태형,김승수,양순용,이병룡,안경관 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-

The hydraulic excavator has been a popular research object for automation because of its multi-workings and economic efficiency. When it works crane tasks, most of disasters happen. The stability of the excavator having crane function has a close relation with excavator's posture, motion and load. In this paper, the stability of tipping-over has been analysed using Zero Moment Point(ZMP),

ZMP Analysis for Dynamic Walking of a Passivity-based Biped Robot with Flat Feet

Nima Fatehi,Adel Akbarimajd,Masoud Asadpour 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

Zero moment point has been usually employed for balance keeping and walking analysis of active biped robots with bent knees, while balance and walking stability analysis of passive robots has been done using cyclic analysis approaches. While the problem in general is common, the two approaches have been separated in the literature for two different classes of passivity-based and ZMP-based robots. In this paper we have made a ZMP analysis for a passivity-based biped robot. The robot has been simulated using MSC Adams and Matlab/Simulink and a stable walking is achieved for a defined walking policy which is based on passivity-based walking with hips and ankles actuated and knee joints considered passive. The trajectory of ZMP is extracted and discussed during a stable walking. The role of Achill"s spring on ZMP is discussed and the overall profile of ZMP trajectory and its changes at specific crucial events, like knee strike and heel strike, is analyzed.

시간 이력 기반 ZMP–오일러 앵글 결합 수치해석 모델을 이용한 크롤러 크레인의 전도 안정성 평가

강범준,정진범,이호연 사단법인 유공압건설기계학회 2025 드라이브·컨트롤 Vol.22 No.4

This study examines the dynamic overturning stability of a 150-ton crawler crane using a ZMP–Euler coupled model. The algorithm combines Zero Moment Point (ZMP) theory with Euler angle transformations to assess stability during simultaneous luffing and slewing motions. Utilizing three-dimensional design data, a MATLAB-based numerical analysis was conducted to calculate time-varying ZMP trajectories and a normalized Stability Index (SI), which indicates the distance from the track boundary. The simulation results demonstrated that the crane maintained stable conditions under 60% and 80% of its rated load, while marginal stability was observed at the full-rated 150-ton capacity due to a forward shift in ZMP during slewing. Additionally, the developed approach effectively visualized the dynamic stability transition over time, providing valuable insights into how combined pitch and yaw motions affect the overall stability margin. This method quantitatively evaluates ZMP migration and offers practical guidance for ensuring safe operation and optimizing structural balance in large crawler cranes.

유압 굴삭기의 크레인 작업시 전도 안정성에 관한 연구

엄혁,최종환,김승수,양순용,이진걸 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.4

In this paper, the dynamic stability of a hydraulic excavator using ZMP concept is considered. When a load is moved in an excavator based on automation, an excavator often loses the stability and falls over. This is because a dynamic element is not included in the moment equilibrium equation that is used in order to judge a reversal. Consequently, reversal distinction algorithm including all a static and a dynamic element along a load movement in crane work is necessary. Zero Moment Point(ZMP) is a point on the floor where the resultant moment of the gravity, the inertial force of the manipulator and the external force is zero. This study is going to interpret the reversal stability of the excavator to which is applied ZMP concept through simulation.

인간의 COG 궤적의 분석을 통한 5-link 이족 로봇의 보행 패턴 생성

김병현(Byounghyun Kim),한영준(Youngjoon Han),한헌수(Hernsoo Hahn) 한국정보과학회 2009 정보과학회논문지 : 소프트웨어 및 응용 Vol.36 No.2

인간이 최소 에너지를 소비하면서 자연스럽고 안정된 상태로 보행한다는 것에 착안하여, 본 논문은 인간 보행의 COG 궤적을 분석함으로써 인간형 이족로봇의 자연스러운 보행에 관한 연구를 수행한다. 이를 위해서 본 논문은 sagittal plane과 frontal plane상의 보행 영상으로부터 계측된 COG 궤적을 고려함으로써 안정적이고 에너지를 최소화하는 자연스러운 이족로봇의 보행 패턴을 생성한다. 인간과 이족로봇은 기구학적인 형태는 유사하지만 자유도에 있어 많은 차이를 보이기 때문에 추출된 인간 관절의 회전력을 이족로봇에 바로 적용할 수 없다. 본 논문에서는 인간의 보행패턴으로부터 계측된 각 관절의 회전력과 인간의 COG 궤적으로부터 계산된 ZMP을 이용하는 적응적 보행 패턴 생성 GA 알고리즘을 통해 5-link 이족로봇 모델의 보행패턴을 생성한다. 제안된 알고리즘은 인간의 각 관절의 회전력과 ZMP 궤적을 고려하기 때문에 인간과 같이 유연하고 에너지 소비를 최소화하는 인간형 이족로봇의 보행패턴을 생성한다. 본 논문은 역기구학을 이용한 일반적인 방법과 제안하는 방법에 의해 생성된 보행 패턴을 각각 5-link 이족로봇 모델에 적용하여 시각적인 측면과 에너지 효율측면에서 평가함으로써 제안하는 알고리즘의 우수성을 입증하였다. Based on the fact that a human being walks naturally and stably with consuming a minimum energy, this paper proposes a new method of generating a natural gait of 5-link biped robot like human by analyzing a COG(Center Of Gravity) trajectory of human's gait. In order to generate a natural gait pattern for 5-link biped robot, it considers the COG trajectory measured from human's gait images on the sagittal and frontal plane. Although the human and 5-link biped robot are similar in the side of the kinematical structure, numbers of their DOFs(Degree Of Freedom) are different. Therefore, torques of the human's joints cannot are applied to robot's ones directly. In this paper, the proposed method generates the gait pattern of the 5-link biped robot from the GA algorithm which utilize human's ZMP trajectory and torques of all joints. Since the gait pattern of the 5-link biped robot model is generated from human's ones, the proposed method creates the natural gait pattern of the biped robot that minimizes an energy consumption like human. In the side of visuality and energy efficiency, the superiority of the proposed method have been improved by comparative experiments with a general method that uses a inverse kinematics.

ZMP를 이용한 유압 굴삭기용 전도율 연산 알고리즘

임태형,김용석,최종환,이홍선,양순용 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.5월

ZMP 이론을 활용한 IMU 기반 실시간 굴착기 전복 위험성 예측 시스템 개발

이재경(Lee, Jae-Kyung),오태균(Oh, Tae-Gyun),김채현(Kim, Chae-Hyun),최민지(Choi, MinJi) 대한건축학회 2025 대한건축학회 학술발표대회 논문집 Vol.45 No.2

Excavator rollovers are a major safety concern in construction sites, often caused by excessive loads, steep slopes, or improper operation. Current systems mainly provide post-accident alerts, lacking preventive measures. This study presents a real-time rollover risk prediction system using IMU sensors and Zero Moment Point (ZMP) theory. A scaled excavator model with multiple IMU sensors (MPU6050, MPU9250) was tested under flat ground, inclined slopes (10°, 20°, 30°), and varying bucket loads. Sensor data were integrated with RecurDyn and MATLAB to calculate ZMP relative to the support polygon. Results showed that ZMP deviations outside the support area effectively indicate instability, enabling rollover risk prediction. Calibration coefficients were introduced to reduce slope-induced errors, improving accuracy. The proposed system classifies stability into safe, caution, and danger zones, providing intuitive real-time warnings. This research demonstrates the potential of sensor-based monitoring to enhance excavator safety and prevent rollover accidents.

ZMP 제어를 이용한 적재물의 안정화 시스템 설계

안용진(Young-Jin Ahn),이상민(Sang-Min Lee),박일우(Ill-Woo Park) 융복합지식학회 2013 융복합지식학회논문지 Vol.1 No.1

본 논문은 운송로봇에 적재 되어있는 적재물의 ZMP(Zero Moment Point) 이론을 적용하여 가-감속 주행 및 곡선주행에서도 안전하게 운송할 수 있는 운송로봇을 개발하였다. 현재 운송로봇은 농산물의 수확물이나 재료 운송로봇, 건설자재 운송로봇, LCD 운송로봇 등 다양한 형태로 우리 생활에 사용되어지고 있고 나아가 더 많은 운송로봇들이 연구 되고 있다. 운송로봇의 적재물이 운송 되어질 때 고려해야 할 점은 적재물이 신속하고 안전하게 목표지점에 도달하는 것이다. 그래서 본 논문은 적재물의 안정성에 초점을 두고 Roll방향과 Pitch 방향의 2-자유도를 가지는 상판을 통해서 운송되는 적재물을 싣고 주행을 할 때에 상판을 제어함으로써 관성력에 의해서 적재물이 상판에서 넘어지거나 이탈하지 않도록 개발하였다. This paper introduces transportation robot, with application of ZMP theory, which is able to transport cargo loaded on the robot in condition of acceleration, speed reduction and curvilinear traveling. Nowadays transportation robots are used in variety fields to transport agricultural products, building materials, LCD panels and so on. Also many other transport robots are researched and developed. Two aspects that have to be considered as cargo of transportation robots is carried are reaching to the target spot rapidly and safely. Accordingly, this paper is focused on safety of cargo as transportation robot carries it with plate which has double-degree of freedom, roll and pitch. By controlling plate on which cargo is loaded, it is able to withstand intertial force to prevent from falling or drifting from the plate.

이족보행로봇(CHP-1)의 협조동작을 고려한 보행 안정성 분석

권정희(J. H. Kwon),김영준(Y. J. Kim),홍대선(D. S. Hong) 한국생산제조학회 2011 한국생산제조시스템학회 학술발표대회 논문집 Vol.2011 No.4

The stability of humanoid robots in motion is one of the important problems. To ensure the stability, ZMP (Zero Moment Point) is frequently considered when a humanoid robot is operated in walking motion. As a prerequisite study to the walking motion along with cooperative motion of a lower-part humanoid robot CHP-1, this study verifies the stability of the robot in such motion using dynamic simulations. A trajectory ensuring the stability in walking motion is arbitrarily generated. then the stability in cooperative motion is evaluated. When an excessive cooperative force is applied, the robot falls down. To cope with this problem, the initial posture of the robot and the stride are modified, respectively, and the results are compared with each other.

균형추를 장착한 4족 로봇의 보행 안정성에 관한 연구

최기훈(Gi Hun Choi),유재명(Jae Myung Yoo),김영탁(Young Tark Kim) Korean Society for Precision Engineering 2005 한국정밀공학회지 Vol.22 No.6

There are many types of walking robots in the world. For dynamic walking of the robots it is necessary to keep its dynamic stability. The dynamic stability is influenced by the position of ZMP (zero moment point). In this paper we study the control of the ZMP position of walking robot. For experiment we developed a quadruped robot and analyzed the dynamic stability of the robot. Developed robot has 2 joints at each leg and WBO (weight balancing oscillator) on the body of the robot. The WBO is designed to move linearly from side to side when the robot walks dynamically. Walking test was performed to verify the validity of the proposed methods. Especially we showed that the dynamic stability of the robot can be improved without sacrifice of the walking speed by control the WBO.