Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and
  Model Predictive Control   Dynamic legged locomotion is a challenging topic because of the lack of
established control schemes which can handle aerial phases, short stance times,
and high-speed leg swings. In this paper, we propose a controller combining
whole-body control (WBC) and model predictive control (MPC). In our framework,
MPC finds an optimal reaction force profile over a longer time horizon with a
simple model, and WBC computes joint torque, position, and velocity commands
based on the reaction forces computed from MPC. Unlike existing WBCs, which
attempt to track commanded body trajectories, our controller is focused more on
the reaction force command, which allows it to accomplish high speed dynamic
locomotion with aerial phases. The newly devised WBC is integrated with MPC and
tested on the Mini-Cheetah quadruped robot. To demonstrate the robustness and
versatility, the controller is tested on six different gaits in a number of
different environments, including outdoors and on a treadmill, reaching a top
speed of 3.7 m/s.

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The categories of this paper are: q-alg
14
The categories of this paper are: math-ph
2
The categories of this paper are: math
16
The categories of this paper are: stat
15
The categories of this paper are: nucl-ex
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The categories of this paper are: ao-sci
3
The categories of this paper are: physics
33
The categories of this paper are: plasm-ph
19
The categories of this paper are: eess
29
The categories of this paper are: funct-an
0
The categories of this paper are: hep-ph
11
The categories of this paper are: hep-lat
5
The categories of this paper are: gr-qc
4
The categories of this paper are: cond-mat
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The categories of this paper are: solv-int
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The categories of this paper are: chem-ph