Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: CPG-Based Control Scheme for Quadruped Robot to Withstand the Lateral
  Impact   This paper aims to present a stability control strategy for quadruped robot
under lateral impact with the help of lateral trot. We firstly propose five
necessary conditions for keeping balance. The classical four-neuron Central
Pattern Generator (CPG) network with Hopf oscillators is then extended to
eight-neuron network with four more trigger-enabled neurons, which controls the
lateral trot. With proper adjustment of network's parameters, such network can
coordinate the lateral and longitudinal trot gait. Based on Zero Movement Point
(ZMP) theory, the robot is modeled as an inverted pendulum to plan the Center
of Gravity (CoG) position and calculate the needed lateral step length. The
simulation shows that the lateral acceleration of the quadruped robot after
lateral impact regains to the normal range in a short time. Comparison shows
that the maximal lateral impact that robot can resist increases about 125% from
0.72g to 1.55g.

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The categories of this paper are: alg-geom
13
The categories of this paper are: quant-ph
24
The categories of this paper are: dg-ga
15
The categories of this paper are: nucl-ex
12
The categories of this paper are: nucl-th
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The categories of this paper are: comp-gas
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The categories of this paper are: ao-sci
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The categories of this paper are: chao-dyn
2
The categories of this paper are: math
20
The categories of this paper are: acc-phys
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The categories of this paper are: eess
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The categories of this paper are: atom-ph
0
The categories of this paper are: hep-ph
5
The categories of this paper are: gr-qc
11
The categories of this paper are: hep-lat
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The categories of this paper are: chem-ph