Work machine

A work machine comprising:

• a vehicular body;
• a rear axle attached to the vehicular body to be capable of undergoing a roll motion with respect to an axis extending in a front-rear direction of the vehicular body;
• a rear frame that supports the rear axle;
• a front frame that is capable of being angled with respect to the rear frame;
• a front axle provided in a front portion of the vehicular body and including left and right front wheels;
• an articulation cylinder coupled between the front frame and the rear frame, wherein the front frame is pivoted with respect to the rear frame by extension and contraction of the articulation cylinder;
• an articulation angle sensor that detects an articulation angle formed by the front frame and the rear frame;
• a lock mechanism that locks the roll motion of the rear axle with respect to the vehicular body;
• and
• a controller that acquires stability of a center of gravity of the vehicular body and controls the roll motion of the rear axle with respect to the vehicular body based on the stability,
• wherein the controller determines whether to lock the roll motion of the rear axle with respect to the vehicular body based on the stability,
• wherein the controller outputs a control signal for driving the lock mechanism when the controller determines to lock the roll motion of the rear axle with respect to the vehicular body,
• wherein the stability is defined based on a relation between:
• a region defined by the front axle and the rear axle;
• and the center of gravity of the vehicular body, and
• wherein the controller derives the region from the detected articulation angle formed by the front frame and the rear frame.