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 "walking control based on step timing adaptation"):
  Abstract: Step adjustment for biped robots has been shown to improve gait robustness, however the adaptation of step timing is often neglected in control strategies because it gives rise to non-convex problems when optimized over several steps. In this paper, we argue that it is not necessary to optimize walking over several steps to guarantee stability and that it is sufficient to merely select the next step timing and location. From this insight, we propose a novel walking pattern generator with linear constraints that optimally selects step location and timing at every control cycle. The resulting controller is computationally simple, yet guarantees that any viable state will remain viable in the future. We propose a swing foot adaptation strategy and show how the approach can be used with an inverse dynamics controller without any explicit control of the center of mass or the foot center of pressure. This is particularly useful for biped robots with limited control authority on their foot center of pressure, such as robots with point feet and robots with passive ankles. Extensive simulations on a humanoid robot with passive ankles subject to external pushes and foot slippage demonstrate the capabilities of the approach in cases where the foot center of pressure cannot be controlled and emphasize the importance of step timing adaptation to stabilize walking.

Includes members:
  Member "whole body nonlinear model predictive control through contacts for quadrupeds":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "guided constrained policy optimization for dynamic quadrupedal robot locomotion")
  Member "walking stabilization using step timing and location adjustment on the humanoid robot atlas":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "robust humanoid contact planning with learned zero and one step capturability prediction")
  Member "online adaptation for humanoids walking on uncertain surfaces":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "a robust walking controller based on online step location and duration optimization for bipedal locomotion")
  Member "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "feasible region an actuation aware extension of the support region")
  Member "when to make a step tackling the timing problem in multi contact locomotion by topp mpc":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach")
  Member "momentum control with hierarchical inverse dynamics on a torque controlled humanoid":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "multi agent manipulation via locomotion using hierarchical sim2real")
  Member "structured contact force optimization for kino dynamic motion generation":
    also connected through other hyperedges:
      - Hyperedge HE-7 (induced by source paper "accelerated admm based trajectory optimization for legged locomotion with coupled rigid body dynamics")
  Member "step timing adjustment a step toward generating robust gaits":
    also connected through other hyperedges:
      - Hyperedge HE-8 (induced by source paper "robust humanoid contact planning with learned zero and one step capturability prediction")

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)