Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: The dynamic effect of mechanical losses of transmissions on the equation
  of motion of legged robots   Industrial manipulators do not collapse under their own weight when powered
off due to the friction in their joints. Although these mechanism are effective
for stiff position control of pick-and-place, they are inappropriate for legged
robots that must rapidly regulate compliant interactions with the environment.
However, no metric exists to quantify the robot's performance degradation due
to mechanical losses in the actuators and transmissions. This paper provides a
fundamental formulation that uses the mechanical efficiency of transmissions to
quantify the effect of power losses in the mechanical transmissions on the
dynamics of a whole robotic system. We quantitatively demonstrate the intuitive
fact that the apparent inertia of the robots increase in the presence of joint
friction. We also show that robots that employ high gear ratio and low
efficiency transmissions can statically sustain more substantial external
loads. We expect that the framework presented here will provide the fundamental
tools for designing the next generation of legged robots that can effectively
interact with the world.

15
The categories of this paper are: nucl-ex
2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
25
The categories of this paper are: patt-sol
19
The categories of this paper are: eess
24
The categories of this paper are: dg-ga
27
The categories of this paper are: comp-gas
14
The categories of this paper are: math-ph
5
The categories of this paper are: gr-qc
7
The categories of this paper are: hep-th
35
The categories of this paper are: mtrl-th
28
The categories of this paper are: alg-geom
33
The categories of this paper are: plasm-ph
32
The categories of this paper are: atom-ph
26
The categories of this paper are: bayes-an
37
The categories of this paper are: supr-con