Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking   We present a trajectory planning and control architecture for bipedal
locomotion at a variety of speeds on a highly underactuated and compliant
bipedal robot. A library of compliant walking trajectories are planned offline,
and stored as compact arrays of polynomial coefficients for tracking online.
The control implementation uses a floating-base inverse dynamics controller
which generates dynamically consistent feedforward torques to realize walking
using information obtained from the trajectory optimization. The effectiveness
of the controller is demonstrated in simulation and on hardware for walking
both indoors on flat terrain and over unplanned disturbances outdoors.
Additionally, both the controller and optimization source code are made
available on GitHub.

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The categories of this paper are: math
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The categories of this paper are: cmp-lg
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The categories of this paper are: physics
34
The categories of this paper are: chem-ph
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The categories of this paper are: econ
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The categories of this paper are: hep-ex
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The categories of this paper are: patt-sol
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The categories of this paper are: nucl-th
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The categories of this paper are: q-alg
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The categories of this paper are: ao-sci
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The categories of this paper are: cond-mat
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The categories of this paper are: bayes-an
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The categories of this paper are: chao-dyn
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The categories of this paper are: mtrl-th
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The categories of this paper are: atom-ph
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The categories of this paper are: funct-an