Machine for making excavations, comprising a tracked undercarriage and a base machine supported by said tracked undercarriage; said tracked undercarriage in turn comprising: - a frame comprising a central body, a front transverse assembly and a rear transverse assembly connected to said central body and protruding from opposite sides of said central body, and - a pair of lateral tracks (204, 205), each one of said tracks being connected to an end of the front transverse assembly on one side and to an end of the rear transverse assembly on the other side; said base machine comprising excavation equipment (103, 104, 105, 106) adapted to take different working positions or configurations; said machine being characterized in that said tracked undercarriage further comprises at least four load cells including: - a front load cell (208.1) mounted at the point of connection between a lateral track and said front transverse assembly, - another front load cell (208.2) mounted at the point of connection between the other lateral track and said front transverse assembly, - a rear load cell (208.3) mounted at the point of connection between a lateral track and said rear transverse assembly, - another rear load cell (208.4) mounted at the point of connection between the other lateral track and said rear transverse assembly; in that each one of said load cells is configured for detecting force data ( F antdx, F antdx, F postax, F postsx) indicative of the reaction force exerted between the associated lateral track (204, 205) and the respective transverse assembly (203a, 203b); and in that said machine further comprises a control system configured for computing at least a barycentre planar position ( X G, Z G) of said machine situated substantially at the level of a reference plane (X-Z), said barycentre planar position ( X G, Z G) being computed as a function of said force data ( F antdx, F antsx, F postdx, F postsx). - a frame comprising a central body, a front transverse assembly and a rear transverse assembly connected to said central body and protruding from opposite sides of said central body, and - a pair of lateral tracks (204, 205), each one of said tracks being connected to an end of the front transverse assembly on one side and to an end of the rear transverse assembly on the other side; said base machine comprising excavation equipment (103, 104, 105, 106) adapted to take different working positions or configurations; said machine being characterized in that said tracked undercarriage further comprises at least four load cells including: - a front load cell (208.1) mounted at the point of connection between a lateral track and said front transverse assembly, - another front load cell (208.2) mounted at the point of connection between the other lateral track and said front transverse assembly, - a rear load cell (208.3) mounted at the point of connection between a lateral track and said rear transverse assembly, - another rear load cell (208.4) mounted at the point of connection between the other lateral track and said rear transverse assembly; in that each one of said load cells is configured for detecting force data ( F antdx, F antdx, F postax, F postsx) indicative of the reaction force exerted between the associated lateral track (204, 205) and the respective transverse assembly (203a, 203b); and in that said machine further comprises a control system configured for computing at least a barycentre planar position ( X G, Z G) of said machine situated substantially at the level of a reference plane (X-Z), said barycentre planar position ( X G, Z G) being computed as a function of said force data ( F antdx, F antsx, F postdx, F postsx). said base machine comprising excavation equipment (103, 104, 105, 106) adapted to take different working positions or configurations; said machine being characterized in that said tracked undercarriage further comprises at least four load cells including: - a front load cell (208.1) mounted at the point of connection between a lateral track and said front transverse assembly, - another front load cell (208.2) mounted at the point of connection between the other lateral track and said front transverse assembly, - a rear load cell (208.3) mounted at the point of connection between a lateral track and said rear transverse assembly, - another rear load cell (208.4) mounted at the point of connection between the other lateral track and said rear transverse assembly; - a front load cell (208.1) mounted at the point of connection between a lateral track and said front transverse assembly, - another front load cell (208.2) mounted at the point of connection between the other lateral track and said front transverse assembly, - a rear load cell (208.3) mounted at the point of connection between a lateral track and said rear transverse assembly, - another rear load cell (208.4) mounted at the point of connection between the other lateral track and said rear transverse assembly; in that each one of said load cells is configured for detecting force data ( F antdx, F antdx, F postax, F postsx) indicative of the reaction force exerted between the associated lateral track (204, 205) and the respective transverse assembly (203a, 203b); and in that said machine further comprises a control system configured for computing at least a barycentre planar position ( X G, Z G) of said machine situated substantially at the level of a reference plane (X-Z), said barycentre planar position ( X G, Z G) being computed as a function of said force data ( F antdx, F antsx, F postdx, F postsx).