Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Push Recovery of a Position-Controlled Humanoid Robot Based on Capture
  Point Feedback Control   In this paper, a combination of ankle and hip strategy is used for push
recovery of a position-controlled humanoid robot. Ankle strategy and hip
strategy are equivalent to Center of Pressure (CoP) and Centroidal Moment Pivot
(CMP) regulation respectively. For controlling the CMP and CoP we need a
torque-controlled robot, however most of the conventional humanoid robots are
position controlled. In this regard, we present an efficient way for
implementation of the hip and ankle strategies on a position controlled
humanoid robot. We employ a feedback controller to compensate the capture point
error. Using our scheme, a simple and practical push recovery controller is
designed which can be implemented on the most of the conventional humanoid
robots without the need for torque sensors. The effectiveness of the proposed
approach is verified through push recovery experiments on SURENA-Mini humanoid
robot under severe pushes.

6
The categories of this paper are: astro-ph
10
The categories of this paper are: q-bio
18
The categories of this paper are: econ
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
27
The categories of this paper are: comp-gas
20
The categories of this paper are: acc-phys
33
The categories of this paper are: plasm-ph
3
The categories of this paper are: physics
21
The categories of this paper are: adap-org
8
The categories of this paper are: hep-ex
11
The categories of this paper are: hep-lat
19
The categories of this paper are: eess
26
The categories of this paper are: bayes-an
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci