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This paper describes tip-over prevention control of a teleoperated excavator based on center of gravity (CoG) and zero moment point (ZMP) prediction. This method predicts a future CoG and ZMP when an operation input is given. This allows the determination of the risk of tip-over by the operation input before an excavator moves. When the risk is detected, the operation input to the actuator is modified or stopped automatically to prevent from tip-over. Future CoG and ZMP is predicted by computing the movement of a teleoperated excavator based on an approximate excavator movement model. The proposed method successfully demonstrates tip-over prevention via scaled model experiments of the hydraulic drive.

Tip-over prevention control for teleoperated excavator based on CoG and ZMP prediction