Instruct: Identify the main and secondary category of Arxiv papers based on the titles
Query: Balance control using both ZMP and COM height variations: A convex
  boundedness approach
34
The categories of this paper are: chem-ph
37
The categories of this paper are: supr-con
7
The categories of this paper are: hep-th
3
The categories of this paper are: physics
12
The categories of this paper are: nucl-th
13
The categories of this paper are: quant-ph
26
The categories of this paper are: bayes-an
8
The categories of this paper are: hep-ex
2
The categories of this paper are: math
10
The categories of this paper are: q-bio
15
The categories of this paper are: nucl-ex
5
The categories of this paper are: gr-qc
30
The categories of this paper are: q-alg
9
The categories of this paper are: nlin
21
The categories of this paper are: adap-org
17
The categories of this paper are: q-fin