Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: Stair Climbing Stabilization of the HRP-4 Humanoid Robot using
  Whole-body Admittance Control
12
The categories of this paper are: nucl-th
16
The categories of this paper are: stat
21
The categories of this paper are: adap-org
25
The categories of this paper are: patt-sol
37
The categories of this paper are: supr-con
23
The categories of this paper are: solv-int
3
The categories of this paper are: physics
13
The categories of this paper are: quant-ph
36
The categories of this paper are: cmp-lg
17
The categories of this paper are: q-fin
27
The categories of this paper are: comp-gas
4
The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
14
The categories of this paper are: math-ph
24
The categories of this paper are: dg-ga
9
The categories of this paper are: nlin