Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Momentum-Based Topology Estimation of Articulated Objects   Articulated objects like doors, drawers, valves, and tools are pervasive in
our everyday unstructured dynamic environments. Articulation models describe
the joint nature between the different parts of an articulated object. As most
of these objects are passive, a robot has to interact with them to infer all
the articulation models to understand the object topology. We present a general
algorithm to estimate the inherent articulation models by exploiting the
momentum of the articulated system along with the interaction wrench while
manipulating the object. We validate our approach with experiments in a
simulation environment.

8
The categories of this paper are: hep-ex
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The categories of this paper are: bayes-an
6
The categories of this paper are: astro-ph
5
The categories of this paper are: gr-qc
22
The categories of this paper are: chao-dyn
10
The categories of this paper are: q-bio
24
The categories of this paper are: dg-ga
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The categories of this paper are: stat
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The categories of this paper are: adap-org
12
The categories of this paper are: nucl-th
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The categories of this paper are: cmp-lg
30
The categories of this paper are: q-alg
37
The categories of this paper are: supr-con
28
The categories of this paper are: alg-geom
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The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph