Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Autonomous Locomotion Mode Transition Simulation of a Track-legged
  Quadruped Robot Step Negotiation   Multi-modal locomotion (e.g. terrestrial, aerial, and aquatic) is gaining
increasing interest in robotics research as it improves the robots
environmental adaptability, locomotion versatility, and operational
flexibility. Within the terrestrial multiple locomotion robots, the advantage
of hybrid robots stems from their multiple (two or more) locomotion modes,
among which robots can select from depending on the encountering terrain
conditions. However, there are many challenges in improving the autonomy of the
locomotion mode transition between their multiple locomotion modes. This work
proposed a method to realize an autonomous locomotion mode transition of a
track-legged quadruped robot steps negotiation. The autonomy of the
decision-making process was realized by the proposed criterion to comparing
energy performances of the rolling and walking locomotion modes. Two climbing
gaits were proposed to achieve smooth steps negotiation behaviours for energy
evaluation purposes. Simulations showed autonomous locomotion mode transitions
were realized for negotiations of steps with different height. The proposed
method is generic enough to be utilized to other hybrid robots after some
pre-studies of their locomotion energy performances.

27
The categories of this paper are: comp-gas
12
The categories of this paper are: nucl-th
30
The categories of this paper are: q-alg
31
The categories of this paper are: ao-sci
0
The categories of this paper are: hep-ph
15
The categories of this paper are: nucl-ex
17
The categories of this paper are: q-fin
34
The categories of this paper are: chem-ph
28
The categories of this paper are: alg-geom
37
The categories of this paper are: supr-con
2
The categories of this paper are: math
20
The categories of this paper are: acc-phys
16
The categories of this paper are: stat
26
The categories of this paper are: bayes-an
10
The categories of this paper are: q-bio
5
The categories of this paper are: gr-qc