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: "capturability based pattern generation for walking with variable height"
  Abstract: Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with constrained height based on the capture point. We generalize this analysis to the variable-height inverted pendulum (VHIP) and show how it enables 3D walking over uneven terrains based on capture inputs. Thanks to a tailored optimization scheme, we can compute these inputs fast enough for real-time model predictive control. We implement this approach as open-source software and demonstrate it in dynamic simulations.

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"
    - "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"
    - "step timing adjustment a step toward generating robust gaits"

Connected through hyperedge HE-2 (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"
    - "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"
    - "multi contact walking pattern generation based on model preview control of 3d com accelerations"
    - "zmp support areas for multi contact mobility under frictional constraints"

Connected through hyperedge HE-3 (induced by source paper "0 step capturability motion decomposition and global feedback control of the 3d variable height inverted pendulum"):
  with members:
    - "feedback control of a cassie bipedal robot walking standing and riding a segway"
    - "balance control using both zmp and com height variations a convex boundedness approach"
    - "dynamic walking over rough terrains by nonlinear predictive control of the floating base inverted pendulum"

Connected through hyperedge HE-4 (induced by source paper "mpc for humanoid gait generation stability and feasibility"):
  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)