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: "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
  Abstract: While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to combine traditional “ankle strategy” balancing with step timing and location adjustment techniques. In doing so, the robot is able to step quickly to the necessary location to continue walking. In this work, we present both a new swing speed up algorithm to adjust the step timing, allowing the robot to set the foot down more quickly to recover from errors in the direction of the current capture point dynamics, and a new algorithm to adjust the desired footstep, expanding the base of support to utilize the center of pressure (CoP)-based ankle strategy for balance. We then utilize the desired centroidal moment pivot (CMP) to calculate the momentum rate of change for our inverse-dynamics based whole-body controller. We present simulation and experimental results using this work, and discuss performance limitations and potential improvements.

Connected through hyperedge HE-1 (induced by source paper "robust humanoid contact planning with learned zero and one step capturability prediction"):
  with members:
    - "unified multi contact fall mitigation planning for humanoids via contact transition tree optimization"
    - "efficient humanoid contact planning using learned centroidal dynamics prediction"
    - "capturability based pattern generation for walking with variable height"
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "a mpc walking framework with external contact forces"
    - "structured contact force optimization for kino dynamic motion generation"
    - "step timing adjustment a step toward generating robust gaits"

Connected through hyperedge HE-2 (induced by source paper "online dcm trajectory generation for push recovery of torque controlled humanoid robots"):
  with members:
    - "a benchmarking of dcm based architectures for position and velocity controlled walking of humanoid robots"
    - "robust bipedal locomotion control based on model predictive control and divergent component of motion"
    - "step timing adjustment a step toward generating robust gaits"
    - "trajectory generation for multi contact momentum control"

Connected through hyperedge HE-3 (induced by source paper "deploying the nasa valkyrie humanoid for ied response an initial approach and evaluation summary"):
  with members:
    - "grasp pose detection in point clouds"
    - "idrm humanoid motion planning with real time end pose selection in complex environments"

Connected through hyperedge HE-4 (induced by source paper "a robust closed loop biped locomotion planner based on time varying model predictive control"):
  with members:
    - "stepping stabilization using a combination of dcm tracking and step adjustment"

Connected through hyperedge HE-5 (induced by source paper "capturability based analysis optimization and control of 3d bipedal walking"):
  with members:
    - "a new approach to time optimal path parameterization based on reachability analysis"
    - "step timing adjustment a step toward generating robust gaits"
    - "multi contact walking pattern generation based on model preview control of 3d com accelerations"
    - "a general fast and robust implementation of the time optimal path parameterization algorithm"

Connected through hyperedge HE-6 (induced by source paper "a whole body model predictive control scheme including external contact forces and com height variations"):
  with members:
    - "a mpc walking framework with external contact forces"
    - "pattern generation for walking on slippery terrains"
    - "a robust walking controller based on online step location and duration optimization for bipedal locomotion"
    - "stepping stabilization using a combination of dcm tracking and step adjustment"

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:
    - "online adaptation for humanoids walking on uncertain surfaces"
    - "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum"
    - "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"
    - "online adaptation for humanoids walking on uncertain surfaces"
    - "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum"
    - "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)