human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge is induced by one source paper and its member nodes are the cited papers.

Details of the hypergraph:
Center hyperedge (induced by source paper "on the hardware feasibility of nonlinear trajectory optimization for legged locomotion based on a simplified dynamics"):
  Abstract: We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions for quadruped robots in challenging terrain. The former finds an approximate relationship between joint-torque limits and admissible contact forces without requiring the knowledge of the joints' configuration. The latter proposes a model of the leg to guarantee the avoidance of the collision with the environment. Such constraints have been included in a nonlinear non-convex optimization problem. We validate the feasibility of the trajectories both in simulation and on the HyQ robot, including experiments with non flat terrain.

Includes members:
  Member "feasible region an actuation aware extension of the support region":
    also connected through other hyperedges:
      (none)
  Member "efficient humanoid contact planning using learned centroidal dynamics prediction":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "accurate vision based manipulation through contact reasoning")
  Member "application of wrench based feasibility analysis to the online trajectory optimization of legged robots":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "optimizing dynamic trajectories for robustness to disturbances using polytopic projections")
  Member "passive whole body control for quadruped robots experimental validation over challenging terrain":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "learning how to walk warm starting optimal control solver with memory of motion")
  Member "real time motion planning of legged robots a model predictive control approach":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "whole body control of a mobile manipulator using end to end reinforcement learning")
  Member "structured contact force optimization for kino dynamic motion generation":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "accelerated admm based trajectory optimization for legged locomotion with coupled rigid body dynamics")

Question: Please tell me which class the source paper belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)