Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Enforcing nonholonomic constraints in Aerobat, a roosting flapping wing
  model   Flapping wing flight is a challenging dynamical problem and is also a very
fascinating subject to study in the field of biomimetic robotics. A Bat, in
particular, has a very articulated armwing mechanism with high
degrees-of-freedom and flexibility which allows the animal to perform highly
dynamic and complex maneuvers, such as upside-down perching. This paper
presents the derivation of a multi-body dynamical system of a bio-inspired bat
robot called Aerobat which captures multiple biologically meaningful
degrees-of-freedom for flapping flight that is present in biological bats.
Then, the work attempts to manifest closed-loop aerial body reorientation and
preparation for landing through the manipulation of inertial dynamics and
aerodynamics by enforcing nonholonomic constraints onto the system. The
proposed design paradigm assumes for rapidly exponentially stable controllers
that enforce holonomic constraints in the joint space of the model. A model and
optimization-based nonlinear controller is applied to resolve the joint
trajectories such that the desired angular momentum about the roll axis is
achieved.

16
The categories of this paper are: stat
22
The categories of this paper are: chao-dyn
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
8
The categories of this paper are: hep-ex
28
The categories of this paper are: alg-geom
29
The categories of this paper are: funct-an
20
The categories of this paper are: acc-phys
18
The categories of this paper are: econ
0
The categories of this paper are: hep-ph
32
The categories of this paper are: atom-ph
36
The categories of this paper are: cmp-lg
3
The categories of this paper are: physics
10
The categories of this paper are: q-bio
21
The categories of this paper are: adap-org
24
The categories of this paper are: dg-ga