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: "step timing adjustment a step toward generating robust gaits"
  Abstract: Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing adjustment for generating robust gaits. In this approach, step location and step timing are decided, based on feedback from the current state of the robot. The proposed approach is comprised of two stages. In the first stage, the nominal step location and step duration for the next step or a previewed number of steps are specified. In this stage which is done at the start of each step, the main goal is to specify the best step length and step duration for a desired walking speed. The second stage deals with finding the best landing point and landing time of the swing foot at each control cycle. In this stage, stability of the gaits is preserved by specifying a desired offset between the swing foot landing point and the Divergent Component of Motion (DCM) at the end of current step. After specifying the landing point of the swing foot at a desired time, the swing foot trajectory is regenerated at each control cycle to realize desired landing properties. Simulation on different scenarios shows the robustness of the generated gaits from our proposed approach compared to the case where no timing adjustment is employed.

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"
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "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"

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"
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "robust bipedal locomotion control based on model predictive control and divergent component of motion"
    - "trajectory generation for multi contact momentum control"

Connected through hyperedge HE-3 (induced by source paper "a hierarchical framework to generate robust biped locomotion based on divergent component of motion"):
  with members:
    - "robust bipedal locomotion control based on model predictive control and divergent component of motion"

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"
    - "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-5 (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"
    - "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"
    - "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-6 (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"
    - "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"
    - "stepping stabilization using a combination of dcm tracking and step adjustment"

Connected through hyperedge HE-7 (induced by source paper "a reactive and efficient walking pattern generator for robust bipedal locomotion"):
  with members:
    - "walking stabilization using step timing and location adjustment on the humanoid robot atlas"
    - "pattern generation for walking on slippery terrains"
    - "a robust walking controller based on online step location and duration optimization for bipedal locomotion"
    - "robust bipedal locomotion control based on model predictive control and divergent component of motion"
    - "push recovery of a humanoid robot based on model predictive control and capture point"
    - "stepping stabilization using a combination of dcm tracking and step adjustment"

Connected through hyperedge HE-8 (induced by source paper "rigid vs compliant contact an experimental study on biped walking"):
  with members:
    - "online adaptation for humanoids walking on uncertain surfaces"
    - "momentum control with hierarchical inverse dynamics on a torque controlled humanoid"
    - "structured contact force optimization for kino dynamic motion generation"
    - "stepping stabilization using a combination of dcm tracking and step adjustment"
    - "trajectory generation for multi contact momentum control"

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)