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: "multi contact walking pattern generation based on model preview control of 3d com accelerations"
  Abstract: We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a mathematical observation on the algebraic nature of the frictional wrench cone, we show that the 3D volume of feasible COM accelerations is a always a downward-pointing cone. We reduce its computation to a convex hull of (dual) 2D points, for which optimal O(n log n) algorithms are readily available. This reformulation brings a significant speedup compared to previous methods, which allows us to compute time-varying contact-stability criteria fast enough for the control loop. Next, we propose a conservative trajectory-wide contact-stability criterion, which can be derived from COM-acceleration volumes at marginal cost and directly applied in a model-predictive controller. We finally implement this pipeline and exemplify it with the HRP-4 humanoid model in multi-contact dynamically walking 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"
    - "zmp support areas for multi contact mobility under frictional constraints"

Connected through hyperedge HE-2 (induced by source paper "formal connections between template and anchor models via approximate simulation"):
  with members:
    - "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas"
    - "balancing experiments on a torque controlled humanoid with hierarchical inverse dynamics"

Connected through hyperedge HE-3 (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"
    - "robust temporal logic model predictive control"
    - "zmp support areas for multi contact mobility under frictional constraints"
    - "robust online monitoring of signal temporal logic"
    - "probably approximately correct mdp learning and control with temporal logic constraints"

Connected through hyperedge HE-4 (induced by source paper "capturability based analysis optimization and control of 3d bipedal walking"):
  with members:
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "a new approach to time optimal path parameterization based on reachability analysis"
    - "step timing adjustment a step toward generating robust gaits"
    - "a general fast and robust implementation of the time optimal path parameterization algorithm"

Connected through hyperedge HE-5 (induced by source paper "efficient humanoid contact planning using learned centroidal dynamics prediction"):
  with members:
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "a generalized mixed integer convex program for multilegged footstep planning on uneven terrain"
    - "structured contact force optimization for kino dynamic motion generation"

Connected through hyperedge HE-6 (induced by source paper "on time optimisation of centroidal momentum dynamics"):
  with members:
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "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"
    - "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"

Connected through hyperedge HE-7 (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"
    - "stability of surface contacts for humanoid robots closed form formulae of the contact wrench cone for rectangular support areas"
    - "zmp support areas for multi contact mobility under frictional constraints"
    - "a general fast and robust implementation of the time optimal path parameterization algorithm"

Connected through hyperedge HE-8 (induced by source paper "balance control using both zmp and com height variations a convex boundedness approach"):
  with members:
    - "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum"

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)