human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "motion decoupling and composition via reduced order model optimization for dynamic humanoid walking with clf qp based active force control"
  Abstract: In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Spring-loaded Inverted Pendulum (aSLIP) models and Hybrid-Linear Inverted Pendulum (H-LIP) models, are utilized for motion generation on the desired center of mass (COM) dynamics for each type of planar motion. The periodic motion is planned via point foot (underactuated) ROMs for dynamic motion with minimum ankle actuation, while the transitional motion is planned via foot-actuated ROMs for fast and smooth transition. Composition of the planar COM dynamics yields the desired COM dynamics in 3D, which is embedded on the humanoid via control Lyapunov function based Quadratic programs (CLF-QPs). Additionally, the ground reaction force profiles of the aSLIP walking are used as desired references for ground contact forces in the CLF-QPs for smooth domain transitions. The proposed framework is realized on a lower-limb exoskeleton in simulation wherein different walking motions are achieved.

Connected through hyperedge HE-1 (induced by source paper "orbit characterization stabilization and composition on 3d underactuated bipedal walking via hybrid passive linear inverted pendulum model"):
  with members:
    - "bipedal hopping reduced order model embedding via optimization based control"
    - "feedback control of a cassie bipedal robot walking standing and riding a segway"

Question: Please tell me which class the center node 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)