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: "application of wrench based feasibility analysis to the online trajectory optimization of legged robots"
  Abstract: Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the complexity of the terrains to be traversed increases. We build on previous research from the field of robotic grasping to propose two new six-dimensional bounded polytopes named the Actuation Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP). We define the AWP as the set of all the wrenches that a robot can generate while considering its actuation limits. This considers the admissible contact forces that the robot can generate given its current configuration and actuation capabilities. The Contact Wrench Cone (CWC) instead includes features of the environment such as the contact normal or the friction coefficient. The intersection of the AWP and of the CWC results in a convex polytope, the FWP, which turns out to be more descriptive of the real robot capabilities than existing simplified models, while maintaining the same compact representation. We explain how to efficiently compute the vertex-description of the FWP that is then used to evaluate a feasibility factor that we adapted from the field of robotic grasping [1]. This allows us to optimize for robustness to external disturbance wrenches. Based on this, we present an implementation of a motion planner for our quadruped robot HyQ that provides online Center of Mass (CoM) trajectories that are guaranteed to be statically stable and actuation-consistent.

Connected through hyperedge HE-1 (induced by source paper "optimizing dynamic trajectories for robustness to disturbances using polytopic projections"):
  with members:
    - "optimisation of body ground contact for augmenting whole body loco manipulation of quadruped robots"
    - "a differentiable augmented lagrangian method for bilevel nonlinear optimization"
    - "crocoddyl an efficient and versatile framework for multi contact optimal control"
    - "comparing metrics for robustness against external perturbations in dynamic trajectory optimization"
    - "a family of iterative gauss newton shooting methods for nonlinear optimal control"
    - "julia a fresh approach to numerical computing"
    - "on computing the shadows and slices of polytopes"

Connected through hyperedge HE-2 (induced by source paper "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality"):
  with members:
    - "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"
    - "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-3 (induced by source paper "feasible region an actuation aware extension of the support region"):
  with members:
    - "heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality"
    - "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"
    - "structured contact force optimization for kino dynamic motion generation"
    - "minkowski sum of polytopes defined by their vertices"
    - "minkowski sum of hv polytopes in rn"

Connected through hyperedge HE-4 (induced by source paper "on the hardware feasibility of nonlinear trajectory optimization for legged locomotion based on a simplified dynamics"):
  with members:
    - "feasible region an actuation aware extension of the support region"
    - "efficient humanoid contact planning using learned centroidal dynamics prediction"
    - "passive whole body control for quadruped robots experimental validation over challenging terrain"
    - "real time motion planning of legged robots a model predictive control approach"
    - "structured contact force optimization for kino dynamic motion generation"

Connected through hyperedge HE-5 (induced by source paper "bounded haptic teleoperation of a quadruped robot s foot posture for sensing and manipulation"):
  with members:
    - "comparing metrics for robustness against external perturbations in dynamic trajectory optimization"
    - "momentum control with hierarchical inverse dynamics on a torque controlled humanoid"

Connected through hyperedge HE-6 (induced by source paper "comparing metrics for robustness against external perturbations in dynamic trajectory optimization"):
  with members:
    - "julia a fresh approach to numerical computing"

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)