Tip-over prevention control of a teleoperated excavator based on ZMP prediction

This paper describes tip-over prevention control of a teleoperated excavator based on zero moment point (ZMP) prediction. This method predicts a future 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 to keep the excavator from falling. Future ZMP is predicted by computing the movement of a teleoperated excavator based on an approximate excavator movement model and the body rocking model. The proposed method successfully demonstrates tip-over prevention via scaled model experiments of the hydraulic drive.