Design of a Hierarchical-Type Control System Based on Smart MBD Approach and its Application to Hydraulic Excavator. - Shin Wakitani; Mikiya Sako; Toru Yamamoto; Yohei Ohno; Hiromu Kishi; Natsuki Yumoto; Kazushige Koiwai (J. Robotics Mechatronics, 2024)