Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Study of Humanoid Push Recovery Based on Experiments   Human can negotiate and recovers from Push up to certain extent. The push
recovery capability grows with age (a child has poor push recovery than an
adult) and it is based on learning. A wrestler, for example, has better push
recovery than an ordinary man. However, the mechanism of reactive push recovery
is not known to us. We tried to understand the human learning mechanism by
conducting several experiments. The subjects for the experiments were selected
both as right handed and left handed. Pushes were induced from the behind with
close eyes to observe the motor action as well as with open eyes to observe
learning based reactive behaviors. Important observations show that the left
handed and right handed persons negotiate pushes differently (in opposite
manner). The present research describes some details about the experiments and
the analyses of the results mainly obtained from the joint angle variations
(both for ankle and hip joints) as the manifestation of perturbation. After
smoothening the captured data through higher order polynomials, we feed them to
our model which was developed exploiting the physics of an inverted pendulum
and configured it as a representative of the subjects in the Webot simulation
framework available in our laboratory. In each cases the model also could
recover from the push for the same rage of perturbation which proves the
correctness of the model. Hence the model now can provide greater insight to
push recovery mechanism and can be used for determining push recovery strategy
for humanoid robots. The paper claimed the push recovery is software
engineering problem rather than hardware.

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The categories of this paper are: q-bio
4
The categories of this paper are: cond-mat
11
The categories of this paper are: hep-lat
22
The categories of this paper are: chao-dyn
21
The categories of this paper are: adap-org
0
The categories of this paper are: hep-ph
18
The categories of this paper are: econ
30
The categories of this paper are: q-alg
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The categories of this paper are: alg-geom
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The categories of this paper are: ao-sci
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The categories of this paper are: nucl-ex
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The categories of this paper are: nlin
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The categories of this paper are: atom-ph
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The categories of this paper are: gr-qc
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The categories of this paper are: q-fin
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The categories of this paper are: funct-an