Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic
  Quadruped on Challenging Terrain   We present a framework for dynamic quadrupedal locomotion over challenging
terrain, where the choice of appropriate footholds is crucial for the success
of the behaviour. We build a model of the environment on-line and on-board
using an efficient occupancy grid representation. We use Any-time-Repairing A*
(ARA*) to search over a tree of possible actions, choose a rough body path and
select the locally-best footholds accordingly. We run a n-step lookahead
optimization of the body trajectory using a dynamic stability metric, the Zero
Moment Point (ZMP), that generates natural dynamic whole-body motions. A
combination of floating-base inverse dynamics and virtual model control
accurately executes the desired motions on an actively compliant system.
Experimental trials show that this framework allows us to traverse terrains at
nearly 6 times the speed of our previous work, evaluated over the same set of
trials.

4
The categories of this paper are: cond-mat
15
The categories of this paper are: nucl-ex
34
The categories of this paper are: chem-ph
14
The categories of this paper are: math-ph
31
The categories of this paper are: ao-sci
24
The categories of this paper are: dg-ga
11
The categories of this paper are: hep-lat
25
The categories of this paper are: patt-sol
23
The categories of this paper are: solv-int
12
The categories of this paper are: nucl-th
26
The categories of this paper are: bayes-an
8
The categories of this paper are: hep-ex
6
The categories of this paper are: astro-ph
29
The categories of this paper are: funct-an
16
The categories of this paper are: stat
22
The categories of this paper are: chao-dyn