Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform   Over the past few years, a number of successful humanoid platforms have been
developed, including the Nao and the DARwIn-OP, both of which are used by many
research groups for the investigation of bipedal walking, full-body motions,
and human-robot interaction. The NimbRo-OP is an open humanoid platform under
development by team NimbRo of the University of Bonn. Significantly larger than
the two aforementioned humanoids, this platform has the potential to interact
with a more human-scale environment. This paper describes a software framework
for the NimbRo-OP that is based on the Robot Operating System (ROS) middleware.
The software provides functionality for hardware abstraction, visual
perception, and behavior generation, and has been used to implement basic
soccer skills. These were demonstrated at RoboCup 2013, as part of the winning
team of the Humanoid League competition.

31
The categories of this paper are: ao-sci
21
The categories of this paper are: adap-org
15
The categories of this paper are: nucl-ex
18
The categories of this paper are: econ
20
The categories of this paper are: acc-phys
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
5
The categories of this paper are: gr-qc
30
The categories of this paper are: q-alg
32
The categories of this paper are: atom-ph
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
2
The categories of this paper are: math
0
The categories of this paper are: hep-ph
10
The categories of this paper are: q-bio
6
The categories of this paper are: astro-ph