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 "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum"):
  Abstract: We present a real-time rough-terrain dynamic walking pattern generator. Our method automatically finds step durations, which is a critical issue over rough terrains where they depend on terrain topology. To achieve this level of generality, we introduce the Floating-base Inverted Pendulum (FIP) model where the center of mass can translate freely and the zero-tilting moment point is allowed to leave the contact surface. We show that this model is equivalent to the linear-inverted pendulum mode with variable center of mass height, aside from the fact that its equations of motion remain linear. Our design then follows three steps: (i) we characterize the FIP contact-stability condition; (ii) we compute feedforward controls by solving a nonlinear optimization over receding-horizon FIP trajectories. Despite running at 30 Hz in a model-predictive fashion, simulations show that the latter is too slow to stabilize dynamic motions. To remedy this, we (iii) linearize FIP feedback control computations into a quadratic program, resulting in a constrained linear-quadratic regulator that runs at 300 Hz. We finally demonstrate our solution in simulations with a model of the HRP-4 humanoid robot, including noise and delays over both state estimation and foot force control.

Includes members:
  Member "when to make a step tackling the timing problem in multi contact locomotion by topp mpc":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach")
  Member "step timing adjustment a step toward generating robust gaits":
    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 "multi contact walking pattern generation based on model preview control of 3d com accelerations":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "biped stabilization by linear feedback of the variable height inverted pendulum model")
  Member "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "highly dynamic quadruped locomotion via whole body impulse control and model predictive control")
  Member "zmp support areas for multi contact mobility under frictional constraints":
    also connected through other hyperedges:
      - Hyperedge HE-5 (induced by source paper "biped stabilization by linear feedback of the variable height inverted pendulum model")
  Member "a general fast and robust implementation of the time optimal path parameterization algorithm":
    also connected through other hyperedges:
      - Hyperedge HE-6 (induced by source paper "gomp grasp optimized motion planning for bin picking")

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)