Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Predictive Momentum-Based Whole-Body Torque Controller: Theory and
  Simulations for the iCub Stepping   When balancing, a humanoid robot can be easily subjected to unexpected
disturbances like external pushes. In these circumstances, reactive movements
as steps become a necessary requirement in order to avoid potentially harmful
falling states. In this paper we conceive a Model Predictive Controller which
determines a desired set of contact wrenches by predicting the future evolution
of the robot, while taking into account constraints switching in case of steps.
The control inputs computed by this strategy, namely the desired contact
wrenches, are directly obtained on the robot through a modification of the
momentum-based whole-body torque controller currently implemented on iCub. The
proposed approach is validated through simulations in a stepping scenario,
revealing high robustness and reliability when executing a recovery strategy.

2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
9
The categories of this paper are: nlin
6
The categories of this paper are: astro-ph
10
The categories of this paper are: q-bio
16
The categories of this paper are: stat
33
The categories of this paper are: plasm-ph
8
The categories of this paper are: hep-ex
29
The categories of this paper are: funct-an
13
The categories of this paper are: quant-ph
34
The categories of this paper are: chem-ph
3
The categories of this paper are: physics
12
The categories of this paper are: nucl-th
0
The categories of this paper are: hep-ph
18
The categories of this paper are: econ
14
The categories of this paper are: math-ph