Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Environmental force sensing enables robots to traverse cluttered
  obstacles with interaction   Many applications require robots to move through terrain with large
obstacles, such as self-driving, search and rescue, and extraterrestrial
exploration. Although robots are already excellent at avoiding sparse
obstacles, they still struggle in traversing cluttered obstacles. Inspired by
cockroaches that use and respond to physical interaction with obstacles in
various ways to traverse grass-like beams with different stiffness, here we
developed a physics model of a minimalistic robot capable of environmental
force sensing propelled forward to traverse two beams to simulate and
understand the traversal of cluttered obstacles. Beam properties like stiffness
and deflection locations could be estimated from the noisy beam contact forces
measured, whose fidelity increased with sensing time. Using these estimates,
the model predicted the cost of traversal defined using potential energy
barriers and used it to plan and control the robot to generate and track a
trajectory to traverse with minimal cost. When encountering stiff beams, the
simulation robot transitioned from a more costly pitch mode to a less costly
roll mode to traverse. When encountering flimsy beams, it chose to push cross
beams with less energy cost than avoiding beams. Finally, we developed a
physical robot and demonstrated the usefulness of the estimation method.

19
The categories of this paper are: eess
11
The categories of this paper are: hep-lat
33
The categories of this paper are: plasm-ph
17
The categories of this paper are: q-fin
27
The categories of this paper are: comp-gas
31
The categories of this paper are: ao-sci
5
The categories of this paper are: gr-qc
37
The categories of this paper are: supr-con
2
The categories of this paper are: math
22
The categories of this paper are: chao-dyn
0
The categories of this paper are: hep-ph
29
The categories of this paper are: funct-an
30
The categories of this paper are: q-alg
23
The categories of this paper are: solv-int
32
The categories of this paper are: atom-ph
12
The categories of this paper are: nucl-th