id	sid	tid	token	lemma	pos
ajst-25022	1	1	academic	academic	ADJ
ajst-25022	1	2	journal	journal	NOUN
ajst-25022	1	3	of	of	ADP
ajst-25022	1	4	science	science	NOUN
ajst-25022	1	5	and	and	CCONJ
ajst-25022	1	6	technology	technology	NOUN
ajst-25022	1	7	issn	issn	NOUN
ajst-25022	1	8	:	:	PUNCT
ajst-25022	1	9	2771	2771	NUM
ajst-25022	1	10	-	-	SYM
ajst-25022	1	11	3032	3032	NUM
ajst-25022	1	12	|	|	NOUN
ajst-25022	1	13	vol	vol	NOUN
ajst-25022	1	14	.	.	PROPN
ajst-25022	2	1	12	12	NUM
ajst-25022	2	2	,	,	PUNCT
ajst-25022	2	3	no	no	INTJ
ajst-25022	2	4	.	.	NOUN
ajst-25022	2	5	1	1	NUM
ajst-25022	2	6	,	,	PUNCT
ajst-25022	2	7	2024	2024	NUM
ajst-25022	2	8	215	215	NUM
ajst-25022	2	9	research	research	NOUN
ajst-25022	2	10	and	and	CCONJ
ajst-25022	2	11	design	design	NOUN
ajst-25022	2	12	of	of	ADP
ajst-25022	2	13	a	a	DET
ajst-25022	2	14	multifunctional	multifunctional	ADJ
ajst-25022	2	15	biomimetic	biomimetic	ADJ
ajst-25022	2	16	hedgehog	hedgehog	PROPN
ajst-25022	2	17	peimeng	peimeng	NOUN
ajst-25022	2	18	liu	liu	PROPN
ajst-25022	2	19	1	1	PROPN
ajst-25022	2	20	,	,	PUNCT
ajst-25022	2	21	*	*	PUNCT
ajst-25022	2	22	,	,	PUNCT
ajst-25022	2	23	shuohan	shuohan	PROPN
ajst-25022	2	24	huang	huang	PROPN
ajst-25022	2	25	2	2	NUM
ajst-25022	2	26	1	1	NUM
ajst-25022	2	27	school	school	NOUN
ajst-25022	2	28	of	of	ADP
ajst-25022	2	29	college	college	NOUN
ajst-25022	2	30	of	of	ADP
ajst-25022	2	31	electrical	electrical	ADJ
ajst-25022	2	32	and	and	CCONJ
ajst-25022	2	33	mechanical	mechanical	ADJ
ajst-25022	2	34	engineering	engineering	NOUN
ajst-25022	2	35	,	,	PUNCT
ajst-25022	2	36	nanchang	nanchang	PROPN
ajst-25022	2	37	institute	institute	PROPN
ajst-25022	2	38	of	of	ADP
ajst-25022	2	39	technology	technology	PROPN
ajst-25022	2	40	,	,	PUNCT
ajst-25022	2	41	nanchang	nanchang	PROPN
ajst-25022	2	42	,	,	PUNCT
ajst-25022	2	43	330000	330000	NUM
ajst-25022	2	44	,	,	PUNCT
ajst-25022	2	45	china	china	PROPN
ajst-25022	2	46	2	2	NUM
ajst-25022	2	47	school	school	NOUN
ajst-25022	2	48	of	of	ADP
ajst-25022	2	49	foreign	foreign	ADJ
ajst-25022	2	50	language	language	NOUN
ajst-25022	2	51	for	for	ADP
ajst-25022	2	52	international	international	ADJ
ajst-25022	2	53	business	business	NOUN
ajst-25022	2	54	,	,	PUNCT
ajst-25022	2	55	heibei	heibei	PROPN
ajst-25022	2	56	finance	finance	PROPN
ajst-25022	2	57	university	university	PROPN
ajst-25022	2	58	,	,	PUNCT
ajst-25022	2	59	baoding	baoding	PROPN
ajst-25022	2	60	,	,	PUNCT
ajst-25022	2	61	071000	071000	NUM
ajst-25022	2	62	,	,	PUNCT
ajst-25022	2	63	china	china	PROPN
ajst-25022	2	64	*	*	PUNCT
ajst-25022	2	65	corresponding	correspond	VERB
ajst-25022	2	66	author	author	NOUN
ajst-25022	2	67	:	:	PUNCT
ajst-25022	2	68	peimeng	peimeng	PROPN
ajst-25022	2	69	liu	liu	PROPN
ajst-25022	2	70	(	(	PUNCT
ajst-25022	2	71	email	email	NOUN
ajst-25022	2	72	:	:	PUNCT
ajst-25022	2	73	13903229018@163.com	13903229018@163.com	NUM
ajst-25022	2	74	)	)	PUNCT
ajst-25022	2	75	abstract	abstract	NOUN
ajst-25022	2	76	:	:	PUNCT
ajst-25022	2	77	this	this	DET
ajst-25022	2	78	paper	paper	NOUN
ajst-25022	2	79	explores	explore	VERB
ajst-25022	2	80	the	the	DET
ajst-25022	2	81	research	research	NOUN
ajst-25022	2	82	and	and	CCONJ
ajst-25022	2	83	design	design	NOUN
ajst-25022	2	84	of	of	ADP
ajst-25022	2	85	a	a	DET
ajst-25022	2	86	multifunctional	multifunctional	ADJ
ajst-25022	2	87	bionic	bionic	ADJ
ajst-25022	2	88	hedgehog	hedgehog	NOUN
ajst-25022	2	89	,	,	PUNCT
ajst-25022	2	90	aiming	aim	VERB
ajst-25022	2	91	to	to	PART
ajst-25022	2	92	develop	develop	VERB
ajst-25022	2	93	a	a	DET
ajst-25022	2	94	robot	robot	NOUN
ajst-25022	2	95	that	that	PRON
ajst-25022	2	96	can	can	AUX
ajst-25022	2	97	mimic	mimic	VERB
ajst-25022	2	98	the	the	DET
ajst-25022	2	99	characteristics	characteristic	NOUN
ajst-25022	2	100	of	of	ADP
ajst-25022	2	101	hedgehogs	hedgehog	NOUN
ajst-25022	2	102	in	in	ADP
ajst-25022	2	103	nature	nature	NOUN
ajst-25022	2	104	.	.	PUNCT
ajst-25022	3	1	through	through	ADP
ajst-25022	3	2	in	in	ADP
ajst-25022	3	3	-	-	PUNCT
ajst-25022	3	4	depth	depth	NOUN
ajst-25022	3	5	analysis	analysis	NOUN
ajst-25022	3	6	of	of	ADP
ajst-25022	3	7	the	the	DET
ajst-25022	3	8	biological	biological	ADJ
ajst-25022	3	9	characteristics	characteristic	NOUN
ajst-25022	3	10	of	of	ADP
ajst-25022	3	11	hedgehogs	hedgehog	NOUN
ajst-25022	3	12	,	,	PUNCT
ajst-25022	3	13	such	such	ADJ
ajst-25022	3	14	as	as	ADP
ajst-25022	3	15	their	their	PRON
ajst-25022	3	16	unique	unique	ADJ
ajst-25022	3	17	spiny	spiny	ADJ
ajst-25022	3	18	hair	hair	NOUN
ajst-25022	3	19	structure	structure	NOUN
ajst-25022	3	20	and	and	CCONJ
ajst-25022	3	21	adaptive	adaptive	ADJ
ajst-25022	3	22	behaviours	behaviour	NOUN
ajst-25022	3	23	,	,	PUNCT
ajst-25022	3	24	the	the	DET
ajst-25022	3	25	research	research	NOUN
ajst-25022	3	26	team	team	NOUN
ajst-25022	3	27	designed	design	VERB
ajst-25022	3	28	a	a	DET
ajst-25022	3	29	bionic	bionic	ADJ
ajst-25022	3	30	robot	robot	NOUN
ajst-25022	3	31	that	that	PRON
ajst-25022	3	32	integrates	integrate	VERB
ajst-25022	3	33	multiple	multiple	ADJ
ajst-25022	3	34	functions	function	NOUN
ajst-25022	3	35	.	.	PUNCT
ajst-25022	4	1	the	the	DET
ajst-25022	4	2	robot	robot	NOUN
ajst-25022	4	3	not	not	PART
ajst-25022	4	4	only	only	ADV
ajst-25022	4	5	mimics	mimic	VERB
ajst-25022	4	6	the	the	DET
ajst-25022	4	7	movement	movement	NOUN
ajst-25022	4	8	of	of	ADP
ajst-25022	4	9	a	a	DET
ajst-25022	4	10	hedgehog	hedgehog	NOUN
ajst-25022	4	11	,	,	PUNCT
ajst-25022	4	12	but	but	CCONJ
ajst-25022	4	13	also	also	ADV
ajst-25022	4	14	possesses	possess	VERB
ajst-25022	4	15	advanced	advanced	ADJ
ajst-25022	4	16	functions	function	NOUN
ajst-25022	4	17	such	such	ADJ
ajst-25022	4	18	as	as	ADP
ajst-25022	4	19	environment	environment	NOUN
ajst-25022	4	20	sensing	sensing	NOUN
ajst-25022	4	21	,	,	PUNCT
ajst-25022	4	22	obstacle	obstacle	NOUN
ajst-25022	4	23	avoidance	avoidance	NOUN
ajst-25022	4	24	and	and	CCONJ
ajst-25022	4	25	self	self	NOUN
ajst-25022	4	26	-	-	PUNCT
ajst-25022	4	27	protection	protection	NOUN
ajst-25022	4	28	.	.	PUNCT
ajst-25022	5	1	advanced	advanced	ADJ
ajst-25022	5	2	material	material	NOUN
ajst-25022	5	3	science	science	NOUN
ajst-25022	5	4	and	and	CCONJ
ajst-25022	5	5	robotics	robotic	NOUN
ajst-25022	5	6	were	be	AUX
ajst-25022	5	7	used	use	VERB
ajst-25022	5	8	in	in	ADP
ajst-25022	5	9	the	the	DET
ajst-25022	5	10	design	design	NOUN
ajst-25022	5	11	process	process	NOUN
ajst-25022	5	12	to	to	PART
ajst-25022	5	13	ensure	ensure	VERB
ajst-25022	5	14	the	the	DET
ajst-25022	5	15	durability	durability	NOUN
ajst-25022	5	16	and	and	CCONJ
ajst-25022	5	17	flexibility	flexibility	NOUN
ajst-25022	5	18	of	of	ADP
ajst-25022	5	19	the	the	DET
ajst-25022	5	20	robot	robot	NOUN
ajst-25022	5	21	.	.	PUNCT
ajst-25022	6	1	this	this	DET
ajst-25022	6	2	research	research	NOUN
ajst-25022	6	3	provides	provide	VERB
ajst-25022	6	4	new	new	ADJ
ajst-25022	6	5	possibilities	possibility	NOUN
ajst-25022	6	6	for	for	ADP
ajst-25022	6	7	future	future	ADJ
ajst-25022	6	8	applications	application	NOUN
ajst-25022	6	9	in	in	ADP
ajst-25022	6	10	search	search	NOUN
ajst-25022	6	11	and	and	CCONJ
ajst-25022	6	12	rescue	rescue	NOUN
ajst-25022	6	13	,	,	PUNCT
ajst-25022	6	14	exploration	exploration	NOUN
ajst-25022	6	15	and	and	CCONJ
ajst-25022	6	16	environmental	environmental	ADJ
ajst-25022	6	17	monitoring	monitoring	NOUN
ajst-25022	6	18	.	.	PUNCT
ajst-25022	7	1	keywords	keyword	NOUN
ajst-25022	7	2	:	:	PUNCT
ajst-25022	7	3	multifunctional	multifunctional	ADJ
ajst-25022	7	4	biomimetic	biomimetic	ADJ
ajst-25022	7	5	hedgehog	hedgehog	NOUN
ajst-25022	7	6	;	;	PUNCT
ajst-25022	7	7	spiny	spiny	ADJ
ajst-25022	7	8	hair	hair	NOUN
ajst-25022	7	9	structure	structure	NOUN
ajst-25022	7	10	;	;	PUNCT
ajst-25022	7	11	adaptive	adaptive	ADJ
ajst-25022	7	12	behaviours	behaviour	NOUN
ajst-25022	7	13	.	.	PUNCT
ajst-25022	8	1	1	1	X
ajst-25022	8	2	.	.	X
ajst-25022	8	3	introduction	introduction	NOUN
ajst-25022	8	4	with	with	ADP
ajst-25022	8	5	the	the	DET
ajst-25022	8	6	continuous	continuous	ADJ
ajst-25022	8	7	development	development	NOUN
ajst-25022	8	8	of	of	ADP
ajst-25022	8	9	science	science	NOUN
ajst-25022	8	10	and	and	CCONJ
ajst-25022	8	11	technology	technology	NOUN
ajst-25022	8	12	,	,	PUNCT
ajst-25022	8	13	economic	economic	ADJ
ajst-25022	8	14	conditions	condition	NOUN
ajst-25022	8	15	are	be	AUX
ajst-25022	8	16	increasingly	increasingly	ADV
ajst-25022	8	17	improved	improve	VERB
ajst-25022	8	18	today	today	NOUN
ajst-25022	8	19	,	,	PUNCT
ajst-25022	8	20	automated	automate	VERB
ajst-25022	8	21	production	production	NOUN
ajst-25022	8	22	has	have	AUX
ajst-25022	8	23	been	be	AUX
ajst-25022	8	24	an	an	DET
ajst-25022	8	25	indispensable	indispensable	ADJ
ajst-25022	8	26	part	part	NOUN
ajst-25022	8	27	of	of	ADP
ajst-25022	8	28	daily	daily	ADJ
ajst-25022	8	29	production	production	NOUN
ajst-25022	8	30	.	.	PUNCT
ajst-25022	9	1	for	for	ADP
ajst-25022	9	2	example	example	NOUN
ajst-25022	9	3	,	,	PUNCT
ajst-25022	9	4	in	in	ADP
ajst-25022	9	5	the	the	DET
ajst-25022	9	6	military	military	ADJ
ajst-25022	9	7	field	field	NOUN
ajst-25022	9	8	of	of	ADP
ajst-25022	9	9	detection	detection	NOUN
ajst-25022	9	10	,	,	PUNCT
ajst-25022	9	11	collection	collection	NOUN
ajst-25022	9	12	of	of	ADP
ajst-25022	9	13	information	information	NOUN
ajst-25022	9	14	processes	process	NOUN
ajst-25022	9	15	,	,	PUNCT
ajst-25022	9	16	bionic	bionic	ADJ
ajst-25022	9	17	robots	robot	NOUN
ajst-25022	9	18	have	have	AUX
ajst-25022	9	19	been	be	AUX
ajst-25022	9	20	widely	widely	ADV
ajst-25022	9	21	used	use	VERB
ajst-25022	9	22	.	.	PUNCT
ajst-25022	10	1	most	most	ADJ
ajst-25022	10	2	of	of	ADP
ajst-25022	10	3	the	the	DET
ajst-25022	10	4	existing	exist	VERB
ajst-25022	10	5	robots	robot	NOUN
ajst-25022	10	6	are	be	AUX
ajst-25022	10	7	not	not	PART
ajst-25022	10	8	easy	easy	ADJ
ajst-25022	10	9	to	to	PART
ajst-25022	10	10	put	put	VERB
ajst-25022	10	11	,	,	PUNCT
ajst-25022	10	12	and	and	CCONJ
ajst-25022	10	13	it	it	PRON
ajst-25022	10	14	is	be	AUX
ajst-25022	10	15	necessary	necessary	ADJ
ajst-25022	10	16	to	to	PART
ajst-25022	10	17	design	design	VERB
ajst-25022	10	18	robots	robot	NOUN
ajst-25022	10	19	that	that	PRON
ajst-25022	10	20	are	be	AUX
ajst-25022	10	21	easy	easy	ADJ
ajst-25022	10	22	to	to	PART
ajst-25022	10	23	put	put	VERB
ajst-25022	10	24	.	.	PUNCT
ajst-25022	11	1	in	in	ADP
ajst-25022	11	2	nature	nature	NOUN
ajst-25022	11	3	,	,	PUNCT
ajst-25022	11	4	hedgehogs	hedgehog	NOUN
ajst-25022	11	5	are	be	AUX
ajst-25022	11	6	known	know	VERB
ajst-25022	11	7	for	for	ADP
ajst-25022	11	8	their	their	PRON
ajst-25022	11	9	unique	unique	ADJ
ajst-25022	11	10	survival	survival	NOUN
ajst-25022	11	11	strategies	strategy	NOUN
ajst-25022	11	12	and	and	CCONJ
ajst-25022	11	13	adaptive	adaptive	ADJ
ajst-25022	11	14	behaviours	behaviour	NOUN
ajst-25022	11	15	.	.	PUNCT
ajst-25022	12	1	hedgehogs	hedgehog	NOUN
ajst-25022	12	2	can	can	AUX
ajst-25022	12	3	be	be	AUX
ajst-25022	12	4	curled	curl	VERB
ajst-25022	12	5	up	up	ADP
ajst-25022	12	6	when	when	SCONJ
ajst-25022	12	7	encountering	encounter	VERB
ajst-25022	12	8	danger	danger	NOUN
ajst-25022	12	9	,	,	PUNCT
ajst-25022	12	10	and	and	CCONJ
ajst-25022	12	11	the	the	DET
ajst-25022	12	12	overall	overall	ADJ
ajst-25022	12	13	size	size	NOUN
ajst-25022	12	14	of	of	ADP
ajst-25022	12	15	the	the	DET
ajst-25022	12	16	curled	curl	VERB
ajst-25022	12	17	up	up	ADP
ajst-25022	12	18	hedgehog	hedgehog	NOUN
ajst-25022	12	19	is	be	AUX
ajst-25022	12	20	smaller	small	ADJ
ajst-25022	12	21	,	,	PUNCT
ajst-25022	12	22	which	which	PRON
ajst-25022	12	23	is	be	AUX
ajst-25022	12	24	easy	easy	ADJ
ajst-25022	12	25	to	to	PART
ajst-25022	12	26	place	place	VERB
ajst-25022	12	27	,	,	PUNCT
ajst-25022	12	28	while	while	SCONJ
ajst-25022	12	29	the	the	DET
ajst-25022	12	30	coat	coat	NOUN
ajst-25022	12	31	of	of	ADP
ajst-25022	12	32	hedgehogs	hedgehog	NOUN
ajst-25022	12	33	can	can	AUX
ajst-25022	12	34	be	be	AUX
ajst-25022	12	35	used	use	VERB
ajst-25022	12	36	to	to	PART
ajst-25022	12	37	defend	defend	VERB
ajst-25022	12	38	against	against	ADP
ajst-25022	12	39	external	external	ADJ
ajst-25022	12	40	enemies	enemy	NOUN
ajst-25022	12	41	,	,	PUNCT
ajst-25022	12	42	and	and	CCONJ
ajst-25022	12	43	the	the	DET
ajst-25022	12	44	height	height	NOUN
ajst-25022	12	45	of	of	ADP
ajst-25022	12	46	hedgehogs	hedgehog	NOUN
ajst-25022	12	47	when	when	SCONJ
ajst-25022	12	48	walking	walk	VERB
ajst-25022	12	49	with	with	ADP
ajst-25022	12	50	the	the	DET
ajst-25022	12	51	coat	coat	NOUN
ajst-25022	12	52	unfolded	unfold	VERB
ajst-25022	12	53	is	be	AUX
ajst-25022	12	54	lower	low	ADJ
ajst-25022	12	55	,	,	PUNCT
ajst-25022	12	56	which	which	PRON
ajst-25022	12	57	is	be	AUX
ajst-25022	12	58	better	well	ADJ
ajst-25022	12	59	to	to	PART
ajst-25022	12	60	hide	hide	VERB
ajst-25022	12	61	,	,	PUNCT
ajst-25022	12	62	and	and	CCONJ
ajst-25022	12	63	the	the	DET
ajst-25022	12	64	prickly	prickly	ADJ
ajst-25022	12	65	hairs	hair	NOUN
ajst-25022	12	66	covering	cover	VERB
ajst-25022	12	67	its	its	PRON
ajst-25022	12	68	body	body	NOUN
ajst-25022	12	69	is	be	AUX
ajst-25022	12	70	not	not	PART
ajst-25022	12	71	only	only	ADV
ajst-25022	12	72	a	a	DET
ajst-25022	12	73	defence	defence	NOUN
ajst-25022	12	74	mechanism	mechanism	NOUN
ajst-25022	12	75	,	,	PUNCT
ajst-25022	12	76	but	but	CCONJ
ajst-25022	12	77	also	also	ADV
ajst-25022	12	78	a	a	DET
ajst-25022	12	79	key	key	ADJ
ajst-25022	12	80	feature	feature	NOUN
ajst-25022	12	81	of	of	ADP
ajst-25022	12	82	its	its	PRON
ajst-25022	12	83	adaptation	adaptation	NOUN
ajst-25022	12	84	to	to	ADP
ajst-25022	12	85	a	a	DET
ajst-25022	12	86	variety	variety	NOUN
ajst-25022	12	87	of	of	ADP
ajst-25022	12	88	environments	environment	NOUN
ajst-25022	12	89	[	[	X
ajst-25022	12	90	1	1	NUM
ajst-25022	12	91	]	]	PUNCT
ajst-25022	12	92	.	.	PUNCT
ajst-25022	13	1	inspired	inspire	VERB
ajst-25022	13	2	by	by	ADP
ajst-25022	13	3	this	this	DET
ajst-25022	13	4	biological	biological	ADJ
ajst-25022	13	5	phenomenon	phenomenon	NOUN
ajst-25022	13	6	,	,	PUNCT
ajst-25022	13	7	this	this	DET
ajst-25022	13	8	study	study	NOUN
ajst-25022	13	9	is	be	AUX
ajst-25022	13	10	dedicated	dedicate	VERB
ajst-25022	13	11	to	to	ADP
ajst-25022	13	12	the	the	DET
ajst-25022	13	13	development	development	NOUN
ajst-25022	13	14	of	of	ADP
ajst-25022	13	15	a	a	DET
ajst-25022	13	16	multifunctional	multifunctional	ADJ
ajst-25022	13	17	bionic	bionic	ADJ
ajst-25022	13	18	hedgehog	hedgehog	PROPN
ajst-25022	13	19	robot	robot	NOUN
ajst-25022	13	20	,	,	PUNCT
ajst-25022	13	21	as	as	ADV
ajst-25022	13	22	well	well	ADV
ajst-25022	13	23	as	as	ADP
ajst-25022	13	24	the	the	DET
ajst-25022	13	25	design	design	NOUN
ajst-25022	13	26	of	of	ADP
ajst-25022	13	27	a	a	DET
ajst-25022	13	28	multifunctional	multifunctional	ADJ
ajst-25022	13	29	bionic	bionic	ADJ
ajst-25022	13	30	hedgehog	hedgehog	NOUN
ajst-25022	13	31	based	base	VERB
ajst-25022	13	32	on	on	ADP
ajst-25022	13	33	the	the	DET
ajst-25022	13	34	principles	principle	NOUN
ajst-25022	13	35	of	of	ADP
ajst-25022	13	36	mechanical	mechanical	ADJ
ajst-25022	13	37	design	design	NOUN
ajst-25022	13	38	and	and	CCONJ
ajst-25022	13	39	electrical	electrical	ADJ
ajst-25022	13	40	control	control	NOUN
ajst-25022	13	41	,	,	PUNCT
ajst-25022	13	42	and	and	CCONJ
ajst-25022	13	43	the	the	DET
ajst-25022	13	44	principles	principle	NOUN
ajst-25022	13	45	of	of	ADP
ajst-25022	13	46	bionics	bionic	NOUN
ajst-25022	13	47	,	,	PUNCT
ajst-25022	13	48	aiming	aim	VERB
ajst-25022	13	49	to	to	PART
ajst-25022	13	50	mimic	mimic	VERB
ajst-25022	13	51	the	the	DET
ajst-25022	13	52	biological	biological	ADJ
ajst-25022	13	53	characteristics	characteristic	NOUN
ajst-25022	13	54	and	and	CCONJ
ajst-25022	13	55	behavioural	behavioural	ADJ
ajst-25022	13	56	modes	mode	NOUN
ajst-25022	13	57	of	of	ADP
ajst-25022	13	58	hedgehogs	hedgehog	NOUN
ajst-25022	13	59	,	,	PUNCT
ajst-25022	13	60	and	and	CCONJ
ajst-25022	13	61	designing	design	VERB
ajst-25022	13	62	robots	robot	NOUN
ajst-25022	13	63	capable	capable	ADJ
ajst-25022	13	64	of	of	ADP
ajst-25022	13	65	carrying	carry	VERB
ajst-25022	13	66	out	out	ADP
ajst-25022	13	67	complex	complex	ADJ
ajst-25022	13	68	tasks	task	NOUN
ajst-25022	13	69	by	by	ADP
ajst-25022	13	70	combining	combine	VERB
ajst-25022	13	71	the	the	DET
ajst-25022	13	72	latest	late	ADJ
ajst-25022	13	73	advances	advance	NOUN
ajst-25022	13	74	in	in	ADP
ajst-25022	13	75	biology	biology	NOUN
ajst-25022	13	76	,	,	PUNCT
ajst-25022	13	77	materials	material	NOUN
ajst-25022	13	78	science	science	NOUN
ajst-25022	13	79	,	,	PUNCT
ajst-25022	13	80	and	and	CCONJ
ajst-25022	13	81	robotics	robotic	NOUN
ajst-25022	13	82	with	with	ADP
ajst-25022	13	83	functions	function	NOUN
ajst-25022	13	84	that	that	PRON
ajst-25022	13	85	include	include	VERB
ajst-25022	13	86	,	,	PUNCT
ajst-25022	13	87	but	but	CCONJ
ajst-25022	13	88	are	be	AUX
ajst-25022	13	89	not	not	PART
ajst-25022	13	90	limited	limit	VERB
ajst-25022	13	91	to	to	ADP
ajst-25022	13	92	,	,	PUNCT
ajst-25022	13	93	environment	environment	NOUN
ajst-25022	13	94	perception	perception	NOUN
ajst-25022	13	95	,	,	PUNCT
ajst-25022	13	96	mobility	mobility	NOUN
ajst-25022	13	97	,	,	PUNCT
ajst-25022	13	98	and	and	CCONJ
ajst-25022	13	99	self	self	NOUN
ajst-25022	13	100	-	-	PUNCT
ajst-25022	13	101	protection	protection	NOUN
ajst-25022	13	102	.	.	PUNCT
ajst-25022	14	1	in	in	ADP
ajst-25022	14	2	this	this	DET
ajst-25022	14	3	paper	paper	NOUN
ajst-25022	14	4	,	,	PUNCT
ajst-25022	14	5	we	we	PRON
ajst-25022	14	6	will	will	AUX
ajst-25022	14	7	introduce	introduce	VERB
ajst-25022	14	8	in	in	ADP
ajst-25022	14	9	detail	detail	NOUN
ajst-25022	14	10	the	the	DET
ajst-25022	14	11	design	design	NOUN
ajst-25022	14	12	concept	concept	NOUN
ajst-25022	14	13	,	,	PUNCT
ajst-25022	14	14	technical	technical	ADJ
ajst-25022	14	15	realisation	realisation	NOUN
ajst-25022	14	16	and	and	CCONJ
ajst-25022	14	17	potential	potential	ADJ
ajst-25022	14	18	applications	application	NOUN
ajst-25022	14	19	of	of	ADP
ajst-25022	14	20	the	the	DET
ajst-25022	14	21	bionic	bionic	ADJ
ajst-25022	14	22	hedgehog	hedgehog	PROPN
ajst-25022	14	23	robot	robot	NOUN
ajst-25022	14	24	,	,	PUNCT
ajst-25022	14	25	aiming	aim	VERB
ajst-25022	14	26	to	to	PART
ajst-25022	14	27	promote	promote	VERB
ajst-25022	14	28	the	the	DET
ajst-25022	14	29	further	further	ADJ
ajst-25022	14	30	development	development	NOUN
ajst-25022	14	31	of	of	ADP
ajst-25022	14	32	bionics	bionic	NOUN
ajst-25022	14	33	in	in	ADP
ajst-25022	14	34	the	the	DET
ajst-25022	14	35	field	field	NOUN
ajst-25022	14	36	of	of	ADP
ajst-25022	14	37	engineering	engineering	NOUN
ajst-25022	14	38	and	and	CCONJ
ajst-25022	14	39	technology	technology	NOUN
ajst-25022	14	40	.	.	PUNCT
ajst-25022	15	1	bionic	bionic	ADJ
ajst-25022	15	2	robotics	robotic	NOUN
ajst-25022	15	3	has	have	AUX
ajst-25022	15	4	experienced	experience	VERB
ajst-25022	15	5	rapid	rapid	ADJ
ajst-25022	15	6	development	development	NOUN
ajst-25022	15	7	since	since	SCONJ
ajst-25022	15	8	the	the	DET
ajst-25022	15	9	late	late	ADJ
ajst-25022	15	10	20th	20th	ADJ
ajst-25022	15	11	century	century	NOUN
ajst-25022	15	12	.	.	PUNCT
ajst-25022	16	1	early	early	ADJ
ajst-25022	16	2	bionic	bionic	ADJ
ajst-25022	16	3	robots	robot	NOUN
ajst-25022	16	4	focused	focus	VERB
ajst-25022	16	5	on	on	ADP
ajst-25022	16	6	mimicking	mimic	VERB
ajst-25022	16	7	the	the	DET
ajst-25022	16	8	basic	basic	ADJ
ajst-25022	16	9	movement	movement	NOUN
ajst-25022	16	10	patterns	pattern	NOUN
ajst-25022	16	11	of	of	ADP
ajst-25022	16	12	animals	animal	NOUN
ajst-25022	16	13	,	,	PUNCT
ajst-25022	16	14	such	such	ADJ
ajst-25022	16	15	as	as	ADP
ajst-25022	16	16	boston	boston	PROPN
ajst-25022	16	17	dynamics	dynamic	NOUN
ajst-25022	16	18	'	'	PART
ajst-25022	16	19	bigdog	bigdog	NOUN
ajst-25022	16	20	,	,	PUNCT
ajst-25022	16	21	a	a	DET
ajst-25022	16	22	quadrupedal	quadrupedal	NOUN
ajst-25022	16	23	robot	robot	NOUN
ajst-25022	16	24	that	that	PRON
ajst-25022	16	25	mimics	mimic	VERB
ajst-25022	16	26	the	the	DET
ajst-25022	16	27	way	way	NOUN
ajst-25022	16	28	a	a	DET
ajst-25022	16	29	dog	dog	NOUN
ajst-25022	16	30	walks	walk	VERB
ajst-25022	16	31	[	[	X
ajst-25022	16	32	2	2	NUM
ajst-25022	16	33	]	]	PUNCT
ajst-25022	16	34	.	.	PUNCT
ajst-25022	17	1	as	as	SCONJ
ajst-25022	17	2	technology	technology	NOUN
ajst-25022	17	3	progressed	progress	VERB
ajst-25022	17	4	,	,	PUNCT
ajst-25022	17	5	the	the	DET
ajst-25022	17	6	functionality	functionality	NOUN
ajst-25022	17	7	and	and	CCONJ
ajst-25022	17	8	complexity	complexity	NOUN
ajst-25022	17	9	of	of	ADP
ajst-25022	17	10	bionic	bionic	ADJ
ajst-25022	17	11	robots	robot	NOUN
ajst-25022	17	12	continued	continue	VERB
ajst-25022	17	13	to	to	PART
ajst-25022	17	14	increase	increase	VERB
ajst-25022	17	15	,	,	PUNCT
ajst-25022	17	16	such	such	ADJ
ajst-25022	17	17	as	as	ADP
ajst-25022	17	18	mit	mit	PROPN
ajst-25022	17	19	's	's	PART
ajst-25022	17	20	cheetah	cheetah	NOUN
ajst-25022	17	21	robot	robot	NOUN
ajst-25022	17	22	,	,	PUNCT
ajst-25022	17	23	which	which	PRON
ajst-25022	17	24	is	be	AUX
ajst-25022	17	25	capable	capable	ADJ
ajst-25022	17	26	of	of	ADP
ajst-25022	17	27	high	high	ADJ
ajst-25022	17	28	-	-	PUNCT
ajst-25022	17	29	speed	speed	NOUN
ajst-25022	17	30	running	running	NOUN
ajst-25022	17	31	,	,	PUNCT
ajst-25022	17	32	and	and	CCONJ
ajst-25022	17	33	japan	japan	PROPN
ajst-25022	17	34	's	's	PART
ajst-25022	17	35	acm	acm	PROPN
ajst-25022	17	36	-	-	PUNCT
ajst-25022	17	37	r5	r5	PROPN
ajst-25022	17	38	mimuro	mimuro	NOUN
ajst-25022	17	39	snake	snake	NOUN
ajst-25022	17	40	robot	robot	NOUN
ajst-25022	17	41	,	,	PUNCT
ajst-25022	17	42	which	which	PRON
ajst-25022	17	43	demonstrates	demonstrate	VERB
ajst-25022	17	44	the	the	DET
ajst-25022	17	45	superior	superior	ADJ
ajst-25022	17	46	mobility	mobility	NOUN
ajst-25022	17	47	of	of	ADP
ajst-25022	17	48	snake	snake	NOUN
ajst-25022	17	49	-	-	PUNCT
ajst-25022	17	50	like	like	ADJ
ajst-25022	17	51	robots	robot	NOUN
ajst-25022	17	52	in	in	ADP
ajst-25022	17	53	complex	complex	ADJ
ajst-25022	17	54	terrain	terrain	NOUN
ajst-25022	17	55	.	.	PUNCT
ajst-25022	18	1	these	these	DET
ajst-25022	18	2	advances	advance	NOUN
ajst-25022	18	3	not	not	PART
ajst-25022	18	4	only	only	ADV
ajst-25022	18	5	demonstrate	demonstrate	VERB
ajst-25022	18	6	the	the	DET
ajst-25022	18	7	great	great	ADJ
ajst-25022	18	8	potential	potential	NOUN
ajst-25022	18	9	of	of	ADP
ajst-25022	18	10	bionics	bionic	NOUN
ajst-25022	18	11	in	in	ADP
ajst-25022	18	12	the	the	DET
ajst-25022	18	13	field	field	NOUN
ajst-25022	18	14	of	of	ADP
ajst-25022	18	15	robotics	robotic	NOUN
ajst-25022	18	16	,	,	PUNCT
ajst-25022	18	17	but	but	CCONJ
ajst-25022	18	18	also	also	ADV
ajst-25022	18	19	lay	lie	VERB
ajst-25022	18	20	the	the	DET
ajst-25022	18	21	foundation	foundation	NOUN
ajst-25022	18	22	for	for	ADP
ajst-25022	18	23	subsequent	subsequent	ADJ
ajst-25022	18	24	research	research	NOUN
ajst-25022	18	25	.	.	PUNCT
ajst-25022	19	1	the	the	DET
ajst-25022	19	2	biological	biological	ADJ
ajst-25022	19	3	characteristics	characteristic	NOUN
ajst-25022	19	4	of	of	ADP
ajst-25022	19	5	hedgehogs	hedgehog	NOUN
ajst-25022	19	6	,	,	PUNCT
ajst-25022	19	7	as	as	ADP
ajst-25022	19	8	a	a	DET
ajst-25022	19	9	small	small	ADJ
ajst-25022	19	10	mammal	mammal	NOUN
ajst-25022	19	11	,	,	PUNCT
ajst-25022	19	12	have	have	AUX
ajst-25022	19	13	been	be	AUX
ajst-25022	19	14	extensively	extensively	ADV
ajst-25022	19	15	studied	study	VERB
ajst-25022	19	16	.	.	PUNCT
ajst-25022	20	1	the	the	DET
ajst-25022	20	2	hedgehog	hedgehog	PROPN
ajst-25022	20	3	's	's	PART
ajst-25022	20	4	prickly	prickly	ADJ
ajst-25022	20	5	hairs	hair	NOUN
ajst-25022	20	6	are	be	AUX
ajst-25022	20	7	composed	compose	VERB
ajst-25022	20	8	of	of	ADP
ajst-25022	20	9	keratinised	keratinise	VERB
ajst-25022	20	10	cells	cell	NOUN
ajst-25022	20	11	,	,	PUNCT
ajst-25022	20	12	which	which	PRON
ajst-25022	20	13	are	be	AUX
ajst-25022	20	14	able	able	ADJ
ajst-25022	20	15	to	to	PART
ajst-25022	20	16	stand	stand	VERB
ajst-25022	20	17	up	up	ADP
ajst-25022	20	18	quickly	quickly	ADV
ajst-25022	20	19	to	to	PART
ajst-25022	20	20	form	form	VERB
ajst-25022	20	21	an	an	DET
ajst-25022	20	22	effective	effective	ADJ
ajst-25022	20	23	defence	defence	NOUN
ajst-25022	20	24	barrier	barrier	NOUN
ajst-25022	20	25	in	in	ADP
ajst-25022	20	26	the	the	DET
ajst-25022	20	27	event	event	NOUN
ajst-25022	20	28	of	of	ADP
ajst-25022	20	29	a	a	DET
ajst-25022	20	30	threat	threat	NOUN
ajst-25022	20	31	[	[	X
ajst-25022	20	32	3	3	NUM
ajst-25022	20	33	]	]	PUNCT
ajst-25022	20	34	.	.	PUNCT
ajst-25022	21	1	in	in	ADP
ajst-25022	21	2	addition	addition	NOUN
ajst-25022	21	3	,	,	PUNCT
ajst-25022	21	4	the	the	DET
ajst-25022	21	5	hedgehog	hedgehog	NOUN
ajst-25022	21	6	's	's	PART
ajst-25022	21	7	habit	habit	NOUN
ajst-25022	21	8	of	of	ADP
ajst-25022	21	9	moving	move	VERB
ajst-25022	21	10	at	at	ADP
ajst-25022	21	11	low	low	ADJ
ajst-25022	21	12	speeds	speed	NOUN
ajst-25022	21	13	and	and	CCONJ
ajst-25022	21	14	being	be	AUX
ajst-25022	21	15	nocturnal	nocturnal	ADJ
ajst-25022	21	16	provides	provide	VERB
ajst-25022	21	17	an	an	DET
ajst-25022	21	18	advantage	advantage	NOUN
ajst-25022	21	19	for	for	ADP
ajst-25022	21	20	its	its	PRON
ajst-25022	21	21	survival	survival	NOUN
ajst-25022	21	22	in	in	ADP
ajst-25022	21	23	specific	specific	ADJ
ajst-25022	21	24	environments	environment	NOUN
ajst-25022	21	25	.	.	PUNCT
ajst-25022	22	1	biologists	biologist	NOUN
ajst-25022	22	2	have	have	AUX
ajst-25022	22	3	conducted	conduct	VERB
ajst-25022	22	4	in	in	ADP
ajst-25022	22	5	-	-	PUNCT
ajst-25022	22	6	depth	depth	NOUN
ajst-25022	22	7	studies	study	NOUN
ajst-25022	22	8	on	on	ADP
ajst-25022	22	9	the	the	DET
ajst-25022	22	10	behavioural	behavioural	ADJ
ajst-25022	22	11	patterns	pattern	NOUN
ajst-25022	22	12	,	,	PUNCT
ajst-25022	22	13	physiological	physiological	ADJ
ajst-25022	22	14	structures	structure	NOUN
ajst-25022	22	15	and	and	CCONJ
ajst-25022	22	16	ecological	ecological	ADJ
ajst-25022	22	17	adaptations	adaptation	NOUN
ajst-25022	22	18	of	of	ADP
ajst-25022	22	19	hedgehogs	hedgehog	NOUN
ajst-25022	22	20	,	,	PUNCT
ajst-25022	22	21	and	and	CCONJ
ajst-25022	22	22	these	these	DET
ajst-25022	22	23	findings	finding	NOUN
ajst-25022	22	24	provide	provide	VERB
ajst-25022	22	25	valuable	valuable	ADJ
ajst-25022	22	26	biological	biological	ADJ
ajst-25022	22	27	data	datum	NOUN
ajst-25022	22	28	and	and	CCONJ
ajst-25022	22	29	theoretical	theoretical	ADJ
ajst-25022	22	30	foundations	foundation	NOUN
ajst-25022	22	31	for	for	ADP
ajst-25022	22	32	the	the	DET
ajst-25022	22	33	design	design	NOUN
ajst-25022	22	34	of	of	ADP
ajst-25022	22	35	bionic	bionic	ADJ
ajst-25022	22	36	robots	robot	NOUN
ajst-25022	22	37	.	.	PUNCT
ajst-25022	23	1	existing	exist	VERB
ajst-25022	23	2	bionic	bionic	ADJ
ajst-25022	23	3	robots	robot	NOUN
ajst-25022	23	4	have	have	AUX
ajst-25022	23	5	technically	technically	ADV
ajst-25022	23	6	realised	realise	VERB
ajst-25022	23	7	a	a	DET
ajst-25022	23	8	variety	variety	NOUN
ajst-25022	23	9	of	of	ADP
ajst-25022	23	10	functions	function	NOUN
ajst-25022	23	11	,	,	PUNCT
ajst-25022	23	12	such	such	ADJ
ajst-25022	23	13	as	as	ADP
ajst-25022	23	14	environment	environment	NOUN
ajst-25022	23	15	sensing	sensing	NOUN
ajst-25022	23	16	,	,	PUNCT
ajst-25022	23	17	autonomous	autonomous	ADJ
ajst-25022	23	18	navigation	navigation	NOUN
ajst-25022	23	19	and	and	CCONJ
ajst-25022	23	20	complex	complex	ADJ
ajst-25022	23	21	action	action	NOUN
ajst-25022	23	22	execution	execution	NOUN
ajst-25022	23	23	.	.	PUNCT
ajst-25022	24	1	for	for	ADP
ajst-25022	24	2	example	example	NOUN
ajst-25022	24	3	,	,	PUNCT
ajst-25022	24	4	the	the	DET
ajst-25022	24	5	robobee	robobee	PROPN
ajst-25022	24	6	micro	micro	NOUN
ajst-25022	24	7	-	-	NOUN
ajst-25022	24	8	robot	robot	NOUN
ajst-25022	24	9	mimics	mimic	VERB
ajst-25022	24	10	the	the	DET
ajst-25022	24	11	flight	flight	NOUN
ajst-25022	24	12	mechanism	mechanism	NOUN
ajst-25022	24	13	of	of	ADP
ajst-25022	24	14	a	a	DET
ajst-25022	24	15	honeybee	honeybee	NOUN
ajst-25022	24	16	and	and	CCONJ
ajst-25022	24	17	is	be	AUX
ajst-25022	24	18	able	able	ADJ
ajst-25022	24	19	to	to	PART
ajst-25022	24	20	fly	fly	VERB
ajst-25022	24	21	stably	stably	ADV
ajst-25022	24	22	in	in	ADP
ajst-25022	24	23	a	a	DET
ajst-25022	24	24	breeze	breeze	NOUN
ajst-25022	24	25	.	.	PUNCT
ajst-25022	25	1	however	however	ADV
ajst-25022	25	2	,	,	PUNCT
ajst-25022	25	3	despite	despite	SCONJ
ajst-25022	25	4	the	the	DET
ajst-25022	25	5	success	success	NOUN
ajst-25022	25	6	of	of	ADP
ajst-25022	25	7	these	these	DET
ajst-25022	25	8	robots	robot	NOUN
ajst-25022	25	9	in	in	ADP
ajst-25022	25	10	specific	specific	ADJ
ajst-25022	25	11	fields	field	NOUN
ajst-25022	25	12	,	,	PUNCT
ajst-25022	25	13	they	they	PRON
ajst-25022	25	14	still	still	ADV
ajst-25022	25	15	have	have	VERB
ajst-25022	25	16	limitations	limitation	NOUN
ajst-25022	25	17	in	in	ADP
ajst-25022	25	18	mimicking	mimic	VERB
ajst-25022	25	19	the	the	DET
ajst-25022	25	20	unique	unique	ADJ
ajst-25022	25	21	biology	biology	NOUN
ajst-25022	25	22	of	of	ADP
ajst-25022	25	23	hedgehogs	hedgehog	NOUN
ajst-25022	25	24	.	.	PUNCT
ajst-25022	26	1	existing	exist	VERB
ajst-25022	26	2	bionic	bionic	ADJ
ajst-25022	26	3	robots	robot	NOUN
ajst-25022	26	4	tend	tend	VERB
ajst-25022	26	5	to	to	PART
ajst-25022	26	6	focus	focus	VERB
ajst-25022	26	7	on	on	ADP
ajst-25022	26	8	the	the	DET
ajst-25022	26	9	implementation	implementation	NOUN
ajst-25022	26	10	of	of	ADP
ajst-25022	26	11	single	single	ADJ
ajst-25022	26	12	functions	function	NOUN
ajst-25022	26	13	and	and	CCONJ
ajst-25022	26	14	lack	lack	NOUN
ajst-25022	26	15	in	in	ADP
ajst-25022	26	16	-	-	PUNCT
ajst-25022	26	17	depth	depth	NOUN
ajst-25022	26	18	exploration	exploration	NOUN
ajst-25022	26	19	of	of	ADP
ajst-25022	26	20	multifunctional	multifunctional	ADJ
ajst-25022	26	21	integration	integration	NOUN
ajst-25022	26	22	and	and	CCONJ
ajst-25022	26	23	environmental	environmental	ADJ
ajst-25022	26	24	adaptability	adaptability	NOUN
ajst-25022	26	25	.	.	PUNCT
ajst-25022	27	1	despite	despite	SCONJ
ajst-25022	27	2	significant	significant	ADJ
ajst-25022	27	3	progress	progress	NOUN
ajst-25022	27	4	in	in	ADP
ajst-25022	27	5	bionic	bionic	ADJ
ajst-25022	27	6	robotics	robotic	NOUN
ajst-25022	27	7	research	research	NOUN
ajst-25022	27	8	,	,	PUNCT
ajst-25022	27	9	there	there	PRON
ajst-25022	27	10	is	be	VERB
ajst-25022	27	11	still	still	ADV
ajst-25022	27	12	a	a	DET
ajst-25022	27	13	research	research	NOUN
ajst-25022	27	14	gap	gap	NOUN
ajst-25022	27	15	in	in	ADP
ajst-25022	27	16	mimicking	mimic	VERB
ajst-25022	27	17	the	the	DET
ajst-25022	27	18	biological	biological	ADJ
ajst-25022	27	19	characteristics	characteristic	NOUN
ajst-25022	27	20	and	and	CCONJ
ajst-25022	27	21	multifunctional	multifunctional	ADJ
ajst-25022	27	22	integration	integration	NOUN
ajst-25022	27	23	of	of	ADP
ajst-25022	27	24	hedgehogs	hedgehog	NOUN
ajst-25022	27	25	.	.	PUNCT
ajst-25022	28	1	the	the	DET
ajst-25022	28	2	innovation	innovation	NOUN
ajst-25022	28	3	of	of	ADP
ajst-25022	28	4	this	this	DET
ajst-25022	28	5	study	study	NOUN
ajst-25022	28	6	is	be	AUX
ajst-25022	28	7	to	to	PART
ajst-25022	28	8	design	design	VERB
ajst-25022	28	9	a	a	DET
ajst-25022	28	10	bionic	bionic	ADJ
ajst-25022	28	11	robot	robot	NOUN
ajst-25022	28	12	that	that	PRON
ajst-25022	28	13	can	can	AUX
ajst-25022	28	14	mimic	mimic	VERB
ajst-25022	28	15	the	the	DET
ajst-25022	28	16	structure	structure	NOUN
ajst-25022	28	17	of	of	ADP
ajst-25022	28	18	hedgehog	hedgehog	PROPN
ajst-25022	28	19	's	's	PART
ajst-25022	28	20	prickly	prickly	ADJ
ajst-25022	28	21	hairs	hair	NOUN
ajst-25022	28	22	and	and	CCONJ
ajst-25022	28	23	adaptive	adaptive	ADJ
ajst-25022	28	24	behaviours	behaviour	NOUN
ajst-25022	28	25	,	,	PUNCT
ajst-25022	28	26	and	and	CCONJ
ajst-25022	28	27	integrate	integrate	VERB
ajst-25022	28	28	multiple	multiple	ADJ
ajst-25022	28	29	functions	function	NOUN
ajst-25022	28	30	,	,	PUNCT
ajst-25022	28	31	such	such	ADJ
ajst-25022	28	32	as	as	ADP
ajst-25022	28	33	environment	environment	NOUN
ajst-25022	28	34	sensing	sensing	NOUN
ajst-25022	28	35	,	,	PUNCT
ajst-25022	28	36	obstacle	obstacle	NOUN
ajst-25022	28	37	avoidance	avoidance	NOUN
ajst-25022	28	38	and	and	CCONJ
ajst-25022	28	39	selfprotection	selfprotection	NOUN
ajst-25022	28	40	.	.	PUNCT
ajst-25022	29	1	by	by	ADP
ajst-25022	29	2	combining	combine	VERB
ajst-25022	29	3	advanced	advanced	ADJ
ajst-25022	29	4	material	material	NOUN
ajst-25022	29	5	science	science	NOUN
ajst-25022	29	6	,	,	PUNCT
ajst-25022	29	7	sensor	sensor	NOUN
ajst-25022	29	8	technology	technology	NOUN
ajst-25022	29	9	and	and	CCONJ
ajst-25022	29	10	intelligent	intelligent	ADJ
ajst-25022	29	11	algorithms	algorithm	NOUN
ajst-25022	29	12	,	,	PUNCT
ajst-25022	29	13	this	this	DET
ajst-25022	29	14	research	research	NOUN
ajst-25022	29	15	aims	aim	VERB
ajst-25022	29	16	to	to	PART
ajst-25022	29	17	fill	fill	VERB
ajst-25022	29	18	the	the	DET
ajst-25022	29	19	gaps	gap	NOUN
ajst-25022	29	20	in	in	ADP
ajst-25022	29	21	existing	exist	VERB
ajst-25022	29	22	technologies	technology	NOUN
ajst-25022	29	23	and	and	CCONJ
ajst-25022	29	24	promote	promote	VERB
ajst-25022	29	25	the	the	DET
ajst-25022	29	26	application	application	NOUN
ajst-25022	29	27	of	of	ADP
ajst-25022	29	28	bionic	bionic	ADJ
ajst-25022	29	29	robots	robot	NOUN
ajst-25022	29	30	in	in	ADP
ajst-25022	29	31	complex	complex	ADJ
ajst-25022	29	32	environments	environment	NOUN
ajst-25022	29	33	[	[	X
ajst-25022	29	34	4	4	NUM
ajst-25022	29	35	]	]	PUNCT
ajst-25022	29	36	.	.	PUNCT
ajst-25022	30	1	in	in	ADP
ajst-25022	30	2	addition	addition	NOUN
ajst-25022	30	3	,	,	PUNCT
ajst-25022	30	4	this	this	DET
ajst-25022	30	5	research	research	NOUN
ajst-25022	30	6	will	will	AUX
ajst-25022	30	7	explore	explore	VERB
ajst-25022	30	8	the	the	DET
ajst-25022	30	9	potential	potential	ADJ
ajst-25022	30	10	applications	application	NOUN
ajst-25022	30	11	of	of	ADP
ajst-25022	30	12	robots	robot	NOUN
ajst-25022	30	13	in	in	ADP
ajst-25022	30	14	the	the	DET
ajst-25022	30	15	fields	field	NOUN
ajst-25022	30	16	of	of	ADP
ajst-25022	30	17	search	search	NOUN
ajst-25022	30	18	and	and	CCONJ
ajst-25022	30	19	rescue	rescue	NOUN
ajst-25022	30	20	,	,	PUNCT
ajst-25022	30	21	exploration	exploration	NOUN
ajst-25022	30	22	,	,	PUNCT
ajst-25022	30	23	and	and	CCONJ
ajst-25022	30	24	216	216	NUM
ajst-25022	30	25	environmental	environmental	ADJ
ajst-25022	30	26	monitoring	monitoring	NOUN
ajst-25022	30	27	,	,	PUNCT
ajst-25022	30	28	providing	provide	VERB
ajst-25022	30	29	new	new	ADJ
ajst-25022	30	30	directions	direction	NOUN
ajst-25022	30	31	for	for	ADP
ajst-25022	30	32	future	future	ADJ
ajst-25022	30	33	technological	technological	ADJ
ajst-25022	30	34	development	development	NOUN
ajst-25022	30	35	.	.	PUNCT
ajst-25022	31	1	2	2	X
ajst-25022	31	2	.	.	X
ajst-25022	31	3	materials	material	NOUN
ajst-25022	31	4	and	and	CCONJ
ajst-25022	31	5	methods	method	NOUN
ajst-25022	31	6	2.1	2.1	NUM
ajst-25022	31	7	.	.	PUNCT
ajst-25022	32	1	design	design	NOUN
ajst-25022	32	2	concept	concept	NOUN
ajst-25022	32	3	of	of	ADP
ajst-25022	32	4	bionic	bionic	ADJ
ajst-25022	32	5	hedgehog	hedgehog	PROPN
ajst-25022	32	6	robot	robot	NOUN
ajst-25022	32	7	the	the	DET
ajst-25022	32	8	design	design	NOUN
ajst-25022	32	9	concept	concept	NOUN
ajst-25022	32	10	of	of	ADP
ajst-25022	32	11	this	this	DET
ajst-25022	32	12	study	study	NOUN
ajst-25022	32	13	is	be	AUX
ajst-25022	32	14	to	to	PART
ajst-25022	32	15	create	create	VERB
ajst-25022	32	16	a	a	DET
ajst-25022	32	17	bionic	bionic	ADJ
ajst-25022	32	18	hedgehog	hedgehog	NOUN
ajst-25022	32	19	robot	robot	NOUN
ajst-25022	32	20	that	that	PRON
ajst-25022	32	21	can	can	AUX
ajst-25022	32	22	move	move	VERB
ajst-25022	32	23	flexibly	flexibly	ADV
ajst-25022	32	24	in	in	ADP
ajst-25022	32	25	multiple	multiple	ADJ
ajst-25022	32	26	environments	environment	NOUN
ajst-25022	32	27	and	and	CCONJ
ajst-25022	32	28	perform	perform	VERB
ajst-25022	32	29	complex	complex	ADJ
ajst-25022	32	30	tasks	task	NOUN
ajst-25022	32	31	.	.	PUNCT
ajst-25022	33	1	the	the	DET
ajst-25022	33	2	core	core	NOUN
ajst-25022	33	3	of	of	ADP
ajst-25022	33	4	the	the	DET
ajst-25022	33	5	design	design	NOUN
ajst-25022	33	6	lies	lie	VERB
ajst-25022	33	7	in	in	ADP
ajst-25022	33	8	mimicking	mimic	VERB
ajst-25022	33	9	the	the	DET
ajst-25022	33	10	biological	biological	ADJ
ajst-25022	33	11	characteristics	characteristic	NOUN
ajst-25022	33	12	of	of	ADP
ajst-25022	33	13	hedgehogs	hedgehog	NOUN
ajst-25022	33	14	,	,	PUNCT
ajst-25022	33	15	including	include	VERB
ajst-25022	33	16	their	their	PRON
ajst-25022	33	17	unique	unique	ADJ
ajst-25022	33	18	spiny	spiny	ADJ
ajst-25022	33	19	hair	hair	NOUN
ajst-25022	33	20	structure	structure	NOUN
ajst-25022	33	21	and	and	CCONJ
ajst-25022	33	22	adaptive	adaptive	ADJ
ajst-25022	33	23	behaviours	behaviour	NOUN
ajst-25022	33	24	.	.	PUNCT
ajst-25022	34	1	by	by	ADP
ajst-25022	34	2	integrating	integrate	VERB
ajst-25022	34	3	advanced	advanced	ADJ
ajst-25022	34	4	sensors	sensor	NOUN
ajst-25022	34	5	,	,	PUNCT
ajst-25022	34	6	actuators	actuator	NOUN
ajst-25022	34	7	and	and	CCONJ
ajst-25022	34	8	intelligent	intelligent	ADJ
ajst-25022	34	9	control	control	NOUN
ajst-25022	34	10	systems	system	NOUN
ajst-25022	34	11	,	,	PUNCT
ajst-25022	34	12	the	the	DET
ajst-25022	34	13	robot	robot	NOUN
ajst-25022	34	14	will	will	AUX
ajst-25022	34	15	be	be	AUX
ajst-25022	34	16	able	able	ADJ
ajst-25022	34	17	to	to	PART
ajst-25022	34	18	achieve	achieve	VERB
ajst-25022	34	19	functions	function	NOUN
ajst-25022	34	20	such	such	ADJ
ajst-25022	34	21	as	as	ADP
ajst-25022	34	22	environment	environment	NOUN
ajst-25022	34	23	perception	perception	NOUN
ajst-25022	34	24	,	,	PUNCT
ajst-25022	34	25	autonomous	autonomous	ADJ
ajst-25022	34	26	navigation	navigation	NOUN
ajst-25022	34	27	and	and	CCONJ
ajst-25022	34	28	self	self	NOUN
ajst-25022	34	29	-	-	PUNCT
ajst-25022	34	30	protection	protection	NOUN
ajst-25022	34	31	.	.	PUNCT
ajst-25022	35	1	during	during	ADP
ajst-25022	35	2	the	the	DET
ajst-25022	35	3	design	design	NOUN
ajst-25022	35	4	process	process	NOUN
ajst-25022	35	5	,	,	PUNCT
ajst-25022	35	6	we	we	PRON
ajst-25022	35	7	focus	focus	VERB
ajst-25022	35	8	on	on	ADP
ajst-25022	35	9	the	the	DET
ajst-25022	35	10	robot	robot	NOUN
ajst-25022	35	11	's	's	PART
ajst-25022	35	12	multifunctionality	multifunctionality	NOUN
ajst-25022	35	13	and	and	CCONJ
ajst-25022	35	14	environmental	environmental	ADJ
ajst-25022	35	15	adaptability	adaptability	NOUN
ajst-25022	35	16	,	,	PUNCT
ajst-25022	35	17	and	and	CCONJ
ajst-25022	35	18	strive	strive	VERB
ajst-25022	35	19	to	to	PART
ajst-25022	35	20	improve	improve	VERB
ajst-25022	35	21	the	the	DET
ajst-25022	35	22	robot	robot	NOUN
ajst-25022	35	23	's	's	PART
ajst-25022	35	24	practicality	practicality	NOUN
ajst-25022	35	25	and	and	CCONJ
ajst-25022	35	26	reliability	reliability	NOUN
ajst-25022	35	27	while	while	SCONJ
ajst-25022	35	28	maintaining	maintain	VERB
ajst-25022	35	29	its	its	PRON
ajst-25022	35	30	biological	biological	ADJ
ajst-25022	35	31	similarity	similarity	NOUN
ajst-25022	35	32	.	.	PUNCT
ajst-25022	36	1	the	the	DET
ajst-25022	36	2	overall	overall	ADJ
ajst-25022	36	3	framework	framework	NOUN
ajst-25022	36	4	design	design	NOUN
ajst-25022	36	5	consists	consist	VERB
ajst-25022	36	6	of	of	ADP
ajst-25022	36	7	six	six	NUM
ajst-25022	36	8	modules	module	NOUN
ajst-25022	36	9	:	:	PUNCT
ajst-25022	36	10	motion	motion	NOUN
ajst-25022	36	11	module	module	NOUN
ajst-25022	36	12	,	,	PUNCT
ajst-25022	36	13	ultrasonic	ultrasonic	ADJ
ajst-25022	36	14	ranging	ranging	NOUN
ajst-25022	36	15	module	module	NOUN
ajst-25022	36	16	,	,	PUNCT
ajst-25022	36	17	energy	energy	NOUN
ajst-25022	36	18	storage	storage	NOUN
ajst-25022	36	19	and	and	CCONJ
ajst-25022	36	20	supply	supply	NOUN
ajst-25022	36	21	module	module	NOUN
ajst-25022	36	22	,	,	PUNCT
ajst-25022	36	23	and	and	CCONJ
ajst-25022	36	24	control	control	NOUN
ajst-25022	36	25	module	module	NOUN
ajst-25022	36	26	,	,	PUNCT
ajst-25022	36	27	as	as	SCONJ
ajst-25022	36	28	shown	show	VERB
ajst-25022	36	29	in	in	ADP
ajst-25022	36	30	figure	figure	NOUN
ajst-25022	36	31	1	1	NUM
ajst-25022	36	32	.	.	PUNCT
ajst-25022	36	33	figure	figure	NOUN
ajst-25022	36	34	1	1	NUM
ajst-25022	36	35	.	.	PUNCT
ajst-25022	37	1	overall	overall	ADJ
ajst-25022	37	2	framework	framework	NOUN
ajst-25022	37	3	design	design	NOUN
ajst-25022	37	4	2.2	2.2	NUM
ajst-25022	37	5	.	.	PUNCT
ajst-25022	37	6	material	material	NOUN
ajst-25022	37	7	selection	selection	NOUN
ajst-25022	37	8	and	and	CCONJ
ajst-25022	37	9	design	design	NOUN
ajst-25022	37	10	of	of	ADP
ajst-25022	37	11	bristle	bristle	NOUN
ajst-25022	37	12	structure	structure	NOUN
ajst-25022	37	13	in	in	ADP
ajst-25022	37	14	order	order	NOUN
ajst-25022	37	15	to	to	PART
ajst-25022	37	16	realise	realise	VERB
ajst-25022	37	17	the	the	DET
ajst-25022	37	18	bionic	bionic	ADJ
ajst-25022	37	19	effect	effect	NOUN
ajst-25022	37	20	of	of	ADP
ajst-25022	37	21	hedgehog	hedgehog	PROPN
ajst-25022	37	22	's	's	PART
ajst-25022	37	23	prickly	prickly	ADJ
ajst-25022	37	24	hairs	hair	NOUN
ajst-25022	37	25	,	,	PUNCT
ajst-25022	37	26	we	we	PRON
ajst-25022	37	27	chose	choose	VERB
ajst-25022	37	28	composite	composite	ADJ
ajst-25022	37	29	materials	material	NOUN
ajst-25022	37	30	with	with	ADP
ajst-25022	37	31	good	good	ADJ
ajst-25022	37	32	elasticity	elasticity	NOUN
ajst-25022	37	33	and	and	CCONJ
ajst-25022	37	34	abrasion	abrasion	NOUN
ajst-25022	37	35	resistance	resistance	NOUN
ajst-25022	37	36	as	as	ADP
ajst-25022	37	37	the	the	DET
ajst-25022	37	38	base	base	NOUN
ajst-25022	37	39	material	material	NOUN
ajst-25022	37	40	of	of	ADP
ajst-25022	37	41	the	the	DET
ajst-25022	37	42	prickly	prickly	ADJ
ajst-25022	37	43	hairs	hair	NOUN
ajst-25022	37	44	.	.	PUNCT
ajst-25022	38	1	the	the	DET
ajst-25022	38	2	design	design	NOUN
ajst-25022	38	3	of	of	ADP
ajst-25022	38	4	the	the	DET
ajst-25022	38	5	bristles	bristle	NOUN
ajst-25022	38	6	adopts	adopt	VERB
ajst-25022	38	7	a	a	DET
ajst-25022	38	8	modular	modular	ADJ
ajst-25022	38	9	structure	structure	NOUN
ajst-25022	38	10	,	,	PUNCT
ajst-25022	38	11	where	where	SCONJ
ajst-25022	38	12	each	each	DET
ajst-25022	38	13	bristle	bristle	NOUN
ajst-25022	38	14	unit	unit	NOUN
ajst-25022	38	15	is	be	AUX
ajst-25022	38	16	able	able	ADJ
ajst-25022	38	17	to	to	PART
ajst-25022	38	18	move	move	VERB
ajst-25022	38	19	independently	independently	ADV
ajst-25022	38	20	to	to	PART
ajst-25022	38	21	simulate	simulate	VERB
ajst-25022	38	22	the	the	DET
ajst-25022	38	23	reaction	reaction	NOUN
ajst-25022	38	24	of	of	ADP
ajst-25022	38	25	a	a	DET
ajst-25022	38	26	real	real	ADJ
ajst-25022	38	27	hedgehog	hedgehog	NOUN
ajst-25022	38	28	when	when	SCONJ
ajst-25022	38	29	it	it	PRON
ajst-25022	38	30	encounters	encounter	VERB
ajst-25022	38	31	a	a	DET
ajst-25022	38	32	threat	threat	NOUN
ajst-25022	38	33	.	.	PUNCT
ajst-25022	39	1	in	in	ADP
ajst-25022	39	2	addition	addition	NOUN
ajst-25022	39	3	,	,	PUNCT
ajst-25022	39	4	the	the	DET
ajst-25022	39	5	surface	surface	NOUN
ajst-25022	39	6	treatment	treatment	NOUN
ajst-25022	39	7	of	of	ADP
ajst-25022	39	8	the	the	DET
ajst-25022	39	9	bristles	bristle	NOUN
ajst-25022	39	10	increases	increase	VERB
ajst-25022	39	11	their	their	PRON
ajst-25022	39	12	impact	impact	NOUN
ajst-25022	39	13	resistance	resistance	NOUN
ajst-25022	39	14	and	and	CCONJ
ajst-25022	39	15	self	self	NOUN
ajst-25022	39	16	-	-	PUNCT
ajst-25022	39	17	cleaning	clean	VERB
ajst-25022	39	18	ability	ability	NOUN
ajst-25022	39	19	,	,	PUNCT
ajst-25022	39	20	ensuring	ensure	VERB
ajst-25022	39	21	the	the	DET
ajst-25022	39	22	durability	durability	NOUN
ajst-25022	39	23	and	and	CCONJ
ajst-25022	39	24	maintenance	maintenance	NOUN
ajst-25022	39	25	convenience	convenience	NOUN
ajst-25022	39	26	of	of	ADP
ajst-25022	39	27	the	the	DET
ajst-25022	39	28	robot	robot	NOUN
ajst-25022	39	29	in	in	ADP
ajst-25022	39	30	complex	complex	ADJ
ajst-25022	39	31	environments	environment	NOUN
ajst-25022	39	32	.	.	PUNCT
ajst-25022	40	1	2.3	2.3	NUM
ajst-25022	40	2	.	.	PUNCT
ajst-25022	40	3	selection	selection	NOUN
ajst-25022	40	4	of	of	ADP
ajst-25022	40	5	sensors	sensor	NOUN
ajst-25022	40	6	and	and	CCONJ
ajst-25022	40	7	actuators	actuator	NOUN
ajst-25022	40	8	in	in	ADP
ajst-25022	40	9	order	order	NOUN
ajst-25022	40	10	to	to	PART
ajst-25022	40	11	equip	equip	VERB
ajst-25022	40	12	the	the	DET
ajst-25022	40	13	robot	robot	NOUN
ajst-25022	40	14	with	with	ADP
ajst-25022	40	15	the	the	DET
ajst-25022	40	16	ability	ability	NOUN
ajst-25022	40	17	of	of	ADP
ajst-25022	40	18	environment	environment	NOUN
ajst-25022	40	19	sensing	sense	VERB
ajst-25022	40	20	and	and	CCONJ
ajst-25022	40	21	autonomous	autonomous	ADJ
ajst-25022	40	22	navigation	navigation	NOUN
ajst-25022	40	23	,	,	PUNCT
ajst-25022	40	24	we	we	PRON
ajst-25022	40	25	chose	choose	VERB
ajst-25022	40	26	a	a	DET
ajst-25022	40	27	variety	variety	NOUN
ajst-25022	40	28	of	of	ADP
ajst-25022	40	29	sensors	sensor	NOUN
ajst-25022	40	30	,	,	PUNCT
ajst-25022	40	31	including	include	VERB
ajst-25022	40	32	infrared	infrared	ADJ
ajst-25022	40	33	sensors	sensor	NOUN
ajst-25022	40	34	,	,	PUNCT
ajst-25022	40	35	ultrasonic	ultrasonic	ADJ
ajst-25022	40	36	sensors	sensor	NOUN
ajst-25022	40	37	,	,	PUNCT
ajst-25022	40	38	and	and	CCONJ
ajst-25022	40	39	vision	vision	NOUN
ajst-25022	40	40	cameras	camera	NOUN
ajst-25022	40	41	,	,	PUNCT
ajst-25022	40	42	to	to	PART
ajst-25022	40	43	achieve	achieve	VERB
ajst-25022	40	44	comprehensive	comprehensive	ADJ
ajst-25022	40	45	monitoring	monitoring	NOUN
ajst-25022	40	46	of	of	ADP
ajst-25022	40	47	the	the	DET
ajst-25022	40	48	surrounding	surround	VERB
ajst-25022	40	49	environment	environment	NOUN
ajst-25022	40	50	.	.	PUNCT
ajst-25022	41	1	for	for	ADP
ajst-25022	41	2	the	the	DET
ajst-25022	41	3	actuators	actuator	NOUN
ajst-25022	41	4	,	,	PUNCT
ajst-25022	41	5	we	we	PRON
ajst-25022	41	6	used	use	VERB
ajst-25022	41	7	hightorque	hightorque	PROPN
ajst-25022	41	8	micro	micro	PROPN
ajst-25022	41	9	-	-	NOUN
ajst-25022	41	10	motors	motors	ADJ
ajst-25022	41	11	and	and	CCONJ
ajst-25022	41	12	flexible	flexible	ADJ
ajst-25022	41	13	joint	joint	ADJ
ajst-25022	41	14	designs	design	NOUN
ajst-25022	41	15	to	to	PART
ajst-25022	41	16	ensure	ensure	VERB
ajst-25022	41	17	that	that	SCONJ
ajst-25022	41	18	the	the	DET
ajst-25022	41	19	robot	robot	NOUN
ajst-25022	41	20	can	can	AUX
ajst-25022	41	21	achieve	achieve	VERB
ajst-25022	41	22	precise	precise	ADJ
ajst-25022	41	23	motion	motion	NOUN
ajst-25022	41	24	control	control	NOUN
ajst-25022	41	25	and	and	CCONJ
ajst-25022	41	26	efficient	efficient	ADJ
ajst-25022	41	27	energy	energy	NOUN
ajst-25022	41	28	utilisation	utilisation	NOUN
ajst-25022	41	29	.	.	PUNCT
ajst-25022	42	1	2.4	2.4	NUM
ajst-25022	42	2	.	.	PUNCT
ajst-25022	42	3	control	control	NOUN
ajst-25022	42	4	system	system	NOUN
ajst-25022	42	5	and	and	CCONJ
ajst-25022	42	6	algorithm	algorithm	NOUN
ajst-25022	42	7	development	development	NOUN
ajst-25022	42	8	the	the	DET
ajst-25022	42	9	control	control	NOUN
ajst-25022	42	10	system	system	NOUN
ajst-25022	42	11	of	of	ADP
ajst-25022	42	12	the	the	DET
ajst-25022	42	13	robot	robot	NOUN
ajst-25022	42	14	adopts	adopt	VERB
ajst-25022	42	15	a	a	DET
ajst-25022	42	16	distributed	distribute	VERB
ajst-25022	42	17	architecture	architecture	NOUN
ajst-25022	42	18	,	,	PUNCT
ajst-25022	42	19	which	which	PRON
ajst-25022	42	20	communicates	communicate	VERB
ajst-25022	42	21	with	with	ADP
ajst-25022	42	22	each	each	DET
ajst-25022	42	23	sensor	sensor	NOUN
ajst-25022	42	24	and	and	CCONJ
ajst-25022	42	25	actuator	actuator	NOUN
ajst-25022	42	26	in	in	ADP
ajst-25022	42	27	real	real	ADJ
ajst-25022	42	28	time	time	NOUN
ajst-25022	42	29	through	through	ADP
ajst-25022	42	30	a	a	DET
ajst-25022	42	31	central	central	ADJ
ajst-25022	42	32	processing	processing	NOUN
ajst-25022	42	33	unit	unit	NOUN
ajst-25022	42	34	.	.	PUNCT
ajst-25022	43	1	for	for	ADP
ajst-25022	43	2	algorithm	algorithm	NOUN
ajst-25022	43	3	development	development	NOUN
ajst-25022	43	4	,	,	PUNCT
ajst-25022	43	5	we	we	PRON
ajst-25022	43	6	introduced	introduce	VERB
ajst-25022	43	7	machine	machine	NOUN
ajst-25022	43	8	learning	learning	NOUN
ajst-25022	43	9	and	and	CCONJ
ajst-25022	43	10	path	path	NOUN
ajst-25022	43	11	planning	planning	NOUN
ajst-25022	43	12	algorithms	algorithm	NOUN
ajst-25022	43	13	to	to	PART
ajst-25022	43	14	enable	enable	VERB
ajst-25022	43	15	the	the	DET
ajst-25022	43	16	robot	robot	NOUN
ajst-25022	43	17	to	to	PART
ajst-25022	43	18	autonomously	autonomously	ADV
ajst-25022	43	19	adjust	adjust	VERB
ajst-25022	43	20	its	its	PRON
ajst-25022	43	21	behavioural	behavioural	ADJ
ajst-25022	43	22	strategies	strategy	NOUN
ajst-25022	43	23	according	accord	VERB
ajst-25022	43	24	to	to	ADP
ajst-25022	43	25	environmental	environmental	ADJ
ajst-25022	43	26	changes	change	NOUN
ajst-25022	43	27	.	.	PUNCT
ajst-25022	44	1	in	in	ADP
ajst-25022	44	2	addition	addition	NOUN
ajst-25022	44	3	,	,	PUNCT
ajst-25022	44	4	we	we	PRON
ajst-25022	44	5	have	have	AUX
ajst-25022	44	6	developed	develop	VERB
ajst-25022	44	7	self	self	NOUN
ajst-25022	44	8	-	-	PUNCT
ajst-25022	44	9	protection	protection	NOUN
ajst-25022	44	10	algorithms	algorithm	NOUN
ajst-25022	44	11	that	that	PRON
ajst-25022	44	12	enable	enable	VERB
ajst-25022	44	13	the	the	DET
ajst-25022	44	14	robot	robot	NOUN
ajst-25022	44	15	to	to	PART
ajst-25022	44	16	quickly	quickly	ADV
ajst-25022	44	17	take	take	VERB
ajst-25022	44	18	defensive	defensive	ADJ
ajst-25022	44	19	measures	measure	NOUN
ajst-25022	44	20	when	when	SCONJ
ajst-25022	44	21	it	it	PRON
ajst-25022	44	22	encounters	encounter	VERB
ajst-25022	44	23	obstacles	obstacle	NOUN
ajst-25022	44	24	or	or	CCONJ
ajst-25022	44	25	threats	threat	NOUN
ajst-25022	44	26	.	.	PUNCT
ajst-25022	45	1	2.5	2.5	NUM
ajst-25022	45	2	.	.	PUNCT
ajst-25022	45	3	manufacturing	manufacturing	NOUN
ajst-25022	45	4	process	process	NOUN
ajst-25022	45	5	and	and	CCONJ
ajst-25022	45	6	assembly	assembly	NOUN
ajst-25022	45	7	technology	technology	NOUN
ajst-25022	45	8	in	in	ADP
ajst-25022	45	9	order	order	NOUN
ajst-25022	45	10	to	to	PART
ajst-25022	45	11	achieve	achieve	VERB
ajst-25022	45	12	efficient	efficient	ADJ
ajst-25022	45	13	manufacturing	manufacturing	NOUN
ajst-25022	45	14	and	and	CCONJ
ajst-25022	45	15	precise	precise	ADJ
ajst-25022	45	16	assembly	assembly	NOUN
ajst-25022	45	17	of	of	ADP
ajst-25022	45	18	the	the	DET
ajst-25022	45	19	bionic	bionic	ADJ
ajst-25022	45	20	hedgehog	hedgehog	PROPN
ajst-25022	45	21	robot	robot	NOUN
ajst-25022	45	22	,	,	PUNCT
ajst-25022	45	23	we	we	PRON
ajst-25022	45	24	adopted	adopt	VERB
ajst-25022	45	25	a	a	DET
ajst-25022	45	26	modular	modular	ADJ
ajst-25022	45	27	manufacturing	manufacturing	NOUN
ajst-25022	45	28	process	process	NOUN
ajst-25022	45	29	.	.	PUNCT
ajst-25022	46	1	each	each	DET
ajst-25022	46	2	component	component	NOUN
ajst-25022	46	3	is	be	AUX
ajst-25022	46	4	carefully	carefully	ADV
ajst-25022	46	5	designed	design	VERB
ajst-25022	46	6	to	to	PART
ajst-25022	46	7	facilitate	facilitate	VERB
ajst-25022	46	8	mass	mass	ADJ
ajst-25022	46	9	production	production	NOUN
ajst-25022	46	10	and	and	CCONJ
ajst-25022	46	11	quality	quality	NOUN
ajst-25022	46	12	control	control	NOUN
ajst-25022	46	13	.	.	PUNCT
ajst-25022	47	1	during	during	ADP
ajst-25022	47	2	the	the	DET
ajst-25022	47	3	assembly	assembly	NOUN
ajst-25022	47	4	process	process	NOUN
ajst-25022	47	5	,	,	PUNCT
ajst-25022	47	6	we	we	PRON
ajst-25022	47	7	use	use	VERB
ajst-25022	47	8	precise	precise	ADJ
ajst-25022	47	9	positioning	positioning	NOUN
ajst-25022	47	10	and	and	CCONJ
ajst-25022	47	11	fixing	fix	VERB
ajst-25022	47	12	techniques	technique	NOUN
ajst-25022	47	13	to	to	PART
ajst-25022	47	14	ensure	ensure	VERB
ajst-25022	47	15	accurate	accurate	ADJ
ajst-25022	47	16	docking	docking	NOUN
ajst-25022	47	17	and	and	CCONJ
ajst-25022	47	18	stable	stable	ADJ
ajst-25022	47	19	operation	operation	NOUN
ajst-25022	47	20	of	of	ADP
ajst-25022	47	21	each	each	DET
ajst-25022	47	22	component	component	NOUN
ajst-25022	47	23	.	.	PUNCT
ajst-25022	48	1	in	in	ADP
ajst-25022	48	2	addition	addition	NOUN
ajst-25022	48	3	,	,	PUNCT
ajst-25022	48	4	we	we	PRON
ajst-25022	48	5	have	have	AUX
ajst-25022	48	6	developed	develop	VERB
ajst-25022	48	7	an	an	DET
ajst-25022	48	8	automated	automate	VERB
ajst-25022	48	9	testing	testing	NOUN
ajst-25022	48	10	process	process	NOUN
ajst-25022	48	11	to	to	PART
ajst-25022	48	12	verify	verify	VERB
ajst-25022	48	13	the	the	DET
ajst-25022	48	14	robot	robot	NOUN
ajst-25022	48	15	's	's	PART
ajst-25022	48	16	functions	function	NOUN
ajst-25022	48	17	and	and	CCONJ
ajst-25022	48	18	performance	performance	NOUN
ajst-25022	48	19	indicators	indicator	NOUN
ajst-25022	48	20	to	to	PART
ajst-25022	48	21	ensure	ensure	VERB
ajst-25022	48	22	the	the	DET
ajst-25022	48	23	reliability	reliability	NOUN
ajst-25022	48	24	and	and	CCONJ
ajst-25022	48	25	consistency	consistency	NOUN
ajst-25022	48	26	of	of	ADP
ajst-25022	48	27	the	the	DET
ajst-25022	48	28	final	final	ADJ
ajst-25022	48	29	product	product	NOUN
ajst-25022	48	30	.	.	PUNCT
ajst-25022	49	1	3	3	X
ajst-25022	49	2	.	.	X
ajst-25022	49	3	experimental	experimental	ADJ
ajst-25022	49	4	design	design	NOUN
ajst-25022	49	5	and	and	CCONJ
ajst-25022	49	6	results	result	VERB
ajst-25022	49	7	3.1	3.1	NUM
ajst-25022	49	8	.	.	PUNCT
ajst-25022	50	1	experimental	experimental	ADJ
ajst-25022	50	2	platform	platform	NOUN
ajst-25022	50	3	construction	construction	NOUN
ajst-25022	50	4	in	in	ADP
ajst-25022	50	5	order	order	NOUN
ajst-25022	50	6	to	to	PART
ajst-25022	50	7	verify	verify	VERB
ajst-25022	50	8	the	the	DET
ajst-25022	50	9	design	design	NOUN
ajst-25022	50	10	concept	concept	NOUN
ajst-25022	50	11	and	and	CCONJ
ajst-25022	50	12	technical	technical	ADJ
ajst-25022	50	13	implementation	implementation	NOUN
ajst-25022	50	14	of	of	ADP
ajst-25022	50	15	the	the	DET
ajst-25022	50	16	bionic	bionic	ADJ
ajst-25022	50	17	hedgehog	hedgehog	PROPN
ajst-25022	50	18	robot	robot	NOUN
ajst-25022	50	19	,	,	PUNCT
ajst-25022	50	20	we	we	PRON
ajst-25022	50	21	built	build	VERB
ajst-25022	50	22	a	a	DET
ajst-25022	50	23	multifunctional	multifunctional	ADJ
ajst-25022	50	24	experimental	experimental	ADJ
ajst-25022	50	25	platform	platform	NOUN
ajst-25022	50	26	.	.	PUNCT
ajst-25022	51	1	the	the	DET
ajst-25022	51	2	platform	platform	NOUN
ajst-25022	51	3	includes	include	VERB
ajst-25022	51	4	a	a	DET
ajst-25022	51	5	test	test	NOUN
ajst-25022	51	6	site	site	NOUN
ajst-25022	51	7	that	that	PRON
ajst-25022	51	8	simulates	simulate	VERB
ajst-25022	51	9	a	a	DET
ajst-25022	51	10	variety	variety	NOUN
ajst-25022	51	11	of	of	ADP
ajst-25022	51	12	terrains	terrain	NOUN
ajst-25022	51	13	and	and	CCONJ
ajst-25022	51	14	environments	environment	NOUN
ajst-25022	51	15	,	,	PUNCT
ajst-25022	51	16	as	as	ADV
ajst-25022	51	17	well	well	ADV
ajst-25022	51	18	as	as	ADP
ajst-25022	51	19	a	a	DET
ajst-25022	51	20	high	high	ADJ
ajst-25022	51	21	-	-	PUNCT
ajst-25022	51	22	precision	precision	NOUN
ajst-25022	51	23	data	datum	NOUN
ajst-25022	51	24	acquisition	acquisition	NOUN
ajst-25022	51	25	system	system	NOUN
ajst-25022	51	26	.	.	PUNCT
ajst-25022	52	1	the	the	DET
ajst-25022	52	2	test	test	NOUN
ajst-25022	52	3	site	site	NOUN
ajst-25022	52	4	is	be	AUX
ajst-25022	52	5	designed	design	VERB
ajst-25022	52	6	with	with	ADP
ajst-25022	52	7	different	different	ADJ
ajst-25022	52	8	obstacles	obstacle	NOUN
ajst-25022	52	9	and	and	CCONJ
ajst-25022	52	10	challenges	challenge	NOUN
ajst-25022	52	11	,	,	PUNCT
ajst-25022	52	12	such	such	ADJ
ajst-25022	52	13	as	as	ADP
ajst-25022	52	14	slopes	slope	NOUN
ajst-25022	52	15	,	,	PUNCT
ajst-25022	52	16	narrow	narrow	ADJ
ajst-25022	52	17	passages	passage	NOUN
ajst-25022	52	18	,	,	PUNCT
ajst-25022	52	19	and	and	CCONJ
ajst-25022	52	20	simulated	simulate	VERB
ajst-25022	52	21	vegetation	vegetation	NOUN
ajst-25022	52	22	areas	area	NOUN
ajst-25022	52	23	,	,	PUNCT
ajst-25022	52	24	to	to	PART
ajst-25022	52	25	evaluate	evaluate	VERB
ajst-25022	52	26	the	the	DET
ajst-25022	52	27	robot	robot	NOUN
ajst-25022	52	28	's	's	PART
ajst-25022	52	29	mobility	mobility	NOUN
ajst-25022	52	30	and	and	CCONJ
ajst-25022	52	31	adaptability	adaptability	NOUN
ajst-25022	52	32	in	in	ADP
ajst-25022	52	33	complex	complex	ADJ
ajst-25022	52	34	environments	environment	NOUN
ajst-25022	52	35	.	.	PUNCT
ajst-25022	53	1	the	the	DET
ajst-25022	53	2	data	data	NOUN
ajst-25022	53	3	acquisition	acquisition	NOUN
ajst-25022	53	4	system	system	NOUN
ajst-25022	53	5	,	,	PUNCT
ajst-25022	53	6	on	on	ADP
ajst-25022	53	7	the	the	DET
ajst-25022	53	8	other	other	ADJ
ajst-25022	53	9	hand	hand	NOUN
ajst-25022	53	10	,	,	PUNCT
ajst-25022	53	11	is	be	AUX
ajst-25022	53	12	equipped	equip	VERB
ajst-25022	53	13	with	with	ADP
ajst-25022	53	14	sensors	sensor	NOUN
ajst-25022	53	15	and	and	CCONJ
ajst-25022	53	16	camera	camera	NOUN
ajst-25022	53	17	devices	device	NOUN
ajst-25022	53	18	to	to	PART
ajst-25022	53	19	record	record	VERB
ajst-25022	53	20	the	the	DET
ajst-25022	53	21	robot	robot	NOUN
ajst-25022	53	22	's	's	PART
ajst-25022	53	23	trajectory	trajectory	NOUN
ajst-25022	53	24	,	,	PUNCT
ajst-25022	53	25	behavioural	behavioural	ADJ
ajst-25022	53	26	responses	response	NOUN
ajst-25022	53	27	and	and	CCONJ
ajst-25022	53	28	performance	performance	NOUN
ajst-25022	53	29	parameters	parameter	NOUN
ajst-25022	53	30	.	.	PUNCT
ajst-25022	54	1	3.2	3.2	NUM
ajst-25022	54	2	.	.	PUNCT
ajst-25022	54	3	performance	performance	NOUN
ajst-25022	54	4	evaluation	evaluation	NOUN
ajst-25022	54	5	during	during	ADP
ajst-25022	54	6	the	the	DET
ajst-25022	54	7	functional	functional	ADJ
ajst-25022	54	8	testing	testing	NOUN
ajst-25022	54	9	phase	phase	NOUN
ajst-25022	54	10	,	,	PUNCT
ajst-25022	54	11	we	we	PRON
ajst-25022	54	12	conducted	conduct	VERB
ajst-25022	54	13	a	a	DET
ajst-25022	54	14	comprehensive	comprehensive	ADJ
ajst-25022	54	15	performance	performance	NOUN
ajst-25022	54	16	evaluation	evaluation	NOUN
ajst-25022	54	17	of	of	ADP
ajst-25022	54	18	the	the	DET
ajst-25022	54	19	bionic	bionic	ADJ
ajst-25022	54	20	hedgehog	hedgehog	PROPN
ajst-25022	54	21	robot	robot	NOUN
ajst-25022	54	22	.	.	PUNCT
ajst-25022	55	1	the	the	DET
ajst-25022	55	2	tests	test	NOUN
ajst-25022	55	3	included	include	VERB
ajst-25022	55	4	the	the	DET
ajst-25022	55	5	robot	robot	NOUN
ajst-25022	55	6	's	's	PART
ajst-25022	55	7	movement	movement	NOUN
ajst-25022	55	8	speed	speed	NOUN
ajst-25022	55	9	,	,	PUNCT
ajst-25022	55	10	turning	turn	VERB
ajst-25022	55	11	radius	radius	NOUN
ajst-25022	55	12	,	,	PUNCT
ajst-25022	55	13	climbing	climbing	NOUN
ajst-25022	55	14	ability	ability	NOUN
ajst-25022	55	15	,	,	PUNCT
ajst-25022	55	16	and	and	CCONJ
ajst-25022	55	17	the	the	DET
ajst-25022	55	18	defence	defence	NOUN
ajst-25022	55	19	response	response	NOUN
ajst-25022	55	20	of	of	ADP
ajst-25022	55	21	the	the	DET
ajst-25022	55	22	hedgehog	hedgehog	NOUN
ajst-25022	55	23	.	.	PUNCT
ajst-25022	56	1	by	by	ADP
ajst-25022	56	2	comparing	compare	VERB
ajst-25022	56	3	the	the	DET
ajst-25022	56	4	robot	robot	NOUN
ajst-25022	56	5	's	's	PART
ajst-25022	56	6	performance	performance	NOUN
ajst-25022	56	7	in	in	ADP
ajst-25022	56	8	different	different	ADJ
ajst-25022	56	9	terrains	terrain	NOUN
ajst-25022	56	10	and	and	CCONJ
ajst-25022	56	11	environments	environment	NOUN
ajst-25022	56	12	,	,	PUNCT
ajst-25022	56	13	we	we	PRON
ajst-25022	56	14	evaluated	evaluate	VERB
ajst-25022	56	15	its	its	PRON
ajst-25022	56	16	locomotor	locomotor	NOUN
ajst-25022	56	17	agility	agility	NOUN
ajst-25022	56	18	,	,	PUNCT
ajst-25022	56	19	stability	stability	NOUN
ajst-25022	56	20	,	,	PUNCT
ajst-25022	56	21	and	and	CCONJ
ajst-25022	56	22	energy	energy	NOUN
ajst-25022	56	23	efficiency	efficiency	NOUN
ajst-25022	56	24	.	.	PUNCT
ajst-25022	57	1	in	in	ADP
ajst-25022	57	2	addition	addition	NOUN
ajst-25022	57	3	,	,	PUNCT
ajst-25022	57	4	we	we	PRON
ajst-25022	57	5	tested	test	VERB
ajst-25022	57	6	the	the	DET
ajst-25022	57	7	robot	robot	NOUN
ajst-25022	57	8	's	's	PART
ajst-25022	57	9	environmental	environmental	ADJ
ajst-25022	57	10	awareness	awareness	NOUN
ajst-25022	57	11	,	,	PUNCT
ajst-25022	57	12	including	include	VERB
ajst-25022	57	13	detection	detection	NOUN
ajst-25022	57	14	and	and	CCONJ
ajst-25022	57	15	avoidance	avoidance	NOUN
ajst-25022	57	16	of	of	ADP
ajst-25022	57	17	obstacles	obstacle	NOUN
ajst-25022	57	18	,	,	PUNCT
ajst-25022	57	19	and	and	CCONJ
ajst-25022	57	20	adaptation	adaptation	NOUN
ajst-25022	57	21	to	to	ADP
ajst-25022	57	22	light	light	ADJ
ajst-25022	57	23	changes	change	NOUN
ajst-25022	57	24	.	.	PUNCT
ajst-25022	58	1	to	to	PART
ajst-25022	58	2	validate	validate	VERB
ajst-25022	58	3	the	the	DET
ajst-25022	58	4	robot	robot	NOUN
ajst-25022	58	5	's	's	PART
ajst-25022	58	6	environmental	environmental	ADJ
ajst-25022	58	7	adaptability	adaptability	NOUN
ajst-25022	58	8	,	,	PUNCT
ajst-25022	58	9	we	we	PRON
ajst-25022	58	10	conducted	conduct	VERB
ajst-25022	58	11	a	a	DET
ajst-25022	58	12	series	series	NOUN
ajst-25022	58	13	of	of	ADP
ajst-25022	58	14	environmental	environmental	ADJ
ajst-25022	58	15	adaptation	adaptation	NOUN
ajst-25022	58	16	tests	test	NOUN
ajst-25022	58	17	.	.	PUNCT
ajst-25022	59	1	these	these	DET
ajst-25022	59	2	tests	test	NOUN
ajst-25022	59	3	included	include	VERB
ajst-25022	59	4	operational	operational	ADJ
ajst-25022	59	5	tests	test	NOUN
ajst-25022	59	6	under	under	ADP
ajst-25022	59	7	different	different	ADJ
ajst-25022	59	8	temperature	temperature	NOUN
ajst-25022	59	9	and	and	CCONJ
ajst-25022	59	10	humidity	humidity	NOUN
ajst-25022	59	11	conditions	condition	NOUN
ajst-25022	59	12	,	,	PUNCT
ajst-25022	59	13	as	as	ADV
ajst-25022	59	14	well	well	ADV
ajst-25022	59	15	as	as	ADP
ajst-25022	59	16	performance	performance	NOUN
ajst-25022	59	17	evaluation	evaluation	NOUN
ajst-25022	59	18	under	under	ADP
ajst-25022	59	19	simulated	simulate	VERB
ajst-25022	59	20	extreme	extreme	ADJ
ajst-25022	59	21	weather	weather	NOUN
ajst-25022	59	22	conditions	condition	NOUN
ajst-25022	59	23	(	(	PUNCT
ajst-25022	59	24	e.g.	e.g.	ADV
ajst-25022	59	25	,	,	PUNCT
ajst-25022	59	26	wind	wind	NOUN
ajst-25022	59	27	,	,	PUNCT
ajst-25022	59	28	rain	rain	NOUN
ajst-25022	59	29	)	)	PUNCT
ajst-25022	59	30	.	.	PUNCT
ajst-25022	60	1	we	we	PRON
ajst-25022	60	2	also	also	ADV
ajst-25022	60	3	tested	test	VERB
ajst-25022	60	4	the	the	DET
ajst-25022	60	5	robot	robot	NOUN
ajst-25022	60	6	's	's	PART
ajst-25022	60	7	visual	visual	ADJ
ajst-25022	60	8	perception	perception	NOUN
ajst-25022	60	9	ability	ability	NOUN
ajst-25022	60	10	at	at	ADP
ajst-25022	60	11	night	night	NOUN
ajst-25022	60	12	and	and	CCONJ
ajst-25022	60	13	in	in	ADP
ajst-25022	60	14	low	low	ADJ
ajst-25022	60	15	-	-	PUNCT
ajst-25022	60	16	light	light	NOUN
ajst-25022	60	17	conditions	condition	NOUN
ajst-25022	60	18	,	,	PUNCT
ajst-25022	60	19	as	as	ADV
ajst-25022	60	20	well	well	ADV
ajst-25022	60	21	as	as	ADP
ajst-25022	60	22	its	its	PRON
ajst-25022	60	23	stealth	stealth	NOUN
ajst-25022	60	24	and	and	CCONJ
ajst-25022	60	25	mobility	mobility	NOUN
ajst-25022	60	26	efficiency	efficiency	NOUN
ajst-25022	60	27	in	in	ADP
ajst-25022	60	28	complex	complex	ADJ
ajst-25022	60	29	vegetation	vegetation	NOUN
ajst-25022	60	30	environments	environment	NOUN
ajst-25022	60	31	.	.	PUNCT
ajst-25022	61	1	through	through	ADP
ajst-25022	61	2	these	these	DET
ajst-25022	61	3	tests	test	NOUN
ajst-25022	61	4	,	,	PUNCT
ajst-25022	61	5	we	we	PRON
ajst-25022	61	6	aimed	aim	VERB
ajst-25022	61	7	to	to	PART
ajst-25022	61	8	assess	assess	VERB
ajst-25022	61	9	the	the	DET
ajst-25022	61	10	reliability	reliability	NOUN
ajst-25022	61	11	and	and	CCONJ
ajst-25022	61	12	survivability	survivability	NOUN
ajst-25022	61	13	of	of	ADP
ajst-25022	61	14	the	the	DET
ajst-25022	61	15	robot	robot	NOUN
ajst-25022	61	16	in	in	ADP
ajst-25022	61	17	real	real	ADJ
ajst-25022	61	18	-	-	PUNCT
ajst-25022	61	19	world	world	NOUN
ajst-25022	61	20	applications	application	NOUN
ajst-25022	61	21	.	.	PUNCT
ajst-25022	62	1	3.3	3.3	NUM
ajst-25022	62	2	.	.	PUNCT
ajst-25022	63	1	data	datum	NOUN
ajst-25022	63	2	analysis	analysis	NOUN
ajst-25022	63	3	and	and	CCONJ
ajst-25022	63	4	discussion	discussion	NOUN
ajst-25022	63	5	of	of	ADP
ajst-25022	63	6	results	result	NOUN
ajst-25022	63	7	by	by	ADP
ajst-25022	63	8	analysing	analyse	VERB
ajst-25022	63	9	the	the	DET
ajst-25022	63	10	experimental	experimental	ADJ
ajst-25022	63	11	data	datum	NOUN
ajst-25022	63	12	in	in	ADP
ajst-25022	63	13	detail	detail	NOUN
ajst-25022	63	14	,	,	PUNCT
ajst-25022	63	15	we	we	PRON
ajst-25022	63	16	derived	derive	VERB
ajst-25022	63	17	the	the	DET
ajst-25022	63	18	performance	performance	NOUN
ajst-25022	63	19	of	of	ADP
ajst-25022	63	20	the	the	DET
ajst-25022	63	21	bionic	bionic	ADJ
ajst-25022	63	22	hedgehog	hedgehog	NOUN
ajst-25022	63	23	robot	robot	NOUN
ajst-25022	63	24	in	in	ADP
ajst-25022	63	25	each	each	DET
ajst-25022	63	26	test	test	NOUN
ajst-25022	63	27	.	.	PUNCT
ajst-25022	64	1	the	the	DET
ajst-25022	64	2	data	data	NOUN
ajst-25022	64	3	analysis	analysis	NOUN
ajst-25022	64	4	shows	show	VERB
ajst-25022	64	5	that	that	SCONJ
ajst-25022	64	6	the	the	DET
ajst-25022	64	7	robot	robot	NOUN
ajst-25022	64	8	shows	show	VERB
ajst-25022	64	9	good	good	ADJ
ajst-25022	64	10	mobility	mobility	NOUN
ajst-25022	64	11	and	and	CCONJ
ajst-25022	64	12	environmental	environmental	ADJ
ajst-25022	64	13	adaptability	adaptability	NOUN
ajst-25022	64	14	in	in	ADP
ajst-25022	64	15	a	a	DET
ajst-25022	64	16	variety	variety	NOUN
ajst-25022	64	17	of	of	ADP
ajst-25022	64	18	simulated	simulated	ADJ
ajst-25022	64	19	environments	environment	NOUN
ajst-25022	64	20	.	.	PUNCT
ajst-25022	65	1	in	in	ADP
ajst-25022	65	2	particular	particular	ADJ
ajst-25022	65	3	,	,	PUNCT
ajst-25022	65	4	the	the	DET
ajst-25022	65	5	robot	robot	NOUN
ajst-25022	65	6	's	's	PART
ajst-25022	65	7	autonomous	autonomous	ADJ
ajst-25022	65	8	navigation	navigation	NOUN
ajst-25022	65	9	and	and	CCONJ
ajst-25022	65	10	obstacle	obstacle	NOUN
ajst-25022	65	11	avoidance	avoidance	NOUN
ajst-25022	65	12	abilities	ability	NOUN
ajst-25022	65	13	were	be	AUX
ajst-25022	65	14	significantly	significantly	ADV
ajst-25022	65	15	217	217	NUM
ajst-25022	65	16	improved	improve	VERB
ajst-25022	65	17	in	in	ADP
ajst-25022	65	18	complex	complex	ADJ
ajst-25022	65	19	terrain	terrain	NOUN
ajst-25022	65	20	and	and	CCONJ
ajst-25022	65	21	low	low	ADJ
ajst-25022	65	22	-	-	PUNCT
ajst-25022	65	23	light	light	NOUN
ajst-25022	65	24	conditions	condition	NOUN
ajst-25022	65	25	.	.	PUNCT
ajst-25022	66	1	in	in	ADP
ajst-25022	66	2	addition	addition	NOUN
ajst-25022	66	3	,	,	PUNCT
ajst-25022	66	4	the	the	DET
ajst-25022	66	5	robot	robot	NOUN
ajst-25022	66	6	's	's	PART
ajst-25022	66	7	spiky	spiky	NOUN
ajst-25022	66	8	defence	defence	NOUN
ajst-25022	66	9	mechanism	mechanism	NOUN
ajst-25022	66	10	showed	show	VERB
ajst-25022	66	11	effective	effective	ADJ
ajst-25022	66	12	protection	protection	NOUN
ajst-25022	66	13	when	when	SCONJ
ajst-25022	66	14	encountering	encounter	VERB
ajst-25022	66	15	shocks	shock	NOUN
ajst-25022	66	16	.	.	PUNCT
ajst-25022	67	1	based	base	VERB
ajst-25022	67	2	on	on	ADP
ajst-25022	67	3	these	these	DET
ajst-25022	67	4	results	result	NOUN
ajst-25022	67	5	,	,	PUNCT
ajst-25022	67	6	we	we	PRON
ajst-25022	67	7	discuss	discuss	VERB
ajst-25022	67	8	the	the	DET
ajst-25022	67	9	potential	potential	ADJ
ajst-25022	67	10	advantages	advantage	NOUN
ajst-25022	67	11	and	and	CCONJ
ajst-25022	67	12	possible	possible	ADJ
ajst-25022	67	13	improvement	improvement	NOUN
ajst-25022	67	14	directions	direction	NOUN
ajst-25022	67	15	of	of	ADP
ajst-25022	67	16	the	the	DET
ajst-25022	67	17	robot	robot	NOUN
ajst-25022	67	18	in	in	ADP
ajst-25022	67	19	practical	practical	ADJ
ajst-25022	67	20	applications	application	NOUN
ajst-25022	67	21	,	,	PUNCT
ajst-25022	67	22	providing	provide	VERB
ajst-25022	67	23	valuable	valuable	ADJ
ajst-25022	67	24	references	reference	NOUN
ajst-25022	67	25	for	for	ADP
ajst-25022	67	26	future	future	ADJ
ajst-25022	67	27	research	research	NOUN
ajst-25022	67	28	and	and	CCONJ
ajst-25022	67	29	development	development	NOUN
ajst-25022	67	30	.	.	PUNCT
ajst-25022	68	1	4	4	X
ajst-25022	68	2	.	.	X
ajst-25022	68	3	discussion	discussion	NOUN
ajst-25022	68	4	in	in	ADP
ajst-25022	68	5	the	the	DET
ajst-25022	68	6	process	process	NOUN
ajst-25022	68	7	of	of	ADP
ajst-25022	68	8	designing	design	VERB
ajst-25022	68	9	a	a	DET
ajst-25022	68	10	multifunctional	multifunctional	ADJ
ajst-25022	68	11	bionic	bionic	ADJ
ajst-25022	68	12	hedgehog	hedgehog	PROPN
ajst-25022	68	13	robot	robot	NOUN
ajst-25022	68	14	,	,	PUNCT
ajst-25022	68	15	we	we	PRON
ajst-25022	68	16	faced	face	VERB
ajst-25022	68	17	several	several	ADJ
ajst-25022	68	18	technical	technical	ADJ
ajst-25022	68	19	challenges	challenge	NOUN
ajst-25022	68	20	.	.	PUNCT
ajst-25022	69	1	among	among	ADP
ajst-25022	69	2	them	they	PRON
ajst-25022	69	3	,	,	PUNCT
ajst-25022	69	4	how	how	SCONJ
ajst-25022	69	5	to	to	PART
ajst-25022	69	6	accurately	accurately	ADV
ajst-25022	69	7	mimic	mimic	VERB
ajst-25022	69	8	the	the	DET
ajst-25022	69	9	structure	structure	NOUN
ajst-25022	69	10	and	and	CCONJ
ajst-25022	69	11	movement	movement	NOUN
ajst-25022	69	12	mechanism	mechanism	NOUN
ajst-25022	69	13	of	of	ADP
ajst-25022	69	14	hedgehog	hedgehog	PROPN
ajst-25022	69	15	's	's	PART
ajst-25022	69	16	prickly	prickly	ADJ
ajst-25022	69	17	hair	hair	NOUN
ajst-25022	69	18	is	be	AUX
ajst-25022	69	19	a	a	DET
ajst-25022	69	20	major	major	ADJ
ajst-25022	69	21	challenge	challenge	NOUN
ajst-25022	69	22	.	.	PUNCT
ajst-25022	70	1	to	to	PART
ajst-25022	70	2	solve	solve	VERB
ajst-25022	70	3	this	this	DET
ajst-25022	70	4	problem	problem	NOUN
ajst-25022	70	5	,	,	PUNCT
ajst-25022	70	6	we	we	PRON
ajst-25022	70	7	used	use	VERB
ajst-25022	70	8	high	high	ADJ
ajst-25022	70	9	-	-	PUNCT
ajst-25022	70	10	precision	precision	NOUN
ajst-25022	70	11	3d	3d	NUM
ajst-25022	70	12	printing	printing	NOUN
ajst-25022	70	13	technology	technology	NOUN
ajst-25022	70	14	and	and	CCONJ
ajst-25022	70	15	customised	customise	VERB
ajst-25022	70	16	composite	composite	ADJ
ajst-25022	70	17	materials	material	NOUN
ajst-25022	70	18	to	to	PART
ajst-25022	70	19	achieve	achieve	VERB
ajst-25022	70	20	flexibility	flexibility	NOUN
ajst-25022	70	21	and	and	CCONJ
ajst-25022	70	22	durability	durability	NOUN
ajst-25022	70	23	of	of	ADP
ajst-25022	70	24	the	the	DET
ajst-25022	70	25	prickly	prickly	ADJ
ajst-25022	70	26	hairs	hair	NOUN
ajst-25022	70	27	.	.	PUNCT
ajst-25022	71	1	in	in	ADP
ajst-25022	71	2	addition	addition	NOUN
ajst-25022	71	3	,	,	PUNCT
ajst-25022	71	4	the	the	DET
ajst-25022	71	5	robot	robot	NOUN
ajst-25022	71	6	is	be	AUX
ajst-25022	71	7	challenged	challenge	VERB
ajst-25022	71	8	with	with	ADP
ajst-25022	71	9	autonomous	autonomous	ADJ
ajst-25022	71	10	navigation	navigation	NOUN
ajst-25022	71	11	and	and	CCONJ
ajst-25022	71	12	environment	environment	NOUN
ajst-25022	71	13	awareness	awareness	NOUN
ajst-25022	71	14	,	,	PUNCT
ajst-25022	71	15	and	and	CCONJ
ajst-25022	71	16	we	we	PRON
ajst-25022	71	17	improved	improve	VERB
ajst-25022	71	18	its	its	PRON
ajst-25022	71	19	performance	performance	NOUN
ajst-25022	71	20	by	by	ADP
ajst-25022	71	21	integrating	integrate	VERB
ajst-25022	71	22	multiple	multiple	ADJ
ajst-25022	71	23	sensors	sensor	NOUN
ajst-25022	71	24	and	and	CCONJ
ajst-25022	71	25	developing	develop	VERB
ajst-25022	71	26	advanced	advanced	ADJ
ajst-25022	71	27	algorithms	algorithm	NOUN
ajst-25022	71	28	.	.	PUNCT
ajst-25022	72	1	with	with	ADP
ajst-25022	72	2	these	these	DET
ajst-25022	72	3	innovative	innovative	ADJ
ajst-25022	72	4	solutions	solution	NOUN
ajst-25022	72	5	,	,	PUNCT
ajst-25022	72	6	we	we	PRON
ajst-25022	72	7	successfully	successfully	ADV
ajst-25022	72	8	overcame	overcome	VERB
ajst-25022	72	9	the	the	DET
ajst-25022	72	10	technical	technical	ADJ
ajst-25022	72	11	barriers	barrier	NOUN
ajst-25022	72	12	in	in	ADP
ajst-25022	72	13	the	the	DET
ajst-25022	72	14	design	design	NOUN
ajst-25022	72	15	and	and	CCONJ
ajst-25022	72	16	realised	realise	VERB
ajst-25022	72	17	the	the	DET
ajst-25022	72	18	robot	robot	NOUN
ajst-25022	72	19	's	's	PART
ajst-25022	72	20	versatility	versatility	NOUN
ajst-25022	72	21	and	and	CCONJ
ajst-25022	72	22	environmental	environmental	ADJ
ajst-25022	72	23	adaptability	adaptability	NOUN
ajst-25022	72	24	.	.	PUNCT
ajst-25022	73	1	experimental	experimental	ADJ
ajst-25022	73	2	results	result	NOUN
ajst-25022	73	3	show	show	VERB
ajst-25022	73	4	that	that	SCONJ
ajst-25022	73	5	the	the	DET
ajst-25022	73	6	bionic	bionic	ADJ
ajst-25022	73	7	hedgehog	hedgehog	PROPN
ajst-25022	73	8	robot	robot	NOUN
ajst-25022	73	9	exhibits	exhibit	VERB
ajst-25022	73	10	excellent	excellent	ADJ
ajst-25022	73	11	performance	performance	NOUN
ajst-25022	73	12	in	in	ADP
ajst-25022	73	13	a	a	DET
ajst-25022	73	14	variety	variety	NOUN
ajst-25022	73	15	of	of	ADP
ajst-25022	73	16	test	test	NOUN
ajst-25022	73	17	environments	environment	NOUN
ajst-25022	73	18	.	.	PUNCT
ajst-25022	74	1	the	the	DET
ajst-25022	74	2	robot	robot	NOUN
ajst-25022	74	3	's	's	PART
ajst-25022	74	4	mobility	mobility	NOUN
ajst-25022	74	5	and	and	CCONJ
ajst-25022	74	6	obstacle	obstacle	NOUN
ajst-25022	74	7	avoidance	avoidance	NOUN
ajst-25022	74	8	capabilities	capability	NOUN
ajst-25022	74	9	were	be	AUX
ajst-25022	74	10	verified	verify	VERB
ajst-25022	74	11	in	in	ADP
ajst-25022	74	12	complex	complex	ADJ
ajst-25022	74	13	terrains	terrain	NOUN
ajst-25022	74	14	,	,	PUNCT
ajst-25022	74	15	while	while	SCONJ
ajst-25022	74	16	its	its	PRON
ajst-25022	74	17	spiny	spiny	ADJ
ajst-25022	74	18	defence	defence	NOUN
ajst-25022	74	19	mechanism	mechanism	NOUN
ajst-25022	74	20	effectively	effectively	ADV
ajst-25022	74	21	protected	protect	VERB
ajst-25022	74	22	the	the	DET
ajst-25022	74	23	robot	robot	NOUN
ajst-25022	74	24	's	's	PART
ajst-25022	74	25	critical	critical	ADJ
ajst-25022	74	26	components	component	NOUN
ajst-25022	74	27	in	in	ADP
ajst-25022	74	28	the	the	DET
ajst-25022	74	29	event	event	NOUN
ajst-25022	74	30	of	of	ADP
ajst-25022	74	31	an	an	DET
ajst-25022	74	32	impact	impact	NOUN
ajst-25022	74	33	.	.	PUNCT
ajst-25022	75	1	these	these	DET
ajst-25022	75	2	results	result	NOUN
ajst-25022	75	3	demonstrate	demonstrate	VERB
ajst-25022	75	4	the	the	DET
ajst-25022	75	5	validity	validity	NOUN
ajst-25022	75	6	of	of	ADP
ajst-25022	75	7	our	our	PRON
ajst-25022	75	8	design	design	NOUN
ajst-25022	75	9	concept	concept	NOUN
ajst-25022	75	10	and	and	CCONJ
ajst-25022	75	11	show	show	VERB
ajst-25022	75	12	the	the	DET
ajst-25022	75	13	potential	potential	NOUN
ajst-25022	75	14	of	of	ADP
ajst-25022	75	15	the	the	DET
ajst-25022	75	16	robot	robot	NOUN
ajst-25022	75	17	in	in	ADP
ajst-25022	75	18	real	real	ADJ
ajst-25022	75	19	-	-	PUNCT
ajst-25022	75	20	world	world	NOUN
ajst-25022	75	21	applications	application	NOUN
ajst-25022	75	22	.	.	PUNCT
ajst-25022	76	1	through	through	ADP
ajst-25022	76	2	further	further	ADJ
ajst-25022	76	3	data	datum	NOUN
ajst-25022	76	4	analysis	analysis	NOUN
ajst-25022	76	5	,	,	PUNCT
ajst-25022	76	6	we	we	PRON
ajst-25022	76	7	found	find	VERB
ajst-25022	76	8	that	that	SCONJ
ajst-25022	76	9	the	the	DET
ajst-25022	76	10	robot	robot	NOUN
ajst-25022	76	11	's	's	PART
ajst-25022	76	12	energy	energy	NOUN
ajst-25022	76	13	efficiency	efficiency	NOUN
ajst-25022	76	14	and	and	CCONJ
ajst-25022	76	15	stability	stability	NOUN
ajst-25022	76	16	maintained	maintain	VERB
ajst-25022	76	17	a	a	DET
ajst-25022	76	18	high	high	ADJ
ajst-25022	76	19	level	level	NOUN
ajst-25022	76	20	under	under	ADP
ajst-25022	76	21	different	different	ADJ
ajst-25022	76	22	environmental	environmental	ADJ
ajst-25022	76	23	conditions	condition	NOUN
ajst-25022	76	24	,	,	PUNCT
ajst-25022	76	25	which	which	PRON
ajst-25022	76	26	provides	provide	VERB
ajst-25022	76	27	a	a	DET
ajst-25022	76	28	solid	solid	ADJ
ajst-25022	76	29	foundation	foundation	NOUN
ajst-25022	76	30	for	for	ADP
ajst-25022	76	31	its	its	PRON
ajst-25022	76	32	application	application	NOUN
ajst-25022	76	33	in	in	ADP
ajst-25022	76	34	a	a	DET
ajst-25022	76	35	variety	variety	NOUN
ajst-25022	76	36	of	of	ADP
ajst-25022	76	37	tasks	task	NOUN
ajst-25022	76	38	.	.	PUNCT
ajst-25022	77	1	compared	compare	VERB
ajst-25022	77	2	with	with	ADP
ajst-25022	77	3	existing	exist	VERB
ajst-25022	77	4	bionic	bionic	ADJ
ajst-25022	77	5	robots	robot	NOUN
ajst-25022	77	6	,	,	PUNCT
ajst-25022	77	7	our	our	PRON
ajst-25022	77	8	multifunctional	multifunctional	ADJ
ajst-25022	77	9	bionic	bionic	ADJ
ajst-25022	77	10	hedgehog	hedgehog	PROPN
ajst-25022	77	11	robot	robot	NOUN
ajst-25022	77	12	demonstrates	demonstrate	VERB
ajst-25022	77	13	unique	unique	ADJ
ajst-25022	77	14	advantages	advantage	NOUN
ajst-25022	77	15	in	in	ADP
ajst-25022	77	16	mimicking	mimic	VERB
ajst-25022	77	17	biological	biological	ADJ
ajst-25022	77	18	features	feature	NOUN
ajst-25022	77	19	and	and	CCONJ
ajst-25022	77	20	multifunctional	multifunctional	ADJ
ajst-25022	77	21	integration	integration	NOUN
ajst-25022	77	22	.	.	PUNCT
ajst-25022	78	1	for	for	ADP
ajst-25022	78	2	example	example	NOUN
ajst-25022	78	3	,	,	PUNCT
ajst-25022	78	4	our	our	PRON
ajst-25022	78	5	robot	robot	NOUN
ajst-25022	78	6	focuses	focus	VERB
ajst-25022	78	7	more	more	ADJ
ajst-25022	78	8	on	on	ADP
ajst-25022	78	9	ground	ground	NOUN
ajst-25022	78	10	mobility	mobility	NOUN
ajst-25022	78	11	and	and	CCONJ
ajst-25022	78	12	environmental	environmental	ADJ
ajst-25022	78	13	adaptability	adaptability	NOUN
ajst-25022	78	14	than	than	ADP
ajst-25022	78	15	a	a	DET
ajst-25022	78	16	micro	micro	NOUN
ajst-25022	78	17	-	-	NOUN
ajst-25022	78	18	drone	drone	NOUN
ajst-25022	78	19	that	that	PRON
ajst-25022	78	20	mimics	mimic	VERB
ajst-25022	78	21	insect	insect	NOUN
ajst-25022	78	22	flight	flight	NOUN
ajst-25022	78	23	.	.	PUNCT
ajst-25022	79	1	compared	compare	VERB
ajst-25022	79	2	to	to	ADP
ajst-25022	79	3	a	a	DET
ajst-25022	79	4	snake	snake	NOUN
ajst-25022	79	5	robot	robot	NOUN
ajst-25022	79	6	,	,	PUNCT
ajst-25022	79	7	our	our	PRON
ajst-25022	79	8	design	design	NOUN
ajst-25022	79	9	focuses	focus	VERB
ajst-25022	79	10	more	more	ADJ
ajst-25022	79	11	on	on	ADP
ajst-25022	79	12	versatility	versatility	NOUN
ajst-25022	79	13	and	and	CCONJ
ajst-25022	79	14	utility	utility	NOUN
ajst-25022	79	15	while	while	SCONJ
ajst-25022	79	16	mimicking	mimic	VERB
ajst-25022	79	17	specific	specific	ADJ
ajst-25022	79	18	biological	biological	ADJ
ajst-25022	79	19	traits	trait	NOUN
ajst-25022	79	20	.	.	PUNCT
ajst-25022	80	1	through	through	ADP
ajst-25022	80	2	this	this	DET
ajst-25022	80	3	comparison	comparison	NOUN
ajst-25022	80	4	,	,	PUNCT
ajst-25022	80	5	we	we	PRON
ajst-25022	80	6	can	can	AUX
ajst-25022	80	7	see	see	VERB
ajst-25022	80	8	that	that	SCONJ
ajst-25022	80	9	although	although	SCONJ
ajst-25022	80	10	each	each	DET
ajst-25022	80	11	bionic	bionic	ADJ
ajst-25022	80	12	robot	robot	NOUN
ajst-25022	80	13	has	have	VERB
ajst-25022	80	14	its	its	PRON
ajst-25022	80	15	specific	specific	ADJ
ajst-25022	80	16	application	application	NOUN
ajst-25022	80	17	scenarios	scenario	NOUN
ajst-25022	80	18	,	,	PUNCT
ajst-25022	80	19	our	our	PRON
ajst-25022	80	20	design	design	NOUN
ajst-25022	80	21	has	have	VERB
ajst-25022	80	22	significant	significant	ADJ
ajst-25022	80	23	advantages	advantage	NOUN
ajst-25022	80	24	in	in	ADP
ajst-25022	80	25	terms	term	NOUN
ajst-25022	80	26	of	of	ADP
ajst-25022	80	27	comprehensive	comprehensive	ADJ
ajst-25022	80	28	performance	performance	NOUN
ajst-25022	80	29	and	and	CCONJ
ajst-25022	80	30	application	application	NOUN
ajst-25022	80	31	potential	potential	NOUN
ajst-25022	80	32	.	.	PUNCT
ajst-25022	81	1	the	the	DET
ajst-25022	81	2	multifunctional	multifunctional	ADJ
ajst-25022	81	3	bionic	bionic	ADJ
ajst-25022	81	4	hedgehog	hedgehog	PROPN
ajst-25022	81	5	robot	robot	NOUN
ajst-25022	81	6	has	have	VERB
ajst-25022	81	7	a	a	DET
ajst-25022	81	8	wide	wide	ADJ
ajst-25022	81	9	range	range	NOUN
ajst-25022	81	10	of	of	ADP
ajst-25022	81	11	potential	potential	ADJ
ajst-25022	81	12	application	application	NOUN
ajst-25022	81	13	scenarios	scenario	NOUN
ajst-25022	81	14	,	,	PUNCT
ajst-25022	81	15	including	include	VERB
ajst-25022	81	16	search	search	NOUN
ajst-25022	81	17	and	and	CCONJ
ajst-25022	81	18	rescue	rescue	NOUN
ajst-25022	81	19	missions	mission	NOUN
ajst-25022	81	20	,	,	PUNCT
ajst-25022	81	21	environmental	environmental	ADJ
ajst-25022	81	22	monitoring	monitoring	NOUN
ajst-25022	81	23	,	,	PUNCT
ajst-25022	81	24	scientific	scientific	ADJ
ajst-25022	81	25	exploration	exploration	NOUN
ajst-25022	81	26	,	,	PUNCT
ajst-25022	81	27	and	and	CCONJ
ajst-25022	81	28	educational	educational	ADJ
ajst-25022	81	29	displays	display	NOUN
ajst-25022	81	30	.	.	PUNCT
ajst-25022	82	1	in	in	ADP
ajst-25022	82	2	search	search	NOUN
ajst-25022	82	3	and	and	CCONJ
ajst-25022	82	4	rescue	rescue	NOUN
ajst-25022	82	5	missions	mission	NOUN
ajst-25022	82	6	,	,	PUNCT
ajst-25022	82	7	the	the	DET
ajst-25022	82	8	robot	robot	NOUN
ajst-25022	82	9	's	's	PART
ajst-25022	82	10	small	small	ADJ
ajst-25022	82	11	size	size	NOUN
ajst-25022	82	12	and	and	CCONJ
ajst-25022	82	13	flexible	flexible	ADJ
ajst-25022	82	14	mobility	mobility	NOUN
ajst-25022	82	15	allow	allow	VERB
ajst-25022	82	16	it	it	PRON
ajst-25022	82	17	to	to	PART
ajst-25022	82	18	enter	enter	VERB
ajst-25022	82	19	small	small	ADJ
ajst-25022	82	20	spaces	space	NOUN
ajst-25022	82	21	and	and	CCONJ
ajst-25022	82	22	perform	perform	VERB
ajst-25022	82	23	search	search	NOUN
ajst-25022	82	24	and	and	CCONJ
ajst-25022	82	25	rescue	rescue	NOUN
ajst-25022	82	26	tasks	task	NOUN
ajst-25022	82	27	.	.	PUNCT
ajst-25022	83	1	in	in	ADP
ajst-25022	83	2	the	the	DET
ajst-25022	83	3	field	field	NOUN
ajst-25022	83	4	of	of	ADP
ajst-25022	83	5	environmental	environmental	ADJ
ajst-25022	83	6	monitoring	monitoring	NOUN
ajst-25022	83	7	,	,	PUNCT
ajst-25022	83	8	robots	robot	NOUN
ajst-25022	83	9	can	can	AUX
ajst-25022	83	10	be	be	AUX
ajst-25022	83	11	used	use	VERB
ajst-25022	83	12	to	to	PART
ajst-25022	83	13	test	test	VERB
ajst-25022	83	14	air	air	NOUN
ajst-25022	83	15	quality	quality	NOUN
ajst-25022	83	16	,	,	PUNCT
ajst-25022	83	17	water	water	NOUN
ajst-25022	83	18	quality	quality	NOUN
ajst-25022	83	19	or	or	CCONJ
ajst-25022	83	20	soil	soil	NOUN
ajst-25022	83	21	composition	composition	NOUN
ajst-25022	83	22	,	,	PUNCT
ajst-25022	83	23	especially	especially	ADV
ajst-25022	83	24	in	in	ADP
ajst-25022	83	25	hardto	hardto	NOUN
ajst-25022	83	26	-	-	PUNCT
ajst-25022	83	27	reach	reach	NOUN
ajst-25022	83	28	areas	area	NOUN
ajst-25022	83	29	.	.	PUNCT
ajst-25022	84	1	in	in	ADP
ajst-25022	84	2	addition	addition	NOUN
ajst-25022	84	3	,	,	PUNCT
ajst-25022	84	4	robots	robot	NOUN
ajst-25022	84	5	can	can	AUX
ajst-25022	84	6	be	be	AUX
ajst-25022	84	7	used	use	VERB
ajst-25022	84	8	as	as	ADP
ajst-25022	84	9	a	a	DET
ajst-25022	84	10	research	research	NOUN
ajst-25022	84	11	tool	tool	NOUN
ajst-25022	84	12	to	to	PART
ajst-25022	84	13	help	help	VERB
ajst-25022	84	14	scientists	scientist	NOUN
ajst-25022	84	15	better	well	ADV
ajst-25022	84	16	understand	understand	VERB
ajst-25022	84	17	the	the	DET
ajst-25022	84	18	ecology	ecology	NOUN
ajst-25022	84	19	and	and	CCONJ
ajst-25022	84	20	behaviour	behaviour	NOUN
ajst-25022	84	21	of	of	ADP
ajst-25022	84	22	hedgehogs	hedgehog	NOUN
ajst-25022	84	23	.	.	PUNCT
ajst-25022	85	1	market	market	NOUN
ajst-25022	85	2	analyses	analysis	NOUN
ajst-25022	85	3	show	show	VERB
ajst-25022	85	4	that	that	SCONJ
ajst-25022	85	5	the	the	DET
ajst-25022	85	6	demand	demand	NOUN
ajst-25022	85	7	for	for	ADP
ajst-25022	85	8	bionic	bionic	ADJ
ajst-25022	85	9	robots	robot	NOUN
ajst-25022	85	10	in	in	ADP
ajst-25022	85	11	the	the	DET
ajst-25022	85	12	education	education	NOUN
ajst-25022	85	13	,	,	PUNCT
ajst-25022	85	14	entertainment	entertainment	NOUN
ajst-25022	85	15	and	and	CCONJ
ajst-25022	85	16	professional	professional	ADJ
ajst-25022	85	17	services	service	NOUN
ajst-25022	85	18	markets	market	NOUN
ajst-25022	85	19	will	will	AUX
ajst-25022	85	20	continue	continue	VERB
ajst-25022	85	21	to	to	PART
ajst-25022	85	22	grow	grow	VERB
ajst-25022	85	23	as	as	ADP
ajst-25022	85	24	the	the	DET
ajst-25022	85	25	technology	technology	NOUN
ajst-25022	85	26	matures	mature	NOUN
ajst-25022	85	27	and	and	CCONJ
ajst-25022	85	28	the	the	DET
ajst-25022	85	29	cost	cost	NOUN
ajst-25022	85	30	decreases	decrease	NOUN
ajst-25022	85	31	,	,	PUNCT
ajst-25022	85	32	providing	provide	VERB
ajst-25022	85	33	a	a	DET
ajst-25022	85	34	broad	broad	ADJ
ajst-25022	85	35	prospect	prospect	NOUN
ajst-25022	85	36	for	for	ADP
ajst-25022	85	37	future	future	ADJ
ajst-25022	85	38	commercial	commercial	ADJ
ajst-25022	85	39	applications	application	NOUN
ajst-25022	85	40	.	.	PUNCT
ajst-25022	86	1	5	5	X
ajst-25022	86	2	.	.	X
ajst-25022	86	3	conclusion	conclusion	NOUN
ajst-25022	86	4	and	and	CCONJ
ajst-25022	86	5	outlook	outlook	NOUN
ajst-25022	86	6	in	in	ADP
ajst-25022	86	7	this	this	DET
ajst-25022	86	8	study	study	NOUN
ajst-25022	86	9	,	,	PUNCT
ajst-25022	86	10	a	a	DET
ajst-25022	86	11	multifunctional	multifunctional	ADJ
ajst-25022	86	12	bionic	bionic	ADJ
ajst-25022	86	13	hedgehog	hedgehog	PROPN
ajst-25022	86	14	robot	robot	NOUN
ajst-25022	86	15	was	be	AUX
ajst-25022	86	16	successfully	successfully	ADV
ajst-25022	86	17	designed	design	VERB
ajst-25022	86	18	and	and	CCONJ
ajst-25022	86	19	implemented	implement	VERB
ajst-25022	86	20	,	,	PUNCT
ajst-25022	86	21	which	which	PRON
ajst-25022	86	22	is	be	AUX
ajst-25022	86	23	capable	capable	ADJ
ajst-25022	86	24	of	of	ADP
ajst-25022	86	25	mimicking	mimic	VERB
ajst-25022	86	26	the	the	DET
ajst-25022	86	27	biological	biological	ADJ
ajst-25022	86	28	characteristics	characteristic	NOUN
ajst-25022	86	29	and	and	CCONJ
ajst-25022	86	30	behavioural	behavioural	ADJ
ajst-25022	86	31	patterns	pattern	NOUN
ajst-25022	86	32	of	of	ADP
ajst-25022	86	33	hedgehogs	hedgehog	NOUN
ajst-25022	86	34	and	and	CCONJ
ajst-25022	86	35	exhibits	exhibit	VERB
ajst-25022	86	36	excellent	excellent	ADJ
ajst-25022	86	37	performance	performance	NOUN
ajst-25022	86	38	in	in	ADP
ajst-25022	86	39	a	a	DET
ajst-25022	86	40	variety	variety	NOUN
ajst-25022	86	41	of	of	ADP
ajst-25022	86	42	environments	environment	NOUN
ajst-25022	86	43	.	.	PUNCT
ajst-25022	87	1	by	by	ADP
ajst-25022	87	2	integrating	integrate	VERB
ajst-25022	87	3	advanced	advanced	ADJ
ajst-25022	87	4	sensors	sensor	NOUN
ajst-25022	87	5	,	,	PUNCT
ajst-25022	87	6	actuators	actuator	NOUN
ajst-25022	87	7	and	and	CCONJ
ajst-25022	87	8	intelligent	intelligent	ADJ
ajst-25022	87	9	control	control	NOUN
ajst-25022	87	10	systems	system	NOUN
ajst-25022	87	11	,	,	PUNCT
ajst-25022	87	12	the	the	DET
ajst-25022	87	13	robot	robot	NOUN
ajst-25022	87	14	achieves	achieve	VERB
ajst-25022	87	15	multiple	multiple	ADJ
ajst-25022	87	16	functions	function	NOUN
ajst-25022	87	17	such	such	ADJ
ajst-25022	87	18	as	as	ADP
ajst-25022	87	19	environment	environment	NOUN
ajst-25022	87	20	sensing	sensing	NOUN
ajst-25022	87	21	,	,	PUNCT
ajst-25022	87	22	autonomous	autonomous	ADJ
ajst-25022	87	23	navigation	navigation	NOUN
ajst-25022	87	24	and	and	CCONJ
ajst-25022	87	25	self	self	NOUN
ajst-25022	87	26	-	-	PUNCT
ajst-25022	87	27	protection	protection	NOUN
ajst-25022	87	28	.	.	PUNCT
ajst-25022	88	1	the	the	DET
ajst-25022	88	2	experimental	experimental	ADJ
ajst-25022	88	3	results	result	NOUN
ajst-25022	88	4	verify	verify	VERB
ajst-25022	88	5	the	the	DET
ajst-25022	88	6	effectiveness	effectiveness	NOUN
ajst-25022	88	7	of	of	ADP
ajst-25022	88	8	the	the	DET
ajst-25022	88	9	robot	robot	NOUN
ajst-25022	88	10	's	's	PART
ajst-25022	88	11	mobility	mobility	NOUN
ajst-25022	88	12	flexibility	flexibility	NOUN
ajst-25022	88	13	,	,	PUNCT
ajst-25022	88	14	obstacle	obstacle	NOUN
ajst-25022	88	15	avoidance	avoidance	NOUN
ajst-25022	88	16	ability	ability	NOUN
ajst-25022	88	17	and	and	CCONJ
ajst-25022	88	18	stinging	sting	VERB
ajst-25022	88	19	defence	defence	NOUN
ajst-25022	88	20	mechanism	mechanism	NOUN
ajst-25022	88	21	in	in	ADP
ajst-25022	88	22	complex	complex	ADJ
ajst-25022	88	23	terrains	terrain	NOUN
ajst-25022	88	24	.	.	PUNCT
ajst-25022	89	1	these	these	DET
ajst-25022	89	2	results	result	NOUN
ajst-25022	89	3	not	not	PART
ajst-25022	89	4	only	only	ADV
ajst-25022	89	5	demonstrate	demonstrate	VERB
ajst-25022	89	6	the	the	DET
ajst-25022	89	7	potential	potential	NOUN
ajst-25022	89	8	of	of	ADP
ajst-25022	89	9	bionics	bionic	NOUN
ajst-25022	89	10	application	application	NOUN
ajst-25022	89	11	in	in	ADP
ajst-25022	89	12	robotics	robotic	NOUN
ajst-25022	89	13	,	,	PUNCT
ajst-25022	89	14	but	but	CCONJ
ajst-25022	89	15	also	also	ADV
ajst-25022	89	16	provide	provide	VERB
ajst-25022	89	17	valuable	valuable	ADJ
ajst-25022	89	18	experience	experience	NOUN
ajst-25022	89	19	and	and	CCONJ
ajst-25022	89	20	data	datum	NOUN
ajst-25022	89	21	for	for	ADP
ajst-25022	89	22	future	future	ADJ
ajst-25022	89	23	research	research	NOUN
ajst-25022	89	24	and	and	CCONJ
ajst-25022	89	25	development	development	NOUN
ajst-25022	89	26	.	.	PUNCT
ajst-25022	90	1	despite	despite	SCONJ
ajst-25022	90	2	the	the	DET
ajst-25022	90	3	remarkable	remarkable	ADJ
ajst-25022	90	4	progress	progress	NOUN
ajst-25022	90	5	made	make	VERB
ajst-25022	90	6	in	in	ADP
ajst-25022	90	7	this	this	DET
ajst-25022	90	8	study	study	NOUN
ajst-25022	90	9	,	,	PUNCT
ajst-25022	90	10	there	there	PRON
ajst-25022	90	11	are	be	VERB
ajst-25022	90	12	still	still	ADV
ajst-25022	90	13	many	many	ADJ
ajst-25022	90	14	aspects	aspect	NOUN
ajst-25022	90	15	that	that	PRON
ajst-25022	90	16	deserve	deserve	VERB
ajst-25022	90	17	further	further	ADJ
ajst-25022	90	18	exploration	exploration	NOUN
ajst-25022	90	19	.	.	PUNCT
ajst-25022	91	1	future	future	ADJ
ajst-25022	91	2	research	research	NOUN
ajst-25022	91	3	could	could	AUX
ajst-25022	91	4	focus	focus	VERB
ajst-25022	91	5	on	on	ADP
ajst-25022	91	6	the	the	DET
ajst-25022	91	7	following	follow	VERB
ajst-25022	91	8	areas	area	NOUN
ajst-25022	91	9	:	:	PUNCT
ajst-25022	91	10	firstly	firstly	ADV
ajst-25022	91	11	,	,	PUNCT
ajst-25022	91	12	further	far	ADV
ajst-25022	91	13	optimising	optimise	VERB
ajst-25022	91	14	the	the	DET
ajst-25022	91	15	energy	energy	NOUN
ajst-25022	91	16	management	management	NOUN
ajst-25022	91	17	system	system	NOUN
ajst-25022	91	18	of	of	ADP
ajst-25022	91	19	the	the	DET
ajst-25022	91	20	robot	robot	NOUN
ajst-25022	91	21	to	to	PART
ajst-25022	91	22	improve	improve	VERB
ajst-25022	91	23	its	its	PRON
ajst-25022	91	24	range	range	NOUN
ajst-25022	91	25	and	and	CCONJ
ajst-25022	91	26	energy	energy	NOUN
ajst-25022	91	27	efficiency	efficiency	NOUN
ajst-25022	91	28	.	.	PUNCT
ajst-25022	92	1	second	second	ADV
ajst-25022	92	2	,	,	PUNCT
ajst-25022	92	3	developing	develop	VERB
ajst-25022	92	4	smarter	smart	ADJ
ajst-25022	92	5	algorithms	algorithm	NOUN
ajst-25022	92	6	to	to	PART
ajst-25022	92	7	enhance	enhance	VERB
ajst-25022	92	8	the	the	DET
ajst-25022	92	9	robot	robot	NOUN
ajst-25022	92	10	's	's	PART
ajst-25022	92	11	ability	ability	NOUN
ajst-25022	92	12	to	to	PART
ajst-25022	92	13	make	make	VERB
ajst-25022	92	14	autonomous	autonomous	ADJ
ajst-25022	92	15	decisions	decision	NOUN
ajst-25022	92	16	and	and	CCONJ
ajst-25022	92	17	adapt	adapt	VERB
ajst-25022	92	18	to	to	ADP
ajst-25022	92	19	complex	complex	ADJ
ajst-25022	92	20	environments	environment	NOUN
ajst-25022	92	21	.	.	PUNCT
ajst-25022	93	1	in	in	ADP
ajst-25022	93	2	addition	addition	NOUN
ajst-25022	93	3	,	,	PUNCT
ajst-25022	93	4	explore	explore	VERB
ajst-25022	93	5	the	the	DET
ajst-25022	93	6	possibility	possibility	NOUN
ajst-25022	93	7	of	of	ADP
ajst-25022	93	8	robots	robot	NOUN
ajst-25022	93	9	in	in	ADP
ajst-25022	93	10	more	more	ADJ
ajst-25022	93	11	application	application	NOUN
ajst-25022	93	12	scenarios	scenario	NOUN
ajst-25022	93	13	,	,	PUNCT
ajst-25022	93	14	such	such	ADJ
ajst-25022	93	15	as	as	ADP
ajst-25022	93	16	agricultural	agricultural	ADJ
ajst-25022	93	17	monitoring	monitoring	NOUN
ajst-25022	93	18	and	and	CCONJ
ajst-25022	93	19	disaster	disaster	NOUN
ajst-25022	93	20	early	early	ADJ
ajst-25022	93	21	warning	warning	NOUN
ajst-25022	93	22	.	.	PUNCT
ajst-25022	94	1	finally	finally	ADV
ajst-25022	94	2	,	,	PUNCT
ajst-25022	94	3	strengthen	strengthen	VERB
ajst-25022	94	4	the	the	DET
ajst-25022	94	5	cross	cross	NOUN
ajst-25022	94	6	-	-	NOUN
ajst-25022	94	7	fertilisation	fertilisation	NOUN
ajst-25022	94	8	with	with	ADP
ajst-25022	94	9	biology	biology	NOUN
ajst-25022	94	10	research	research	NOUN
ajst-25022	94	11	to	to	PART
ajst-25022	94	12	draw	draw	VERB
ajst-25022	94	13	more	more	ADJ
ajst-25022	94	14	design	design	NOUN
ajst-25022	94	15	inspirations	inspiration	NOUN
ajst-25022	94	16	from	from	ADP
ajst-25022	94	17	nature	nature	NOUN
ajst-25022	94	18	and	and	CCONJ
ajst-25022	94	19	promote	promote	VERB
ajst-25022	94	20	the	the	DET
ajst-25022	94	21	technological	technological	ADJ
ajst-25022	94	22	innovation	innovation	NOUN
ajst-25022	94	23	of	of	ADP
ajst-25022	94	24	bionic	bionic	ADJ
ajst-25022	94	25	robots	robot	NOUN
ajst-25022	94	26	.	.	PUNCT
ajst-25022	95	1	the	the	DET
ajst-25022	95	2	technological	technological	ADJ
ajst-25022	95	3	development	development	NOUN
ajst-25022	95	4	of	of	ADP
ajst-25022	95	5	multifunctional	multifunctional	ADJ
ajst-25022	95	6	bionic	bionic	ADJ
ajst-25022	95	7	hedgehog	hedgehog	PROPN
ajst-25022	95	8	robots	robot	NOUN
ajst-25022	95	9	is	be	AUX
ajst-25022	95	10	expected	expect	VERB
ajst-25022	95	11	to	to	PART
ajst-25022	95	12	have	have	VERB
ajst-25022	95	13	a	a	DET
ajst-25022	95	14	profound	profound	ADJ
ajst-25022	95	15	impact	impact	NOUN
ajst-25022	95	16	on	on	ADP
ajst-25022	95	17	several	several	ADJ
ajst-25022	95	18	fields	field	NOUN
ajst-25022	95	19	.	.	PUNCT
ajst-25022	96	1	in	in	ADP
ajst-25022	96	2	the	the	DET
ajst-25022	96	3	field	field	NOUN
ajst-25022	96	4	of	of	ADP
ajst-25022	96	5	search	search	NOUN
ajst-25022	96	6	and	and	CCONJ
ajst-25022	96	7	rescue	rescue	NOUN
ajst-25022	96	8	and	and	CCONJ
ajst-25022	96	9	rescue	rescue	NOUN
ajst-25022	96	10	,	,	PUNCT
ajst-25022	96	11	the	the	DET
ajst-25022	96	12	application	application	NOUN
ajst-25022	96	13	of	of	ADP
ajst-25022	96	14	robots	robot	NOUN
ajst-25022	96	15	will	will	AUX
ajst-25022	96	16	improve	improve	VERB
ajst-25022	96	17	the	the	DET
ajst-25022	96	18	efficiency	efficiency	NOUN
ajst-25022	96	19	and	and	CCONJ
ajst-25022	96	20	safety	safety	NOUN
ajst-25022	96	21	of	of	ADP
ajst-25022	96	22	rescue	rescue	NOUN
ajst-25022	96	23	,	,	PUNCT
ajst-25022	96	24	especially	especially	ADV
ajst-25022	96	25	in	in	ADP
ajst-25022	96	26	humanitarian	humanitarian	ADJ
ajst-25022	96	27	assistance	assistance	NOUN
ajst-25022	96	28	after	after	ADP
ajst-25022	96	29	disasters	disaster	NOUN
ajst-25022	96	30	.	.	PUNCT
ajst-25022	97	1	in	in	ADP
ajst-25022	97	2	environmental	environmental	ADJ
ajst-25022	97	3	monitoring	monitoring	NOUN
ajst-25022	97	4	and	and	CCONJ
ajst-25022	97	5	scientific	scientific	ADJ
ajst-25022	97	6	exploration	exploration	NOUN
ajst-25022	97	7	,	,	PUNCT
ajst-25022	97	8	robots	robot	NOUN
ajst-25022	97	9	will	will	AUX
ajst-25022	97	10	be	be	AUX
ajst-25022	97	11	able	able	ADJ
ajst-25022	97	12	to	to	PART
ajst-25022	97	13	access	access	VERB
ajst-25022	97	14	areas	area	NOUN
ajst-25022	97	15	that	that	PRON
ajst-25022	97	16	are	be	AUX
ajst-25022	97	17	difficult	difficult	ADJ
ajst-25022	97	18	for	for	SCONJ
ajst-25022	97	19	humans	human	NOUN
ajst-25022	97	20	to	to	PART
ajst-25022	97	21	reach	reach	VERB
ajst-25022	97	22	for	for	ADP
ajst-25022	97	23	data	data	NOUN
ajst-25022	97	24	collection	collection	NOUN
ajst-25022	97	25	and	and	CCONJ
ajst-25022	97	26	ecological	ecological	ADJ
ajst-25022	97	27	research	research	NOUN
ajst-25022	97	28	.	.	PUNCT
ajst-25022	98	1	in	in	ADP
ajst-25022	98	2	addition	addition	NOUN
ajst-25022	98	3	,	,	PUNCT
ajst-25022	98	4	with	with	ADP
ajst-25022	98	5	the	the	DET
ajst-25022	98	6	popularisation	popularisation	NOUN
ajst-25022	98	7	of	of	ADP
ajst-25022	98	8	the	the	DET
ajst-25022	98	9	technology	technology	NOUN
ajst-25022	98	10	and	and	CCONJ
ajst-25022	98	11	the	the	DET
ajst-25022	98	12	reduction	reduction	NOUN
ajst-25022	98	13	of	of	ADP
ajst-25022	98	14	costs	cost	NOUN
ajst-25022	98	15	,	,	PUNCT
ajst-25022	98	16	bionic	bionic	ADJ
ajst-25022	98	17	robots	robot	NOUN
ajst-25022	98	18	are	be	AUX
ajst-25022	98	19	also	also	ADV
ajst-25022	98	20	expected	expect	VERB
ajst-25022	98	21	to	to	PART
ajst-25022	98	22	play	play	VERB
ajst-25022	98	23	a	a	DET
ajst-25022	98	24	role	role	NOUN
ajst-25022	98	25	in	in	ADP
ajst-25022	98	26	the	the	DET
ajst-25022	98	27	fields	field	NOUN
ajst-25022	98	28	of	of	ADP
ajst-25022	98	29	education	education	NOUN
ajst-25022	98	30	,	,	PUNCT
ajst-25022	98	31	entertainment	entertainment	NOUN
ajst-25022	98	32	and	and	CCONJ
ajst-25022	98	33	family	family	NOUN
ajst-25022	98	34	services	service	NOUN
ajst-25022	98	35	,	,	PUNCT
ajst-25022	98	36	bringing	bring	VERB
ajst-25022	98	37	convenience	convenience	NOUN
ajst-25022	98	38	and	and	CCONJ
ajst-25022	98	39	fun	fun	NOUN
ajst-25022	98	40	to	to	ADP
ajst-25022	98	41	people	people	NOUN
ajst-25022	98	42	's	's	PART
ajst-25022	98	43	lives	life	NOUN
ajst-25022	98	44	.	.	PUNCT
ajst-25022	99	1	in	in	ADP
ajst-25022	99	2	the	the	DET
ajst-25022	99	3	long	long	ADJ
ajst-25022	99	4	run	run	NOUN
ajst-25022	99	5	,	,	PUNCT
ajst-25022	99	6	the	the	DET
ajst-25022	99	7	development	development	NOUN
ajst-25022	99	8	of	of	ADP
ajst-25022	99	9	bionic	bionic	ADJ
ajst-25022	99	10	robots	robot	NOUN
ajst-25022	99	11	will	will	AUX
ajst-25022	99	12	push	push	VERB
ajst-25022	99	13	forward	forward	ADV
ajst-25022	99	14	the	the	DET
ajst-25022	99	15	progress	progress	NOUN
ajst-25022	99	16	of	of	ADP
ajst-25022	99	17	robotics	robotic	NOUN
ajst-25022	99	18	technology	technology	NOUN
ajst-25022	99	19	,	,	PUNCT
ajst-25022	99	20	promote	promote	VERB
ajst-25022	99	21	the	the	DET
ajst-25022	99	22	development	development	NOUN
ajst-25022	99	23	of	of	ADP
ajst-25022	99	24	human	human	ADJ
ajst-25022	99	25	-	-	PUNCT
ajst-25022	99	26	robot	robot	NOUN
ajst-25022	99	27	interaction	interaction	NOUN
ajst-25022	99	28	and	and	CCONJ
ajst-25022	99	29	intelligent	intelligent	ADJ
ajst-25022	99	30	systems	system	NOUN
ajst-25022	99	31	,	,	PUNCT
ajst-25022	99	32	and	and	CCONJ
ajst-25022	99	33	contribute	contribute	VERB
ajst-25022	99	34	to	to	ADP
ajst-25022	99	35	the	the	DET
ajst-25022	99	36	future	future	ADJ
ajst-25022	99	37	progress	progress	NOUN
ajst-25022	99	38	of	of	ADP
ajst-25022	99	39	science	science	NOUN
ajst-25022	99	40	and	and	CCONJ
ajst-25022	99	41	technology	technology	NOUN
ajst-25022	99	42	and	and	CCONJ
ajst-25022	99	43	social	social	ADJ
ajst-25022	99	44	development	development	NOUN
ajst-25022	99	45	.	.	PUNCT
ajst-25022	100	1	references	reference	NOUN
ajst-25022	100	2	[	[	X
ajst-25022	100	3	1	1	X
ajst-25022	100	4	]	]	PUNCT
ajst-25022	100	5	kim	kim	PROPN
ajst-25022	100	6	j	j	PROPN
ajst-25022	100	7	,	,	PUNCT
ajst-25022	100	8	dey	dey	PROPN
ajst-25022	100	9	a	a	X
ajst-25022	100	10	,	,	PUNCT
ajst-25022	100	11	malhotra	malhotra	PROPN
ajst-25022	100	12	a	a	PROPN
ajst-25022	100	13	,	,	PUNCT
ajst-25022	100	14	et	et	PROPN
ajst-25022	100	15	al	al	PROPN
ajst-25022	100	16	.	.	PROPN
ajst-25022	100	17	engineered	engineer	VERB
ajst-25022	100	18	biomimetic	biomimetic	ADJ
ajst-25022	100	19	nanoparticle	nanoparticle	NOUN
ajst-25022	100	20	for	for	ADP
ajst-25022	100	21	dual	dual	ADJ
ajst-25022	100	22	targeting	targeting	NOUN
ajst-25022	100	23	of	of	ADP
ajst-25022	100	24	the	the	DET
ajst-25022	100	25	cancer	cancer	NOUN
ajst-25022	100	26	stem	stem	NOUN
ajst-25022	100	27	-	-	PUNCT
ajst-25022	100	28	like	like	ADJ
ajst-25022	100	29	cell	cell	NOUN
ajst-25022	100	30	population	population	NOUN
ajst-25022	100	31	in	in	ADP
ajst-25022	100	32	sonic	sonic	ADJ
ajst-25022	100	33	hedgehog	hedgehog	ADJ
ajst-25022	100	34	medulloblastoma[j	medulloblastoma[j	NOUN
ajst-25022	100	35	]	]	PUNCT
ajst-25022	100	36	.	.	PUNCT
ajst-25022	101	1	proceedings	proceeding	NOUN
ajst-25022	101	2	of	of	ADP
ajst-25022	101	3	the	the	DET
ajst-25022	101	4	national	national	PROPN
ajst-25022	101	5	academy	academy	PROPN
ajst-25022	101	6	of	of	ADP
ajst-25022	101	7	sciences	sciences	PROPN
ajst-25022	101	8	,	,	PUNCT
ajst-25022	101	9	2020	2020	NUM
ajst-25022	101	10	,	,	PUNCT
ajst-25022	101	11	117	117	NUM
ajst-25022	101	12	(	(	PUNCT
ajst-25022	101	13	39	39	NUM
ajst-25022	101	14	):	):	PUNCT
ajst-25022	101	15	24205	24205	NUM
ajst-25022	101	16	-	-	SYM
ajst-25022	101	17	24212	24212	NUM
ajst-25022	101	18	.	.	PUNCT
ajst-25022	102	1	[	[	X
ajst-25022	102	2	2	2	NUM
ajst-25022	102	3	]	]	SYM
ajst-25022	102	4	li	li	PROPN
ajst-25022	102	5	y	y	PROPN
ajst-25022	102	6	,	,	PUNCT
ajst-25022	102	7	zhang	zhang	PROPN
ajst-25022	102	8	b	b	PROPN
ajst-25022	102	9	,	,	PUNCT
ajst-25022	102	10	niu	niu	PROPN
ajst-25022	102	11	s	s	PROPN
ajst-25022	102	12	,	,	PUNCT
ajst-25022	102	13	et	et	PROPN
ajst-25022	102	14	al	al	PROPN
ajst-25022	102	15	.	.	PROPN
ajst-25022	102	16	porous	porous	ADJ
ajst-25022	102	17	morphology	morphology	NOUN
ajst-25022	102	18	and	and	CCONJ
ajst-25022	102	19	graded	grade	VERB
ajst-25022	102	20	materials	material	NOUN
ajst-25022	102	21	endow	endow	NOUN
ajst-25022	102	22	hedgehog	hedgehog	NOUN
ajst-25022	102	23	spines	spine	NOUN
ajst-25022	102	24	with	with	ADP
ajst-25022	102	25	impact	impact	NOUN
ajst-25022	102	26	resistance	resistance	NOUN
ajst-25022	102	27	and	and	CCONJ
ajst-25022	102	28	structural	structural	ADJ
ajst-25022	102	29	stability[j	stability[j	NOUN
ajst-25022	102	30	]	]	PUNCT
ajst-25022	102	31	.	.	PUNCT
ajst-25022	103	1	acta	acta	PROPN
ajst-25022	103	2	biomaterialia	biomaterialia	PROPN
ajst-25022	103	3	,	,	PUNCT
ajst-25022	103	4	2022	2022	NUM
ajst-25022	103	5	,	,	PUNCT
ajst-25022	103	6	147	147	NUM
ajst-25022	103	7	:	:	SYM
ajst-25022	103	8	91	91	NUM
ajst-25022	103	9	-	-	SYM
ajst-25022	103	10	101	101	NUM
ajst-25022	103	11	.	.	PUNCT
ajst-25022	104	1	[	[	X
ajst-25022	104	2	3	3	X
ajst-25022	104	3	]	]	X
ajst-25022	104	4	montjoy	montjoy	NOUN
ajst-25022	104	5	d	d	X
ajst-25022	104	6	g	g	PROPN
ajst-25022	104	7	,	,	PUNCT
ajst-25022	104	8	bahng	bahng	PROPN
ajst-25022	104	9	j	j	PROPN
ajst-25022	104	10	h	h	PROPN
ajst-25022	104	11	,	,	PUNCT
ajst-25022	104	12	eskafi	eskafi	PROPN
ajst-25022	104	13	a	a	PRON
ajst-25022	104	14	,	,	PUNCT
ajst-25022	104	15	et	et	PROPN
ajst-25022	104	16	al	al	PROPN
ajst-25022	104	17	.	.	PROPN
ajst-25022	105	1	omnidispersible	omnidispersible	ADJ
ajst-25022	105	2	hedgehog	hedgehog	ADJ
ajst-25022	105	3	particles	particle	NOUN
ajst-25022	105	4	with	with	ADP
ajst-25022	105	5	multilayer	multilayer	ADJ
ajst-25022	105	6	coatings	coating	NOUN
ajst-25022	105	7	for	for	ADP
ajst-25022	105	8	multiplexed	multiplexed	ADJ
ajst-25022	105	9	biosensing[j	biosensing[j	NOUN
ajst-25022	105	10	]	]	PUNCT
ajst-25022	105	11	.	.	PUNCT
ajst-25022	106	1	journal	journal	PROPN
ajst-25022	106	2	of	of	ADP
ajst-25022	106	3	the	the	DET
ajst-25022	106	4	american	american	PROPN
ajst-25022	106	5	chemical	chemical	PROPN
ajst-25022	106	6	society	society	PROPN
ajst-25022	106	7	,	,	PUNCT
ajst-25022	106	8	2018	2018	NUM
ajst-25022	106	9	,	,	PUNCT
ajst-25022	106	10	140	140	NUM
ajst-25022	106	11	(	(	PUNCT
ajst-25022	106	12	25	25	NUM
ajst-25022	106	13	):	):	PUNCT
ajst-25022	106	14	7835	7835	NUM
ajst-25022	106	15	-	-	SYM
ajst-25022	106	16	7845	7845	NUM
ajst-25022	106	17	.	.	PUNCT
ajst-25022	107	1	[	[	X
ajst-25022	107	2	4	4	NUM
ajst-25022	107	3	]	]	SYM
ajst-25022	107	4	li	li	PROPN
ajst-25022	107	5	r	r	PROPN
ajst-25022	107	6	,	,	PUNCT
ajst-25022	107	7	li	li	PROPN
ajst-25022	107	8	j	j	PROPN
ajst-25022	107	9	,	,	PUNCT
ajst-25022	107	10	xu	xu	PROPN
ajst-25022	107	11	j	j	PROPN
ajst-25022	107	12	,	,	PUNCT
ajst-25022	107	13	et	et	PROPN
ajst-25022	107	14	al	al	PROPN
ajst-25022	107	15	.	.	PROPN
ajst-25022	107	16	multiscale	multiscale	ADJ
ajst-25022	107	17	reconstruction	reconstruction	NOUN
ajst-25022	107	18	of	of	ADP
ajst-25022	107	19	a	a	DET
ajst-25022	107	20	synthetic	synthetic	ADJ
ajst-25022	107	21	biomimetic	biomimetic	ADJ
ajst-25022	107	22	micro	micro	NOUN
ajst-25022	107	23	-	-	NOUN
ajst-25022	107	24	niche	niche	NOUN
ajst-25022	107	25	for	for	ADP
ajst-25022	107	26	enhancing	enhance	VERB
ajst-25022	107	27	and	and	CCONJ
ajst-25022	107	28	monitoring	monitor	VERB
ajst-25022	107	29	the	the	DET
ajst-25022	107	30	differentiation	differentiation	NOUN
ajst-25022	107	31	of	of	ADP
ajst-25022	107	32	stem	stem	NOUN
ajst-25022	107	33	cells[j	cells[j	PROPN
ajst-25022	107	34	]	]	PUNCT
ajst-25022	107	35	.	.	PUNCT
ajst-25022	108	1	biomaterials	biomaterial	NOUN
ajst-25022	108	2	,	,	PUNCT
ajst-25022	108	3	2018	2018	NUM
ajst-25022	108	4	,	,	PUNCT
ajst-25022	108	5	173	173	NUM
ajst-25022	108	6	:	:	PUNCT
ajst-25022	108	7	87	87	NUM
ajst-25022	108	8	-	-	SYM
ajst-25022	108	9	99	99	NUM
ajst-25022	108	10	.	.	PUNCT