Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: IK-PSO, PSO Inverse Kinematics Solver with Application to Biped Gait
  Generation   This paper describes a new approach allowing the generation of a simplified
Biped gait. This approach combines a classical dynamic modeling with an inverse
kinematics' solver based on particle swarm optimization, PSO. First, an
inverted pendulum, IP, is used to obtain a simplified dynamic model of the
robot and to compute the target position of a key point in biped locomotion,
the Centre Of Mass, COM. The proposed algorithm, called IK-PSO, Inverse
Kinematics PSO, returns and inverse kinematics solution corresponding to that
COM respecting the joints constraints. In This paper the inertia weight PSO
variant is used to generate a possible solution according to the stability
based fitness function and a set of joints motions constraints. The method is
applied with success to a leg motion generation. Since based on a
pre-calculated COM, that satisfied the biped stability, the proposal allowed
also to plan a walk with application on a small size biped robot.

2
The categories of this paper are: math
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
22
The categories of this paper are: chao-dyn
24
The categories of this paper are: dg-ga
29
The categories of this paper are: funct-an
26
The categories of this paper are: bayes-an
10
The categories of this paper are: q-bio
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
27
The categories of this paper are: comp-gas
25
The categories of this paper are: patt-sol
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
14
The categories of this paper are: math-ph
19
The categories of this paper are: eess