Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: PogoDrone: Design, Model, and Control of a Jumping Quadrotor   We present a design, model, and control for a novel jumping-flying robot that
is called PogoDrone. The robot is composed of a quadrotor with a passive
mechanism for jumping. The robot can continuously jump in place or fly like a
normal quadrotor. Jumping in place allows the robot to quickly move and operate
very close to the ground. For instance, in agricultural applications, the
jumping mechanism allows the robot to take samples of soil. We propose a hybrid
controller that switches from attitude to position control to allow the robot
to fall horizontally and recover to the original position. We compare the
jumping mode with the hovering mode to analyze the energy consumption. In
simulations, we evaluate the effect of different factors on energy consumption.
In real experiments, we show that our robot can repeatedly impact the ground,
jump, and fly in a physical environment.

34
The categories of this paper are: chem-ph
33
The categories of this paper are: plasm-ph
11
The categories of this paper are: hep-lat
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
2
The categories of this paper are: math
13
The categories of this paper are: quant-ph
28
The categories of this paper are: alg-geom
14
The categories of this paper are: math-ph
22
The categories of this paper are: chao-dyn
15
The categories of this paper are: nucl-ex
3
The categories of this paper are: physics
27
The categories of this paper are: comp-gas
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
30
The categories of this paper are: q-alg