Work machine and method for controlling work machine

A work machine comprising:

• a vehicle body;
• a lift frame supported so as to be rotatable about a lift axis with respect to the vehicle body;
• a blade supported so as to be rotatable about a pitch axis with respect to the lift frame;
• a lift actuator configured to cause the blade to perform a lift motion up and down about the lift axis;
• a pitch actuator configured to cause the blade to perform a pitch motion about the pitch axis;
• a sensor configured to detect a current blade tip position of the blade;
• and
• a controller configured to
• acquire actual topography data indicative of an actual topography to be worked,
• acquire target topography data indicative of a target topography, and
• control the lift actuator so that a blade tip of the blade moves according to the target topography,
• the controller being configured to control the pitch actuator so that a pitch angle of the blade is changed based on a positional relationship in a vertical direction between any two of
• the actual topography corresponding to the current blade tip position,
• the target topography corresponding to the current blade tip position, and
• the current blade tip position.