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: "a whole body model predictive control scheme including external contact forces and com height variations"
  Abstract: In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the Center of Mass (CoM) and external contact forces consistent with a given task. The optimization problem is comprised of three stages, i. e. the CoM vertical motion, joint angles, and contact forces planning. The choice of external contact (e. g. hand contact with the object or environment) among all available locations and the appropriate time to reach and maintain a contact are all computed automatically within the algorithm. The presented algorithm benefits from the simplicity of the Linear Inverted Pendulum Model (LIPM), while it overcomes the common limitations of this model and enables us to generate a variety of whole-body motions through external contacts. Simulation and experimental implementation of several whole-body actions in multi-contact scenarios on a humanoid robot show the capability of the proposed algorithm.

Connected through hyperedge HE-1 (induced by source paper "a robust model based biped locomotion framework based on three mass model from planning to control"):
  with members:
    - "footstep planning for autonomous walking over rough terrain"
    - "a fast and stable omnidirectional walking engine for the nao humanoid robot"
    - "3lp a linear 3d walking model including torso and swing dynamics"

Connected through hyperedge HE-2 (induced by source paper "whole body mpc for a dynamically stable mobile manipulator"):
  with members:
    - "feedback mpc for torque controlled legged robots"
    - "frequency aware model predictive control"
    - "hierarchical optimization for whole body control of wheeled inverted pendulum humanoids"
    - "a mpc walking framework with external contact forces"
    - "real time motion planning of legged robots a model predictive control approach"
    - "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-3 (induced by source paper "nonlinear model predictive control for robust bipedal locomotion exploring com height and angular momentum changes"):
  with members:
    - "on time optimisation of centroidal momentum dynamics"
    - "robust optimal planning and control of non periodic bipedal locomotion with a centroidal momentum model"
    - "robust bipedal locomotion control based on model predictive control and divergent component of motion"
    - "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)