@article{oai:tsukuba.repo.nii.ac.jp:00045335,
 author = {SHIGEMATSU, Kosuke and TSUBOUCHI, Takashi and SARATA, Shigeru and 重松, 康祐 and 坪内, 孝司 and 皿田, 滋},
 issue = {850},
 journal = {日本機械学会論文集, Transactions of the JSME},
 month = {Jun},
 note = {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.},
 title = {重心及びＺＭＰ予測に基づく遠隔操縦油圧ショベルの転倒防止制御},
 volume = {83},
 year = {2017},
 yomi = {ツボウチ, タカシ}
}