Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Walking Posture Adaptation for Legged Robot Navigation in Confined
  Spaces   Legged robots have the ability to adapt their walking posture to navigate
confined spaces due to their high degrees of freedom. However, this has not
been exploited in most common multilegged platforms. This paper presents a
deformable bounding box abstraction of the robot model, with accompanying
mapping and planning strategies, that enable a legged robot to autonomously
change its body shape to navigate confined spaces. The mapping is achieved
using robot-centric multi-elevation maps generated with distance sensors
carried by the robot. The path planning is based on the trajectory optimisation
algorithm CHOMP which creates smooth trajectories while avoiding obstacles. The
proposed method has been tested in simulation and implemented on the hexapod
robot Weaver, which is 33cm tall and 82cm wide when walking normally. We
demonstrate navigating under 25cm overhanging obstacles, through 70cm wide gaps
and over 22cm high obstacles in both artificial testing spaces and realistic
environments, including a subterranean mining tunnel.

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The categories of this paper are: q-alg
31
The categories of this paper are: ao-sci
9
The categories of this paper are: nlin
7
The categories of this paper are: hep-th
17
The categories of this paper are: q-fin
18
The categories of this paper are: econ
13
The categories of this paper are: quant-ph
36
The categories of this paper are: cmp-lg
24
The categories of this paper are: dg-ga
5
The categories of this paper are: gr-qc
21
The categories of this paper are: adap-org
32
The categories of this paper are: atom-ph
10
The categories of this paper are: q-bio
26
The categories of this paper are: bayes-an
33
The categories of this paper are: plasm-ph
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The categories of this paper are: alg-geom