Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fast Online Planning for Bipedal Locomotion via Centroidal Model
  Predictive Gait Synthesis   The planning of whole-body motion and step time for bipedal locomotion is
constructed as a model predictive control (MPC) problem, in which a sequence of
optimization problems needs to be solved online. While directly solving these
problems is extremely time-consuming, we propose a predictive gait synthesizer
to offer immediate solutions. Based on the full-dimensional model, a library of
gaits with different speeds and periods is first constructed offline. Then the
proposed gait synthesizer generates real-time gaits at 1kHz by synthesizing the
gait library based on the online prediction of centroidal dynamics. We prove
that the constructed MPC problem can ensure the uniform ultimate boundedness
(UUB) of the CoM states and show that our proposed gait synthesizer can provide
feasible solutions to the MPC optimization problems. Simulation and
experimental results on a bipedal robot with 8 degrees of freedom (DoF) are
provided to show the performance and robustness of this approach.

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The categories of this paper are: adap-org
13
The categories of this paper are: quant-ph
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The categories of this paper are: chem-ph
3
The categories of this paper are: physics
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The categories of this paper are: math-ph
7
The categories of this paper are: hep-th
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The categories of this paper are: q-fin
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The categories of this paper are: atom-ph
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The categories of this paper are: comp-gas
2
The categories of this paper are: math
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The categories of this paper are: funct-an
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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: chao-dyn
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The categories of this paper are: cmp-lg
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The categories of this paper are: patt-sol