Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Soft-bubble: A highly compliant dense geometry tactile sensor for robot
  manipulation   Incorporating effective tactile sensing and mechanical compliance is key
towards enabling robust and safe operation of robots in unknown, uncertain and
cluttered environments. Towards realizing this goal, we present a lightweight,
easy-to-build, highly compliant dense geometry sensor and end effector that
comprises an inflated latex membrane with a depth sensor behind it. We present
the motivations and the hardware design for this Soft-bubble and demonstrate
its capabilities through example tasks including tactile-object classification,
pose estimation and tracking, and nonprehensile object manipulation. We also
present initial experiments to show the importance of high-resolution geometry
sensing for tactile tasks and discuss applications in robust manipulation.

23
The categories of this paper are: solv-int
22
The categories of this paper are: chao-dyn
11
The categories of this paper are: hep-lat
26
The categories of this paper are: bayes-an
28
The categories of this paper are: alg-geom
10
The categories of this paper are: q-bio
19
The categories of this paper are: eess
4
The categories of this paper are: cond-mat
14
The categories of this paper are: math-ph
0
The categories of this paper are: hep-ph
30
The categories of this paper are: q-alg
36
The categories of this paper are: cmp-lg
33
The categories of this paper are: plasm-ph
25
The categories of this paper are: patt-sol
34
The categories of this paper are: chem-ph
7
The categories of this paper are: hep-th