Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Impedance Optimization for Uncertain Contact Interactions Through Risk
  Sensitive Optimal Control   This paper addresses the problem of computing optimal impedance schedules for
legged locomotion tasks involving complex contact interactions. We formulate
the problem of impedance regulation as a trade-off between disturbance
rejection and measurement uncertainty. We extend a stochastic optimal control
algorithm known as Risk Sensitive Control to take into account measurement
uncertainty and propose a formal way to include such uncertainty for unknown
contact locations. The approach can efficiently generate optimal state and
control trajectories along with local feedback control gains, i.e. impedance
schedules. Extensive simulations demonstrate the capabilities of the approach
in generating meaningful stiffness and damping modulation patterns before and
after contact interaction. For example, contact forces are reduced during early
contacts, damping increases to anticipate a high impact event and tracking is
automatically traded-off for increased stability. In particular, we show a
significant improvement in performance during jumping and trotting tasks with a
simulated quadruped robot.

3
The categories of this paper are: physics
36
The categories of this paper are: cmp-lg
7
The categories of this paper are: hep-th
25
The categories of this paper are: patt-sol
33
The categories of this paper are: plasm-ph
14
The categories of this paper are: math-ph
30
The categories of this paper are: q-alg
8
The categories of this paper are: hep-ex
16
The categories of this paper are: stat
18
The categories of this paper are: econ
6
The categories of this paper are: astro-ph
11
The categories of this paper are: hep-lat
2
The categories of this paper are: math
26
The categories of this paper are: bayes-an
20
The categories of this paper are: acc-phys
9
The categories of this paper are: nlin