Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Decentralized Control of a Hexapod Robot Using a Wireless Time
  Synchronized Network   Robots and control systems rely upon precise timing of sensors and actuators
in order to operate intelligently. We present a functioning hexapod robot that
walks with a dual tripod gait; each tripod is actuated using its own local
controller running on a separate wireless node. We compare and report the
results of operating the robot using two different decentralized control
schemes. With the first scheme, each controller relies on its own local clock
to generate control signals for the tripod it controls. With the second scheme,
each controller relies on a variable that is local to itself but that is
necessarily the same across controllers as a by-product of their host nodes
being part of a time synchronized IEEE802.15.4e network. The gait
synchronization error (time difference between what both controllers believe is
the start of the gait period) grows linearly when the controllers use their
local clocks, but remains bounded to within 112 microseconds when the
controllers use their nodes' time synchronized local variable.

20
The categories of this paper are: acc-phys
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
11
The categories of this paper are: hep-lat
5
The categories of this paper are: gr-qc
8
The categories of this paper are: hep-ex
15
The categories of this paper are: nucl-ex
24
The categories of this paper are: dg-ga
21
The categories of this paper are: adap-org
25
The categories of this paper are: patt-sol
35
The categories of this paper are: mtrl-th
33
The categories of this paper are: plasm-ph
34
The categories of this paper are: chem-ph
4
The categories of this paper are: cond-mat
32
The categories of this paper are: atom-ph