OK, This baby I really liked, when I finished him. It was in time, I still hadn't the IR. So all functions was done only using the sticks from cabine. It was at the same time I have seen similar idea at one MOC Lego excavator form one guy on TechnicBricks. But my was done completely on my way. I have to say not so tricky as on that excavator, but it worked well.
Here are the pictures:
http://1filip.rajce.idnes.cz/LEGO_BULDOZER_V02/
video: