Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Contact-timing and Trajectory Optimization for 3D Jumping on Quadruped
  Robots   Performing highly agile acrobatic motions with a long flight phase requires
perfect timing, high accuracy, and coordination of the full-body motion. To
address these challenges, this paper presents a novel timings and trajectory
optimization framework for legged robots performing aggressive 3D jumping. In
our approach, we firstly utilize an effective optimization framework using
simplified rigid body dynamics to solve for contact timings and a reference
trajectory of the robot body. The solution of this module is then used to
formulate a full-body trajectory optimization based on the full nonlinear
dynamics of the robot. This combination allows us to effectively optimize for
contact timings while ensuring that the jumping trajectory that can be
effectively realized in the robot hardware. We first validate the efficiency of
the proposed framework on the A1 robot model for various 3D jumping tasks such
as double-backflips off the high altitude of 2m. Experimental validation was
then successfully conducted for a variety of aggressive 3D jumping motions such
as diagonal jumps, barrel roll and double barrel roll from a box of height 0.4m
and 0.9m respectively.

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The categories of this paper are: hep-ph
4
The categories of this paper are: cond-mat
11
The categories of this paper are: hep-lat
30
The categories of this paper are: q-alg
14
The categories of this paper are: math-ph
24
The categories of this paper are: dg-ga
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
17
The categories of this paper are: q-fin
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
3
The categories of this paper are: physics
26
The categories of this paper are: bayes-an
29
The categories of this paper are: funct-an
6
The categories of this paper are: astro-ph
2
The categories of this paper are: math