Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Coupled Control Systems: Periodic Orbit Generation with Application to
  Quadrupedal Locomotion   A robotic system can be viewed as a collection of lower-dimensional systems
that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic
constraints. Inspired by this viewpoint, this paper presents a novel
formulation for nonlinear control systems that are subject to coupling
constraints via virtual "coupling" inputs that abstractly play the role of
Lagrange multipliers. The main contribution of this paper is a
process---mirroring solving for Lagrange multipliers in robotic
systems---wherein we isolate subsystems free of coupling constraints that
provably encode the full-order dynamics of the coupled control system from
which it was derived. This dimension reduction is leveraged in the formulation
of a nonlinear optimization problem for the isolated subsystem that yields
periodic orbits for the full-order coupled system. We consider the application
of these ideas to robotic systems, which can be decomposed into subsystems.
Specifically, we view a quadruped as a coupled control system consisting of two
bipedal robots, wherein applying the framework developed allows for gaits
(periodic orbits) to be generated for the individual biped yielding a gait for
the full-order quadruped. This is demonstrated through walking experiments of a
quadrupedal robot in simulation and on rough terrains.

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The categories of this paper are: atom-ph
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The categories of this paper are: comp-gas
16
The categories of this paper are: stat
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The categories of this paper are: alg-geom
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The categories of this paper are: nucl-th
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The categories of this paper are: solv-int
13
The categories of this paper are: quant-ph
17
The categories of this paper are: q-fin
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The categories of this paper are: bayes-an
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The categories of this paper are: mtrl-th
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The categories of this paper are: math-ph
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The categories of this paper are: supr-con
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The categories of this paper are: physics
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The categories of this paper are: nlin
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The categories of this paper are: acc-phys
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The categories of this paper are: hep-th