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: "trajectory generation for multi contact momentum control"
  Abstract: Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For example, the LIPM does not allow for the control of contact forces independently, is limited to co-planar contacts and assumes that the angular momentum is zero. In this paper, we propose to use the full momentum equations of a humanoid robot in a trajectory optimization framework to plan its center of mass, linear and angular momentum trajectories. The model also allows for planning desired contact forces for each end-effector in arbitrary contact locations. We extend our previous results on linear quadratic regulator (LQR) design for momentum control by computing the (linearized) optimal momentum feedback law in a receding horizon fashion. The resulting desired momentum and the associated feedback law are then used in a hierarchical whole body control approach. Simulation experiments show that the approach is computationally fast and is able to generate plans for locomotion on complex terrains while demonstrating good tracking performance for the full humanoid control.

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"
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "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"

Connected through hyperedge HE-2 (induced by source paper "accelerated admm based trajectory optimization for legged locomotion with coupled rigid body dynamics"):
  with members:
    - "differential dynamic programming for multi phase rigid contact dynamics"
    - "structured contact force optimization for kino dynamic motion generation"

Connected through hyperedge HE-3 (induced by source paper "robust humanoid locomotion using trajectory optimization and sample efficient learning"):
  with members:
    - "locomotion planning through a hybrid bayesian trajectory optimization"
    - "differential dynamic programming for multi phase rigid contact dynamics"
    - "walking control based on step timing adaptation"
    - "pattern generation for walking on slippery terrains"
    - "bayesian optimization using domain knowledge on the atrias biped"
    - "automatic lqr tuning based on gaussian process global optimization"
    - "sample efficient optimization for learning controllers for bipedal locomotion"
    - "robots that can adapt like animals"

Connected through hyperedge HE-4 (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"
    - "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"
    - "automatic differentiation of rigid body dynamics for optimal control and estimation"

Connected through hyperedge HE-5 (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"
    - "step timing adjustment a step toward generating robust gaits"

Connected through hyperedge HE-6 (induced by source paper "a benchmarking of dcm based architectures for position velocity and torque controlled humanoid robots"):
  with members:
    - "online dcm trajectory generation for push recovery of torque controlled humanoid robots"
    - "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"

Connected through hyperedge HE-7 (induced by source paper "whole body nonlinear model predictive control through contacts for quadrupeds"):
  with members:
    - "the control toolbox an open source c library for robotics optimal and model predictive control"
    - "a family of iterative gauss newton shooting methods for nonlinear optimal control"
    - "an efficient optimal planning and control framework for quadrupedal locomotion"
    - "automatic differentiation of rigid body dynamics for optimal control and estimation"
    - "trajectory optimization through contacts and automatic gait discovery for quadrupeds"
    - "hierarchical planning of dynamic movements without scheduled contact sequences"
    - "projection based whole body motion planning for legged robots"
    - "planning and execution of dynamic whole body locomotion for a hydraulic quadruped on challenging terrain"

Connected through hyperedge HE-8 (induced by source paper "differential dynamic programming for multi phase rigid contact dynamics"):
  with members:
    - "whole body nonlinear model predictive control through contacts for quadrupeds"
    - "simultaneous contact gait and motion planning for robust multi legged locomotion via mixed integer convex optimization"
    - "motion planning for quadrupedal locomotion coupled planning terrain mapping and whole body control"
    - "momentum control with hierarchical inverse dynamics on a torque controlled humanoid"
    - "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)