Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion   Developing feasible body trajectories for legged systems on arbitrary
terrains is a challenging task. Given some contact points, the trajectories for
the Center of Mass (CoM) and body orientation, designed to move the robot, must
satisfy crucial constraints to maintain balance, and to avoid violating
physical actuation and kinematic limits. In this paper, we present a paradigm
that allows to design feasible trajectories in an efficient manner. In
continuation to our previous work, we extend the notion of the 2D feasible
region, where static balance and the satisfaction of actuation limits were
guaranteed, whenever the projection of the CoM lies inside the proposed
admissible region. We here develop a general formulation of the improved
feasible region to guarantee dynamic balance alongside the satisfaction of both
actuation and kinematic limits for arbitrary terrains in an efficient manner.
To incorporate the feasibility of the kinematic limits, we introduce an
algorithm that computes the reachable region of the CoM. Furthermore, we
propose an efficient planning strategy that utilizes the improved feasible
region to design feasible CoM and body orientation trajectories. Finally, we
validate the capabilities of the improved feasible region and the effectiveness
of the proposed planning strategy, using simulations and experiments on the HyQ
robot and comparing them to a previously developed heuristic approach. Various
scenarios and terrains that mimic confined and challenging environments are
used for the validation.

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The categories of this paper are: nucl-th
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The categories of this paper are: hep-ex
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The categories of this paper are: quant-ph
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The categories of this paper are: chao-dyn
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The categories of this paper are: nlin
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The categories of this paper are: cmp-lg
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The categories of this paper are: funct-an
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The categories of this paper are: math-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: adap-org
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The categories of this paper are: physics
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The categories of this paper are: q-fin
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The categories of this paper are: dg-ga
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The categories of this paper are: econ
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The categories of this paper are: gr-qc
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The categories of this paper are: nucl-ex