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: "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
  Abstract: Traditional motion planning approaches for multilegged locomotion divide the problem into several stages, such as contact search and trajectory generation. However, reasoning about contacts and motions simultaneously is crucial for the generation of complex whole-body behaviors. Currently, coupling theses problems has required either the assumption of a fixed gait sequence and flat terrain condition, or nonconvex optimization with intractable computation time. In this letter, we propose a mixed-integer convex formulation to plan simultaneously contact locations, gait transitions, and motion, in a computationally efficient fashion. In contrast to previous works, our approach is not limited to flat terrain nor to a prespecified gait sequence. Instead, we incorporate the friction cone stability margin, approximate the robot's torque limits, and plan the gait using mixed-integer convex constraints. We experimentally validated our approach on the HyQ robot by traversing different challenging terrains, where nonconvexity and flat terrain assumptions might lead to suboptimal or unstable plans. Our method increases the motion robustness while keeping a low computation time.

Connected through hyperedge HE-1 (induced by source paper "whole body walking generation using contact parametrization a non linear trajectory optimization approach"):
  with members:
    - "a control architecture with online predictive planning for position and torque controlled walking of humanoid robots"
    - "a benchmarking of dcm based architectures for position and velocity controlled walking of humanoid robots"
    - "whole body nonlinear model predictive control through contacts for quadrupeds"
    - "real time motion planning of legged robots a model predictive control approach"
    - "straight leg walking through underconstrained whole body control"
    - "a receding horizon push recovery strategy for balancing the icub humanoid robot"
    - "when to make a step tackling the timing problem in multi contact locomotion by topp mpc"
    - "trajectory generation for multi contact momentum control"

Connected through hyperedge HE-2 (induced by source paper "tactile dexterity manipulation primitives with tactile feedback"):
  with members:
    - "tactile mapping and localization from high resolution tactile imprints"
    - "manipulation by feel touch based control with deep predictive models"
    - "maintaining grasps within slipping bound by monitoring incipient slip"
    - "in hand object stabilization by independent finger control"
    - "in hand manipulation via motion cones"
    - "reactive planar manipulation with convex hybrid mpc"
    - "analysis and observations from the first amazon picking challenge"

Connected through hyperedge HE-3 (induced by source paper "learning how to walk warm starting optimal control solver with memory of motion"):
  with members:
    - "memory of motion for warm starting trajectory optimization"
    - "crocoddyl an efficient and versatile framework for multi contact optimal control"
    - "passive whole body control for quadruped robots experimental validation over challenging terrain"
    - "differential dynamic programming for multi phase rigid contact dynamics"
    - "trajectory optimization through contacts and automatic gait discovery for quadrupeds"
    - "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain"

Connected through hyperedge HE-4 (induced by source paper "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality"):
  with members:
    - "application of wrench based feasibility analysis to the online trajectory optimization of legged robots"
    - "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control"
    - "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain"
    - "on line and on board planning and perception for quadrupedal locomotion"

Connected through hyperedge HE-5 (induced by source paper "crocoddyl an efficient and versatile framework for multi contact optimal control"):
  with members:
    - "differential dynamic programming for multi phase rigid contact dynamics"
    - "whole body nonlinear model predictive control through contacts for quadrupeds"
    - "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control"
    - "a family of iterative gauss newton shooting methods for nonlinear optimal control"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "trajectory optimization through contacts and automatic gait discovery for quadrupeds"
    - "balancing experiments on a torque controlled humanoid with hierarchical inverse dynamics"

Connected through hyperedge HE-6 (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"
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "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-7 (induced by source paper "mpc based controller with terrain insight for dynamic legged locomotion"):
  with members:
    - "fast and continuous foothold adaptation for dynamic locomotion through cnns"
    - "efficient humanoid contact planning using learned centroidal dynamics prediction"
    - "whole body nonlinear model predictive control through contacts for quadrupeds"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "automatic differentiation of rigid body dynamics for optimal control and estimation"
    - "trajectory generation for multi contact momentum control"

Connected through hyperedge HE-8 (induced by source paper "contact planning for the anymal quadruped robot using an acyclic reachability based planner"):
  with members:
    - "learning agile and dynamic motor skills for legged robots"
    - "a convex model of momentum dynamics for multi contact motion generation"
    - "hierarchical planning of dynamic movements without scheduled contact sequences"
    - "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging 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)