Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: The Design of Stretch: A Compact, Lightweight Mobile Manipulator for
  Indoor Human Environments   Mobile manipulators for indoor human environments can serve as versatile
devices that perform a variety of tasks, yet adoption of this technology has
been limited. Reducing size, weight, and cost could facilitate adoption, but
risks restricting capabilities. We present a novel design that reduces size,
weight, and cost, while supporting a variety of tasks. The core design consists
of a two-wheeled differential-drive mobile base, a lift, and a telescoping arm
configured to achieve Cartesian motion at the end of the arm. Design extensions
include a 1 degree-of-freedom (DOF) wrist to stow a tool, a 2-DOF dexterous
wrist to pitch and roll a tool, and a compliant gripper. We justify our design
with anthropometry and mathematical models of static stability. We also provide
empirical support from teleoperating and autonomously controlling a commercial
robot based on our design (the Stretch RE1 from Hello Robot Inc.) to perform
tasks in real homes.

14
The categories of this paper are: math-ph
18
The categories of this paper are: econ
9
The categories of this paper are: nlin
20
The categories of this paper are: acc-phys
22
The categories of this paper are: chao-dyn
10
The categories of this paper are: q-bio
2
The categories of this paper are: math
15
The categories of this paper are: nucl-ex
5
The categories of this paper are: gr-qc
35
The categories of this paper are: mtrl-th
6
The categories of this paper are: astro-ph
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
26
The categories of this paper are: bayes-an
27
The categories of this paper are: comp-gas
11
The categories of this paper are: hep-lat