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: "zmp support areas for multi contact mobility under frictional constraints"
  Abstract: We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support areas to take into account (a) frictional constraints and (b) multiple non-coplanar contacts. We introduce and investigate two kinds of ZMP support areas. First, we characterize and provide a fast geometric construction for the support area generated by valid contact forces, with no other constraint on the robot motion. We call this set the full support area. Next, we consider the control of humanoid robots using the Linear Pendulum Mode (LPM). We observe that the constraints stemming from the LPM induce a shrinking of the support area, even for walking on horizontal floors. We propose an algorithm to compute the new area, which we call pendular support area. We show that, in the LPM, having the ZMP in the pendular support area is a necessary and sufficient condition for contact stability. Based on these developments, we implement a whole-body controller and generate feasible multi-contact motions where an HRP-4 humanoid locomotes in challenging multi-contact scenarios.

Connected through hyperedge HE-1 (induced by source paper "biped stabilization by linear feedback of the variable height inverted pendulum model"):
  with members:
    - "stair climbing stabilization of the hrp 4 humanoid robot using whole body admittance control"
    - "capturability based pattern generation for walking with variable height"
    - "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum"
    - "walking on partial footholds including line contacts with the humanoid robot atlas"
    - "multi contact walking pattern generation based on model preview control of 3d com accelerations"

Connected through hyperedge HE-2 (induced by source paper "reactive task and motion planning for robust whole body dynamic locomotion in constrained environments"):
  with members:
    - "deepmimic example guided deep reinforcement learning of physics based character skills"
    - "robust abstractions for control synthesis completeness via robustness for linear time properties"
    - "combined top down and bottom up approaches to performance guaranteed integrated task and motion planning of cooperative multi agent systems"
    - "multi contact walking pattern generation based on model preview control of 3d com accelerations"
    - "robust temporal logic model predictive control"
    - "robust online monitoring of signal temporal logic"
    - "probably approximately correct mdp learning and control with temporal logic constraints"

Connected through hyperedge HE-3 (induced by source paper "a planning and control framework for humanoid systems robust optimal and real time performance"):
  with members:
    - "robot impedance control and passivity analysis with inner torque and velocity feedback loops"
    - "momentum control with hierarchical inverse dynamics on a torque controlled humanoid"
    - "funnel libraries for real time robust feedback motion planning"
    - "a framework for planning and controlling non periodic bipedal locomotion"
    - "stability and performance limits of latency prone distributed feedback controllers"
    - "full body collision detection and reaction with omnidirectional mobile platforms a step towards safe human robot interaction"
    - "controlit a software framework for whole body operational space control"
    - "real time planning with primitives for dynamic walking over uneven terrain"

Connected through hyperedge HE-4 (induced by source paper "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum"):
  with members:
    - "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"
    - "step timing adjustment a step toward generating robust gaits"
    - "multi contact walking pattern generation based on model preview control of 3d com accelerations"
    - "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas"
    - "a general fast and robust implementation of the time optimal path parameterization algorithm"

Connected through hyperedge HE-5 (induced by source paper "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"):
  with members:
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "on the structure of the time optimal path parameterization problem with third order constraints"
    - "step timing adjustment a step toward generating robust gaits"
    - "multi contact walking pattern generation based on model preview control of 3d com accelerations"
    - "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas"
    - "trajectory generation for multi contact momentum control"
    - "a general fast and robust implementation of the time optimal path parameterization algorithm"

Connected through hyperedge HE-6 (induced by source paper "multi contact walking pattern generation based on model preview control of 3d com accelerations"):
  with members:
    - "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas"
    - "trajectory generation for multi contact momentum control"
    - "real time planning with primitives for dynamic walking over uneven terrain"

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)