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: "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.

Connected through hyperedge HE-1 (induced by source paper "feasible region an actuation aware extension of the support region"):
  with members:
    - "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality"
    - "application of wrench based feasibility analysis to the online trajectory optimization of legged robots"
    - "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"
    - "structured contact force optimization for kino dynamic motion generation"
    - "minkowski sum of polytopes defined by their vertices"
    - "minkowski sum of hv polytopes in rn"

Connected through hyperedge HE-2 (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"
    - "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"
    - "zmp support areas for multi contact mobility under frictional constraints"

Connected through hyperedge HE-3 (induced by source paper "nonlinear model predictive control for robust bipedal locomotion exploring com height and angular momentum changes"):
  with members:
    - "a whole body model predictive control scheme including external contact forces and com height variations"
    - "on time optimisation of centroidal momentum dynamics"
    - "robust optimal planning and control of non periodic bipedal locomotion with a centroidal momentum model"
    - "robust bipedal locomotion control based on model predictive control and divergent component of motion"

Connected through hyperedge HE-4 (induced by source paper "0 step capturability motion decomposition and global feedback control of the 3d variable height inverted pendulum"):
  with members:
    - "feedback control of a cassie bipedal robot walking standing and riding a segway"
    - "capturability based pattern generation for walking with variable height"
    - "balance control using both zmp and com height variations a convex boundedness approach"

Connected through hyperedge HE-5 (induced by source paper "mpc for humanoid gait generation stability and feasibility"):
  with members:
    - "capturability based pattern generation for walking with variable height"

Connected through hyperedge HE-6 (induced by source paper "application of wrench based feasibility analysis to the online trajectory optimization of legged robots"):
  with members:
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "the actuation consistent wrench polytope awp and the feasible wrench polytope fwp"
    - "fast trajectory optimization for legged robots using vertex based zmp constraints"

Connected through hyperedge HE-7 (induced by source paper "a robust walking controller based on online step location and duration optimization for bipedal locomotion"):
  with members:
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "online adaptation for humanoids walking on uncertain surfaces"
    - "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"
    - "momentum control with hierarchical inverse dynamics on a torque controlled humanoid"
    - "structured contact force optimization for kino dynamic motion generation"
    - "step timing adjustment a step toward generating robust gaits"
    - "a convex model of momentum dynamics for multi contact motion generation"
    - "stepping stabilization using a combination of dcm tracking and step adjustment"

Connected through hyperedge HE-8 (induced by source paper "walking control based on step timing adaptation"):
  with members:
    - "whole body nonlinear model predictive control through contacts for quadrupeds"
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "online adaptation for humanoids walking on uncertain surfaces"
    - "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"
    - "momentum control with hierarchical inverse dynamics on a torque controlled humanoid"
    - "structured contact force optimization for kino dynamic motion generation"
    - "step timing adjustment a step toward generating robust gaits"
    - "stepping stabilization using a combination of dcm tracking and step adjustment"

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)