Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Dynamic traversal of large gaps by insects and legged robots reveals a
  template   It is well known that animals can use neural and sensory feedback via vision,
tactile sensing, and echolocation to negotiate obstacles. Similarly, most
robots use deliberate or reactive planning to avoid obstacles, which relies on
prior knowledge or high-fidelity sensing of the environment. However, during
dynamic locomotion in complex, novel, 3-D terrains such as forest floor and
building rubble, sensing and planning suffer bandwidth limitation and large
noise and are sometimes even impossible. Here, we study rapid locomotion over a
large gap, a simple, ubiquitous obstacle, to begin to discover general
principles of dynamic traversal of large 3-D obstacles. We challenged the
discoid cockroach and an open-loop six-legged robot to traverse a large gap of
varying length. Both the animal and the robot could dynamically traverse a gap
as large as 1 body length by bridging the gap with its head, but traversal
probability decreased with gap length. Based on these observations, we
developed a template that well captured body dynamics and quantitatively
predicted traversal performance. Our template revealed that high approach
speed, initial body pitch, and initial body pitch angular velocity facilitated
dynamic traversal, and successfully predicted a new strategy of using body
pitch control that increased the robot maximal traversal gap length by 50%. Our
study established the first template of dynamic locomotion beyond planar
surfaces and is an important step in expanding terradynamics into complex 3-D
terrains.

14
The categories of this paper are: math-ph
26
The categories of this paper are: bayes-an
9
The categories of this paper are: nlin
17
The categories of this paper are: q-fin
5
The categories of this paper are: gr-qc
29
The categories of this paper are: funct-an
25
The categories of this paper are: patt-sol
7
The categories of this paper are: hep-th
8
The categories of this paper are: hep-ex
18
The categories of this paper are: econ
37
The categories of this paper are: supr-con
11
The categories of this paper are: hep-lat
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The categories of this paper are: adap-org
20
The categories of this paper are: acc-phys
6
The categories of this paper are: astro-ph
31
The categories of this paper are: ao-sci