id	sid	tid	token	lemma	pos
ajst-32560	1	1	160	160	NUM
ajst-32560	1	2	gait	gait	ADJ
ajst-32560	1	3	analysis	analysis	NOUN
ajst-32560	1	4	and	and	CCONJ
ajst-32560	1	5	stability	stability	NOUN
ajst-32560	1	6	evaluation	evaluation	NOUN
ajst-32560	1	7	of	of	ADP
ajst-32560	1	8	a	a	DET
ajst-32560	1	9	hexapod	hexapod	NOUN
ajst-32560	1	10	robot	robot	NOUN
ajst-32560	1	11	shaoyuan	shaoyuan	PROPN
ajst-32560	1	12	zhang	zhang	PROPN
ajst-32560	1	13	1	1	NUM
ajst-32560	1	14	,	,	PUNCT
ajst-32560	1	15	*	*	PUNCT
ajst-32560	1	16	,	,	PUNCT
ajst-32560	1	17	xuehan	xuehan	PROPN
ajst-32560	1	18	zhang	zhang	PROPN
ajst-32560	1	19	2	2	NUM
ajst-32560	1	20	,	,	PUNCT
ajst-32560	1	21	a	a	DET
ajst-32560	1	22	,	,	PUNCT
ajst-32560	1	23	liyuan	liyuan	PROPN
ajst-32560	1	24	sun	sun	PROPN
ajst-32560	1	25	3	3	NUM
ajst-32560	1	26	,	,	PUNCT
ajst-32560	1	27	b	b	PROPN
ajst-32560	1	28	1	1	NUM
ajst-32560	1	29	hailiang	hailiang	NOUN
ajst-32560	1	30	foreign	foreign	ADJ
ajst-32560	1	31	language	language	NOUN
ajst-32560	1	32	high	high	ADJ
ajst-32560	1	33	school	school	NOUN
ajst-32560	1	34	,	,	PUNCT
ajst-32560	1	35	zhuji	zhuji	PROPN
ajst-32560	1	36	,	,	PUNCT
ajst-32560	1	37	zhejiang	zhejiang	PROPN
ajst-32560	1	38	,	,	PUNCT
ajst-32560	1	39	china	china	PROPN
ajst-32560	1	40	2	2	NUM
ajst-32560	1	41	xian	xian	NOUN
ajst-32560	1	42	tie	tie	VERB
ajst-32560	1	43	yi	yi	NOUN
ajst-32560	1	44	international	international	ADJ
ajst-32560	1	45	curriculum	curriculum	NOUN
ajst-32560	1	46	center	center	NOUN
ajst-32560	1	47	,	,	PUNCT
ajst-32560	1	48	xi’an	xi’an	PROPN
ajst-32560	1	49	,	,	PUNCT
ajst-32560	1	50	shaanxi	shaanxi	PROPN
ajst-32560	1	51	,	,	PUNCT
ajst-32560	1	52	china	china	PROPN
ajst-32560	1	53	3	3	NUM
ajst-32560	1	54	shanghai	shanghai	PROPN
ajst-32560	1	55	guanghua	guanghua	PROPN
ajst-32560	1	56	college	college	PROPN
ajst-32560	1	57	cambridge	cambridge	PROPN
ajst-32560	1	58	international	international	PROPN
ajst-32560	1	59	center	center	PROPN
ajst-32560	1	60	,	,	PUNCT
ajst-32560	1	61	shanghai	shanghai	PROPN
ajst-32560	1	62	,	,	PUNCT
ajst-32560	1	63	china	china	PROPN
ajst-32560	1	64	*	*	PUNCT
ajst-32560	1	65	corresponding	correspond	VERB
ajst-32560	1	66	author	author	NOUN
ajst-32560	1	67	:	:	PUNCT
ajst-32560	1	68	shaoyuan	shaoyuan	PROPN
ajst-32560	1	69	zhang	zhang	PROPN
ajst-32560	2	1	(	(	PUNCT
ajst-32560	2	2	email	email	NOUN
ajst-32560	2	3	:	:	PUNCT
ajst-32560	2	4	zsyqaq@outlook.com	zsyqaq@outlook.com	X
ajst-32560	2	5	)	)	PUNCT
ajst-32560	2	6	,	,	PUNCT
ajst-32560	2	7	a	a	DET
ajst-32560	2	8	zhangxuehan2026@163.com	zhangxuehan2026@163.com	NUM
ajst-32560	2	9	,	,	PUNCT
ajst-32560	2	10	b	b	X
ajst-32560	3	1	luchaosunzong@163.com	luchaosunzong@163.com	PROPN
ajst-32560	3	2	abstract	abstract	NOUN
ajst-32560	3	3	.	.	PUNCT
ajst-32560	4	1	biomimetic	biomimetic	ADJ
ajst-32560	4	2	hexapod	hexapod	NOUN
ajst-32560	4	3	robots	robot	NOUN
ajst-32560	4	4	present	present	VERB
ajst-32560	4	5	distinct	distinct	ADJ
ajst-32560	4	6	advantages	advantage	NOUN
ajst-32560	4	7	over	over	ADP
ajst-32560	4	8	wheeled	wheeled	ADJ
ajst-32560	4	9	robots	robot	NOUN
ajst-32560	4	10	in	in	ADP
ajst-32560	4	11	navigating	navigate	VERB
ajst-32560	4	12	uneven	uneven	ADJ
ajst-32560	4	13	terrains	terrain	NOUN
ajst-32560	4	14	.	.	PUNCT
ajst-32560	5	1	they	they	PRON
ajst-32560	5	2	are	be	AUX
ajst-32560	5	3	well	well	ADV
ajst-32560	5	4	-	-	PUNCT
ajst-32560	5	5	suited	suit	VERB
ajst-32560	5	6	for	for	ADP
ajst-32560	5	7	applications	application	NOUN
ajst-32560	5	8	in	in	ADP
ajst-32560	5	9	search	search	NOUN
ajst-32560	5	10	and	and	CCONJ
ajst-32560	5	11	rescue	rescue	NOUN
ajst-32560	5	12	,	,	PUNCT
ajst-32560	5	13	geographic	geographic	ADJ
ajst-32560	5	14	exploration	exploration	NOUN
ajst-32560	5	15	,	,	PUNCT
ajst-32560	5	16	military	military	ADJ
ajst-32560	5	17	operations	operation	NOUN
ajst-32560	5	18	,	,	PUNCT
ajst-32560	5	19	and	and	CCONJ
ajst-32560	5	20	other	other	ADJ
ajst-32560	5	21	similar	similar	ADJ
ajst-32560	5	22	endeavors	endeavor	NOUN
ajst-32560	5	23	.	.	PUNCT
ajst-32560	6	1	this	this	DET
ajst-32560	6	2	study	study	NOUN
ajst-32560	6	3	presents	present	VERB
ajst-32560	6	4	the	the	DET
ajst-32560	6	5	development	development	NOUN
ajst-32560	6	6	,	,	PUNCT
ajst-32560	6	7	hardware	hardware	NOUN
ajst-32560	6	8	design	design	NOUN
ajst-32560	6	9	,	,	PUNCT
ajst-32560	6	10	gait	gait	ADJ
ajst-32560	6	11	design	design	NOUN
ajst-32560	6	12	,	,	PUNCT
ajst-32560	6	13	and	and	CCONJ
ajst-32560	6	14	performance	performance	NOUN
ajst-32560	6	15	analysis	analysis	NOUN
ajst-32560	6	16	of	of	ADP
ajst-32560	6	17	a	a	DET
ajst-32560	6	18	six	six	NUM
ajst-32560	6	19	-	-	PUNCT
ajst-32560	6	20	legged	legged	ADJ
ajst-32560	6	21	robot	robot	NOUN
ajst-32560	6	22	.	.	PUNCT
ajst-32560	7	1	we	we	PRON
ajst-32560	7	2	used	use	VERB
ajst-32560	7	3	forward	forward	ADP
ajst-32560	7	4	kinematics	kinematic	NOUN
ajst-32560	7	5	and	and	CCONJ
ajst-32560	7	6	inverse	inverse	NOUN
ajst-32560	7	7	kinematics	kinematic	NOUN
ajst-32560	7	8	to	to	PART
ajst-32560	7	9	collect	collect	VERB
ajst-32560	7	10	data	datum	NOUN
ajst-32560	7	11	and	and	CCONJ
ajst-32560	7	12	construct	construct	VERB
ajst-32560	7	13	sinusoidal	sinusoidal	ADJ
ajst-32560	7	14	functions	function	NOUN
ajst-32560	7	15	to	to	PART
ajst-32560	7	16	probe	probe	VERB
ajst-32560	7	17	two	two	NUM
ajst-32560	7	18	types	type	NOUN
ajst-32560	7	19	of	of	ADP
ajst-32560	7	20	gaits	gait	NOUN
ajst-32560	7	21	:	:	PUNCT
ajst-32560	7	22	tripod	tripod	NOUN
ajst-32560	7	23	and	and	CCONJ
ajst-32560	7	24	quadruped	quadruped	NOUN
ajst-32560	7	25	.	.	PUNCT
ajst-32560	8	1	a	a	DET
ajst-32560	8	2	series	series	NOUN
ajst-32560	8	3	of	of	ADP
ajst-32560	8	4	experiments	experiment	NOUN
ajst-32560	8	5	was	be	AUX
ajst-32560	8	6	conducted	conduct	VERB
ajst-32560	8	7	to	to	PART
ajst-32560	8	8	evaluate	evaluate	VERB
ajst-32560	8	9	how	how	SCONJ
ajst-32560	8	10	body	body	NOUN
ajst-32560	8	11	height	height	NOUN
ajst-32560	8	12	(	(	PUNCT
ajst-32560	8	13	pose	pose	NOUN
ajst-32560	8	14	)	)	PUNCT
ajst-32560	8	15	and	and	CCONJ
ajst-32560	8	16	gait	gait	ADJ
ajst-32560	8	17	type	type	NOUN
ajst-32560	8	18	of	of	ADP
ajst-32560	8	19	the	the	DET
ajst-32560	8	20	robot	robot	NOUN
ajst-32560	8	21	influence	influence	VERB
ajst-32560	8	22	its	its	PRON
ajst-32560	8	23	locomotion	locomotion	NOUN
ajst-32560	8	24	stability	stability	NOUN
ajst-32560	8	25	,	,	PUNCT
ajst-32560	8	26	including	include	VERB
ajst-32560	8	27	lateral	lateral	ADJ
ajst-32560	8	28	deviation	deviation	NOUN
ajst-32560	8	29	,	,	PUNCT
ajst-32560	8	30	vertical	vertical	ADJ
ajst-32560	8	31	oscillation	oscillation	NOUN
ajst-32560	8	32	,	,	PUNCT
ajst-32560	8	33	and	and	CCONJ
ajst-32560	8	34	slippage	slippage	NOUN
ajst-32560	8	35	.	.	PUNCT
ajst-32560	9	1	using	use	VERB
ajst-32560	9	2	two	two	NUM
ajst-32560	9	3	-	-	PUNCT
ajst-32560	9	4	way	way	NOUN
ajst-32560	9	5	anova	anova	X
ajst-32560	9	6	,	,	PUNCT
ajst-32560	9	7	we	we	PRON
ajst-32560	9	8	found	find	VERB
ajst-32560	9	9	that	that	SCONJ
ajst-32560	9	10	body	body	NOUN
ajst-32560	9	11	height	height	NOUN
ajst-32560	9	12	significantly	significantly	ADV
ajst-32560	9	13	affects	affect	VERB
ajst-32560	9	14	lateral	lateral	ADJ
ajst-32560	9	15	stability	stability	NOUN
ajst-32560	9	16	,	,	PUNCT
ajst-32560	9	17	while	while	SCONJ
ajst-32560	9	18	both	both	PRON
ajst-32560	9	19	gait	gait	VERB
ajst-32560	9	20	and	and	CCONJ
ajst-32560	9	21	height	height	NOUN
ajst-32560	9	22	interact	interact	NOUN
ajst-32560	9	23	to	to	PART
ajst-32560	9	24	influence	influence	VERB
ajst-32560	9	25	vertical	vertical	ADJ
ajst-32560	9	26	displacement	displacement	NOUN
ajst-32560	9	27	and	and	CCONJ
ajst-32560	9	28	slippage	slippage	NOUN
ajst-32560	9	29	.	.	PUNCT
ajst-32560	10	1	our	our	PRON
ajst-32560	10	2	findings	finding	NOUN
ajst-32560	10	3	highlight	highlight	VERB
ajst-32560	10	4	key	key	ADJ
ajst-32560	10	5	mechanical	mechanical	ADJ
ajst-32560	10	6	and	and	CCONJ
ajst-32560	10	7	control	control	NOUN
ajst-32560	10	8	factors	factor	NOUN
ajst-32560	10	9	in	in	ADP
ajst-32560	10	10	improving	improve	VERB
ajst-32560	10	11	hexapod	hexapod	ADJ
ajst-32560	10	12	stability	stability	NOUN
ajst-32560	10	13	and	and	CCONJ
ajst-32560	10	14	motion	motion	NOUN
ajst-32560	10	15	efficiency	efficiency	NOUN
ajst-32560	10	16	.	.	PUNCT
ajst-32560	11	1	future	future	ADJ
ajst-32560	11	2	work	work	NOUN
ajst-32560	11	3	will	will	AUX
ajst-32560	11	4	focus	focus	VERB
ajst-32560	11	5	on	on	ADP
ajst-32560	11	6	enhancing	enhance	VERB
ajst-32560	11	7	adaptive	adaptive	ADJ
ajst-32560	11	8	capabilities	capability	NOUN
ajst-32560	11	9	through	through	ADP
ajst-32560	11	10	self	self	NOUN
ajst-32560	11	11	-	-	PUNCT
ajst-32560	11	12	balancing	balance	VERB
ajst-32560	11	13	mechanisms	mechanism	NOUN
ajst-32560	11	14	,	,	PUNCT
ajst-32560	11	15	robust	robust	ADJ
ajst-32560	11	16	gait	gait	NOUN
ajst-32560	11	17	planning	planning	NOUN
ajst-32560	11	18	under	under	ADP
ajst-32560	11	19	complex	complex	ADJ
ajst-32560	11	20	terrains	terrain	NOUN
ajst-32560	11	21	,	,	PUNCT
ajst-32560	11	22	and	and	CCONJ
ajst-32560	11	23	the	the	DET
ajst-32560	11	24	integration	integration	NOUN
ajst-32560	11	25	of	of	ADP
ajst-32560	11	26	multimodal	multimodal	NOUN
ajst-32560	11	27	sensing	sense	VERB
ajst-32560	11	28	for	for	ADP
ajst-32560	11	29	intelligent	intelligent	ADJ
ajst-32560	11	30	control	control	NOUN
ajst-32560	11	31	in	in	ADP
ajst-32560	11	32	unstructured	unstructured	ADJ
ajst-32560	11	33	environments	environment	NOUN
ajst-32560	11	34	.	.	PUNCT
ajst-32560	12	1	keywords	keyword	NOUN
ajst-32560	12	2	:	:	PUNCT
ajst-32560	12	3	hexapod	hexapod	NOUN
ajst-32560	12	4	robot	robot	NOUN
ajst-32560	12	5	;	;	PUNCT
ajst-32560	12	6	gait	gait	VERB
ajst-32560	12	7	analysis	analysis	NOUN
ajst-32560	12	8	;	;	PUNCT
ajst-32560	12	9	posture	posture	NOUN
ajst-32560	12	10	stability	stability	NOUN
ajst-32560	12	11	;	;	PUNCT
ajst-32560	12	12	forward	forward	ADJ
ajst-32560	12	13	kinematics	kinematic	NOUN
ajst-32560	12	14	;	;	PUNCT
ajst-32560	12	15	inverse	inverse	NOUN
ajst-32560	12	16	kinematics	kinematic	NOUN
ajst-32560	12	17	;	;	PUNCT
ajst-32560	12	18	locomotion	locomotion	NOUN
ajst-32560	12	19	;	;	PUNCT
ajst-32560	12	20	tripod	tripod	NOUN
ajst-32560	12	21	gait	gait	NOUN
ajst-32560	12	22	;	;	PUNCT
ajst-32560	12	23	quadruped	quadruped	NOUN
ajst-32560	12	24	gait	gait	NOUN
ajst-32560	12	25	;	;	PUNCT
ajst-32560	12	26	error	error	NOUN
ajst-32560	12	27	analysis	analysis	NOUN
ajst-32560	12	28	;	;	PUNCT
ajst-32560	12	29	two	two	NUM
ajst-32560	12	30	-	-	PUNCT
ajst-32560	12	31	way	way	NOUN
ajst-32560	12	32	anova	anova	PROPN
ajst-32560	12	33	.	.	PROPN
ajst-32560	13	1	1	1	X
ajst-32560	13	2	.	.	X
ajst-32560	13	3	introduction	introduction	NOUN
ajst-32560	13	4	as	as	ADP
ajst-32560	13	5	an	an	DET
ajst-32560	13	6	essential	essential	ADJ
ajst-32560	13	7	branch	branch	NOUN
ajst-32560	13	8	of	of	ADP
ajst-32560	13	9	robotics	robotic	NOUN
ajst-32560	13	10	,	,	PUNCT
ajst-32560	13	11	the	the	DET
ajst-32560	13	12	biomimetic	biomimetic	ADJ
ajst-32560	13	13	robot	robot	NOUN
ajst-32560	13	14	has	have	AUX
ajst-32560	13	15	shown	show	VERB
ajst-32560	13	16	comprehensive	comprehensive	ADJ
ajst-32560	13	17	application	application	NOUN
ajst-32560	13	18	prospects	prospect	NOUN
ajst-32560	13	19	in	in	ADP
ajst-32560	13	20	terms	term	NOUN
ajst-32560	13	21	of	of	ADP
ajst-32560	13	22	scientific	scientific	ADJ
ajst-32560	13	23	research	research	NOUN
ajst-32560	13	24	,	,	PUNCT
ajst-32560	13	25	industry	industry	NOUN
ajst-32560	13	26	,	,	PUNCT
ajst-32560	13	27	and	and	CCONJ
ajst-32560	13	28	the	the	DET
ajst-32560	13	29	education	education	NOUN
ajst-32560	13	30	field	field	NOUN
ajst-32560	13	31	in	in	ADP
ajst-32560	13	32	recent	recent	ADJ
ajst-32560	13	33	years	year	NOUN
ajst-32560	13	34	.	.	PUNCT
ajst-32560	14	1	by	by	ADP
ajst-32560	14	2	imitating	imitate	VERB
ajst-32560	14	3	the	the	DET
ajst-32560	14	4	movement	movement	NOUN
ajst-32560	14	5	method	method	NOUN
ajst-32560	14	6	of	of	ADP
ajst-32560	14	7	insects	insect	NOUN
ajst-32560	14	8	,	,	PUNCT
ajst-32560	14	9	with	with	ADP
ajst-32560	14	10	its	its	PRON
ajst-32560	14	11	wonderful	wonderful	ADJ
ajst-32560	14	12	stability	stability	NOUN
ajst-32560	14	13	and	and	CCONJ
ajst-32560	14	14	terrain	terrain	NOUN
ajst-32560	14	15	adaptability	adaptability	NOUN
ajst-32560	14	16	,	,	PUNCT
ajst-32560	14	17	sixlegged	sixlegge	VERB
ajst-32560	14	18	(	(	PUNCT
ajst-32560	14	19	hexapod	hexapod	NOUN
ajst-32560	14	20	)	)	PUNCT
ajst-32560	14	21	robots	robot	NOUN
ajst-32560	14	22	offer	offer	VERB
ajst-32560	14	23	superior	superior	ADJ
ajst-32560	14	24	stability	stability	NOUN
ajst-32560	14	25	and	and	CCONJ
ajst-32560	14	26	terrain	terrain	NOUN
ajst-32560	14	27	adaptability	adaptability	NOUN
ajst-32560	14	28	compared	compare	VERB
ajst-32560	14	29	to	to	ADP
ajst-32560	14	30	wheeled	wheeled	ADJ
ajst-32560	14	31	robots	robot	NOUN
ajst-32560	14	32	,	,	PUNCT
ajst-32560	14	33	making	make	VERB
ajst-32560	14	34	them	they	PRON
ajst-32560	14	35	ideal	ideal	ADJ
ajst-32560	14	36	for	for	ADP
ajst-32560	14	37	challenging	challenge	VERB
ajst-32560	14	38	environments	environment	NOUN
ajst-32560	14	39	like	like	ADP
ajst-32560	14	40	search	search	NOUN
ajst-32560	14	41	and	and	CCONJ
ajst-32560	14	42	rescue	rescue	NOUN
ajst-32560	14	43	or	or	CCONJ
ajst-32560	14	44	exploration	exploration	NOUN
ajst-32560	14	45	[	[	X
ajst-32560	14	46	1	1	NUM
ajst-32560	14	47	]	]	PUNCT
ajst-32560	14	48	.	.	PUNCT
ajst-32560	15	1	however	however	ADV
ajst-32560	15	2	,	,	PUNCT
ajst-32560	15	3	maintaining	maintain	VERB
ajst-32560	15	4	stable	stable	ADJ
ajst-32560	15	5	locomotion	locomotion	NOUN
ajst-32560	15	6	on	on	ADP
ajst-32560	15	7	rough	rough	ADJ
ajst-32560	15	8	or	or	CCONJ
ajst-32560	15	9	slippery	slippery	ADJ
ajst-32560	15	10	surfaces	surface	NOUN
ajst-32560	15	11	remains	remain	VERB
ajst-32560	15	12	difficult	difficult	ADJ
ajst-32560	15	13	.	.	PUNCT
ajst-32560	16	1	key	key	ADJ
ajst-32560	16	2	challenges	challenge	NOUN
ajst-32560	16	3	include	include	VERB
ajst-32560	16	4	designing	design	VERB
ajst-32560	16	5	effective	effective	ADJ
ajst-32560	16	6	gaits	gait	NOUN
ajst-32560	16	7	,	,	PUNCT
ajst-32560	16	8	preventing	prevent	VERB
ajst-32560	16	9	foot	foot	NOUN
ajst-32560	16	10	slippage	slippage	NOUN
ajst-32560	16	11	,	,	PUNCT
ajst-32560	16	12	and	and	CCONJ
ajst-32560	16	13	managing	manage	VERB
ajst-32560	16	14	body	body	NOUN
ajst-32560	16	15	posture	posture	NOUN
ajst-32560	17	1	[	[	X
ajst-32560	17	2	2	2	NUM
ajst-32560	17	3	]	]	PUNCT
ajst-32560	17	4	.	.	PUNCT
ajst-32560	18	1	recent	recent	ADJ
ajst-32560	18	2	research	research	NOUN
ajst-32560	18	3	has	have	AUX
ajst-32560	18	4	highlighted	highlight	VERB
ajst-32560	18	5	that	that	SCONJ
ajst-32560	18	6	the	the	DET
ajst-32560	18	7	robot	robot	NOUN
ajst-32560	18	8	’s	’s	PART
ajst-32560	18	9	body	body	NOUN
ajst-32560	18	10	pose	pose	VERB
ajst-32560	18	11	,	,	PUNCT
ajst-32560	18	12	particularly	particularly	ADV
ajst-32560	18	13	body	body	NOUN
ajst-32560	18	14	height	height	NOUN
ajst-32560	18	15	and	and	CCONJ
ajst-32560	18	16	orientation	orientation	NOUN
ajst-32560	18	17	,	,	PUNCT
ajst-32560	18	18	plays	play	VERB
ajst-32560	18	19	a	a	DET
ajst-32560	18	20	decisive	decisive	ADJ
ajst-32560	18	21	role	role	NOUN
ajst-32560	18	22	in	in	ADP
ajst-32560	18	23	locomotion	locomotion	NOUN
ajst-32560	18	24	stability	stability	NOUN
ajst-32560	18	25	.	.	PUNCT
ajst-32560	19	1	for	for	ADP
ajst-32560	19	2	instance	instance	NOUN
ajst-32560	19	3	,	,	PUNCT
ajst-32560	19	4	coelho	coelho	PROPN
ajst-32560	19	5	et	et	PROPN
ajst-32560	19	6	al	al	PROPN
ajst-32560	19	7	.	.	PUNCT
ajst-32560	20	1	[	[	X
ajst-32560	20	2	3	3	X
ajst-32560	20	3	]	]	PUNCT
ajst-32560	20	4	proposed	propose	VERB
ajst-32560	20	5	a	a	DET
ajst-32560	20	6	real	real	ADJ
ajst-32560	20	7	-	-	PUNCT
ajst-32560	20	8	time	time	NOUN
ajst-32560	20	9	posture	posture	NOUN
ajst-32560	20	10	adjustment	adjustment	NOUN
ajst-32560	20	11	framework	framework	NOUN
ajst-32560	20	12	allowing	allow	VERB
ajst-32560	20	13	hexapods	hexapod	NOUN
ajst-32560	20	14	to	to	PART
ajst-32560	20	15	modify	modify	VERB
ajst-32560	20	16	body	body	NOUN
ajst-32560	20	17	height	height	NOUN
ajst-32560	20	18	and	and	CCONJ
ajst-32560	20	19	orientation	orientation	NOUN
ajst-32560	20	20	based	base	VERB
ajst-32560	20	21	on	on	ADP
ajst-32560	20	22	terrain	terrain	NOUN
ajst-32560	20	23	geometry	geometry	NOUN
ajst-32560	20	24	,	,	PUNCT
ajst-32560	20	25	significantly	significantly	ADV
ajst-32560	20	26	improving	improve	VERB
ajst-32560	20	27	stability	stability	NOUN
ajst-32560	20	28	on	on	ADP
ajst-32560	20	29	irregular	irregular	ADJ
ajst-32560	20	30	surfaces	surface	NOUN
ajst-32560	20	31	.	.	PUNCT
ajst-32560	21	1	similarly	similarly	ADV
ajst-32560	21	2	,	,	PUNCT
ajst-32560	21	3	liu	liu	PROPN
ajst-32560	21	4	et	et	PROPN
ajst-32560	21	5	al	al	PROPN
ajst-32560	21	6	.	.	PUNCT
ajst-32560	22	1	[	[	X
ajst-32560	22	2	1	1	X
ajst-32560	22	3	]	]	PUNCT
ajst-32560	22	4	developed	develop	VERB
ajst-32560	22	5	a	a	DET
ajst-32560	22	6	multi	multi	ADJ
ajst-32560	22	7	-	-	ADJ
ajst-32560	22	8	mode	mode	ADJ
ajst-32560	22	9	control	control	NOUN
ajst-32560	22	10	algorithm	algorithm	NOUN
ajst-32560	22	11	to	to	PART
ajst-32560	22	12	maintain	maintain	VERB
ajst-32560	22	13	posture	posture	NOUN
ajst-32560	22	14	balance	balance	NOUN
ajst-32560	22	15	on	on	ADP
ajst-32560	22	16	rugged	rugged	ADJ
ajst-32560	22	17	terrain	terrain	NOUN
ajst-32560	22	18	,	,	PUNCT
ajst-32560	22	19	while	while	SCONJ
ajst-32560	22	20	arrigoni	arrigoni	PROPN
ajst-32560	22	21	et	et	PROPN
ajst-32560	22	22	al	al	PROPN
ajst-32560	22	23	.	.	PUNCT
ajst-32560	23	1	[	[	X
ajst-32560	23	2	2	2	NUM
ajst-32560	23	3	]	]	PUNCT
ajst-32560	23	4	emphasized	emphasize	VERB
ajst-32560	23	5	terrain	terrain	NOUN
ajst-32560	23	6	-	-	PUNCT
ajst-32560	23	7	interaction	interaction	NOUN
ajst-32560	23	8	feedback	feedback	NOUN
ajst-32560	23	9	and	and	CCONJ
ajst-32560	23	10	anti	anti	ADJ
ajst-32560	23	11	-	-	ADJ
ajst-32560	23	12	slip	slip	ADJ
ajst-32560	23	13	control	control	NOUN
ajst-32560	23	14	for	for	ADP
ajst-32560	23	15	enhanced	enhance	VERB
ajst-32560	23	16	footground	footground	ADJ
ajst-32560	23	17	reliability	reliability	NOUN
ajst-32560	23	18	.	.	PUNCT
ajst-32560	24	1	furthermore	furthermore	ADV
ajst-32560	24	2	,	,	PUNCT
ajst-32560	24	3	su	su	PROPN
ajst-32560	24	4	et	et	PROPN
ajst-32560	24	5	al	al	PROPN
ajst-32560	24	6	.	.	PUNCT
ajst-32560	25	1	[	[	X
ajst-32560	25	2	4	4	X
ajst-32560	25	3	]	]	PUNCT
ajst-32560	25	4	analyzed	analyze	VERB
ajst-32560	25	5	geometric	geometric	ADJ
ajst-32560	25	6	and	and	CCONJ
ajst-32560	25	7	dynamic	dynamic	ADJ
ajst-32560	25	8	parameters	parameter	NOUN
ajst-32560	25	9	affecting	affect	VERB
ajst-32560	25	10	robot	robot	NOUN
ajst-32560	25	11	stability	stability	NOUN
ajst-32560	25	12	and	and	CCONJ
ajst-32560	25	13	proposed	propose	VERB
ajst-32560	25	14	a	a	DET
ajst-32560	25	15	dimensional	dimensional	ADJ
ajst-32560	25	16	optimization	optimization	NOUN
ajst-32560	25	17	model	model	NOUN
ajst-32560	25	18	to	to	PART
ajst-32560	25	19	enhance	enhance	VERB
ajst-32560	25	20	traversability	traversability	NOUN
ajst-32560	25	21	on	on	ADP
ajst-32560	25	22	complex	complex	ADJ
ajst-32560	25	23	terrain	terrain	NOUN
ajst-32560	25	24	.	.	PUNCT
ajst-32560	26	1	building	build	VERB
ajst-32560	26	2	on	on	ADP
ajst-32560	26	3	these	these	DET
ajst-32560	26	4	insights	insight	NOUN
ajst-32560	26	5	,	,	PUNCT
ajst-32560	26	6	this	this	DET
ajst-32560	26	7	paper	paper	NOUN
ajst-32560	26	8	presents	present	VERB
ajst-32560	26	9	the	the	DET
ajst-32560	26	10	development	development	NOUN
ajst-32560	26	11	and	and	CCONJ
ajst-32560	26	12	analysis	analysis	NOUN
ajst-32560	26	13	of	of	ADP
ajst-32560	26	14	a	a	DET
ajst-32560	26	15	hexapod	hexapod	NOUN
ajst-32560	26	16	robot	robot	NOUN
ajst-32560	26	17	.	.	PUNCT
ajst-32560	27	1	we	we	PRON
ajst-32560	27	2	describe	describe	VERB
ajst-32560	27	3	its	its	PRON
ajst-32560	27	4	construction	construction	NOUN
ajst-32560	27	5	,	,	PUNCT
ajst-32560	27	6	implement	implement	VERB
ajst-32560	27	7	anti	anti	ADJ
ajst-32560	27	8	-	-	ADJ
ajst-32560	27	9	slip	slip	ADJ
ajst-32560	27	10	measures	measure	NOUN
ajst-32560	27	11	for	for	ADP
ajst-32560	27	12	reliable	reliable	ADJ
ajst-32560	27	13	ground	ground	NOUN
ajst-32560	27	14	contact	contact	NOUN
ajst-32560	27	15	,	,	PUNCT
ajst-32560	27	16	and	and	CCONJ
ajst-32560	27	17	develop	develop	VERB
ajst-32560	27	18	core	core	NOUN
ajst-32560	27	19	walking	walking	NOUN
ajst-32560	27	20	gaits	gait	NOUN
ajst-32560	27	21	.	.	PUNCT
ajst-32560	28	1	the	the	DET
ajst-32560	28	2	primary	primary	ADJ
ajst-32560	28	3	focus	focus	NOUN
ajst-32560	28	4	is	be	AUX
ajst-32560	28	5	on	on	ADP
ajst-32560	28	6	analyzing	analyze	VERB
ajst-32560	28	7	how	how	SCONJ
ajst-32560	28	8	the	the	DET
ajst-32560	28	9	robot	robot	NOUN
ajst-32560	28	10	's	's	PART
ajst-32560	28	11	body	body	NOUN
ajst-32560	28	12	pose	pose	VERB
ajst-32560	28	13	(	(	PUNCT
ajst-32560	28	14	mainly	mainly	ADV
ajst-32560	28	15	,	,	PUNCT
ajst-32560	28	16	height	height	NOUN
ajst-32560	28	17	)	)	PUNCT
ajst-32560	28	18	impacts	impact	VERB
ajst-32560	28	19	its	its	PRON
ajst-32560	28	20	stability	stability	NOUN
ajst-32560	28	21	.	.	PUNCT
ajst-32560	29	1	we	we	PRON
ajst-32560	29	2	systematically	systematically	ADV
ajst-32560	29	3	test	test	VERB
ajst-32560	29	4	different	different	ADJ
ajst-32560	29	5	poses	pose	NOUN
ajst-32560	29	6	under	under	ADP
ajst-32560	29	7	various	various	ADJ
ajst-32560	29	8	conditions	condition	NOUN
ajst-32560	29	9	and	and	CCONJ
ajst-32560	29	10	evaluate	evaluate	VERB
ajst-32560	29	11	their	their	PRON
ajst-32560	29	12	effect	effect	NOUN
ajst-32560	29	13	on	on	ADP
ajst-32560	29	14	stability	stability	NOUN
ajst-32560	29	15	margins	margin	NOUN
ajst-32560	29	16	.	.	PUNCT
ajst-32560	30	1	our	our	PRON
ajst-32560	30	2	goal	goal	NOUN
ajst-32560	30	3	is	be	AUX
ajst-32560	30	4	to	to	PART
ajst-32560	30	5	provide	provide	VERB
ajst-32560	30	6	insights	insight	NOUN
ajst-32560	30	7	for	for	ADP
ajst-32560	30	8	optimizing	optimize	VERB
ajst-32560	30	9	pose	pose	NOUN
ajst-32560	30	10	control	control	NOUN
ajst-32560	30	11	to	to	PART
ajst-32560	30	12	enhance	enhance	VERB
ajst-32560	30	13	the	the	DET
ajst-32560	30	14	robot	robot	NOUN
ajst-32560	30	15	's	's	PART
ajst-32560	30	16	robustness	robustness	NOUN
ajst-32560	30	17	during	during	ADP
ajst-32560	30	18	operation	operation	NOUN
ajst-32560	30	19	.	.	PUNCT
ajst-32560	31	1	161	161	NUM
ajst-32560	31	2	this	this	DET
ajst-32560	31	3	paper	paper	NOUN
ajst-32560	31	4	is	be	AUX
ajst-32560	31	5	structured	structure	VERB
ajst-32560	31	6	as	as	SCONJ
ajst-32560	31	7	follows	follow	VERB
ajst-32560	31	8	:	:	PUNCT
ajst-32560	31	9	section	section	NOUN
ajst-32560	31	10	2	2	NUM
ajst-32560	31	11	describes	describe	VERB
ajst-32560	31	12	the	the	DET
ajst-32560	31	13	hardware	hardware	NOUN
ajst-32560	31	14	of	of	ADP
ajst-32560	31	15	the	the	DET
ajst-32560	31	16	robot	robot	NOUN
ajst-32560	31	17	;	;	PUNCT
ajst-32560	31	18	section	section	NOUN
ajst-32560	31	19	3	3	NUM
ajst-32560	31	20	introduces	introduce	NOUN
ajst-32560	31	21	two	two	NUM
ajst-32560	31	22	different	different	ADJ
ajst-32560	31	23	gaits	gait	NOUN
ajst-32560	31	24	;	;	PUNCT
ajst-32560	31	25	section	section	NOUN
ajst-32560	31	26	4	4	NUM
ajst-32560	31	27	analyzes	analyze	VERB
ajst-32560	31	28	the	the	DET
ajst-32560	31	29	stability	stability	NOUN
ajst-32560	31	30	and	and	CCONJ
ajst-32560	31	31	sources	source	NOUN
ajst-32560	31	32	of	of	ADP
ajst-32560	31	33	error	error	NOUN
ajst-32560	31	34	of	of	ADP
ajst-32560	31	35	the	the	DET
ajst-32560	31	36	robot	robot	NOUN
ajst-32560	31	37	;	;	PUNCT
ajst-32560	31	38	and	and	CCONJ
ajst-32560	31	39	finally	finally	ADV
ajst-32560	31	40	,	,	PUNCT
ajst-32560	31	41	section	section	NOUN
ajst-32560	31	42	5	5	NUM
ajst-32560	31	43	gives	give	VERB
ajst-32560	31	44	the	the	DET
ajst-32560	31	45	conclusion	conclusion	NOUN
ajst-32560	31	46	and	and	CCONJ
ajst-32560	31	47	the	the	DET
ajst-32560	31	48	future	future	ADJ
ajst-32560	31	49	directions	direction	NOUN
ajst-32560	31	50	of	of	ADP
ajst-32560	31	51	this	this	DET
ajst-32560	31	52	study	study	NOUN
ajst-32560	31	53	.	.	PUNCT
ajst-32560	32	1	2	2	X
ajst-32560	32	2	.	.	X
ajst-32560	32	3	hardware	hardware	NOUN
ajst-32560	32	4	our	our	PRON
ajst-32560	32	5	hexapod	hexapod	NOUN
ajst-32560	32	6	robot	robot	NOUN
ajst-32560	32	7	has	have	VERB
ajst-32560	32	8	six	six	NUM
ajst-32560	32	9	legs	leg	NOUN
ajst-32560	32	10	,	,	PUNCT
ajst-32560	32	11	each	each	PRON
ajst-32560	32	12	driven	drive	VERB
ajst-32560	32	13	by	by	ADP
ajst-32560	32	14	three	three	NUM
ajst-32560	32	15	servos	servo	NOUN
ajst-32560	32	16	controlling	control	VERB
ajst-32560	32	17	the	the	DET
ajst-32560	32	18	hip	hip	NOUN
ajst-32560	32	19	,	,	PUNCT
ajst-32560	32	20	femur	femur	ADJ
ajst-32560	32	21	,	,	PUNCT
ajst-32560	32	22	and	and	CCONJ
ajst-32560	32	23	tibia	tibia	NOUN
ajst-32560	32	24	joints	joint	NOUN
ajst-32560	32	25	.	.	PUNCT
ajst-32560	33	1	to	to	PART
ajst-32560	33	2	control	control	VERB
ajst-32560	33	3	all	all	DET
ajst-32560	33	4	18	18	NUM
ajst-32560	33	5	servos	servo	NOUN
ajst-32560	33	6	,	,	PUNCT
ajst-32560	33	7	we	we	PRON
ajst-32560	33	8	used	use	VERB
ajst-32560	33	9	an	an	DET
ajst-32560	33	10	esp32	esp32	ADJ
ajst-32560	33	11	and	and	CCONJ
ajst-32560	33	12	two	two	NUM
ajst-32560	33	13	pca9685	pca9685	NOUN
ajst-32560	33	14	,	,	PUNCT
ajst-32560	33	15	connected	connect	VERB
ajst-32560	33	16	as	as	ADP
ajst-32560	33	17	in	in	ADP
ajst-32560	33	18	the	the	DET
ajst-32560	33	19	figure	figure	NOUN
ajst-32560	33	20	1,2	1,2	NUM
ajst-32560	33	21	below	below	ADV
ajst-32560	33	22	.	.	PUNCT
ajst-32560	34	1	figure	figure	NOUN
ajst-32560	34	2	1	1	NUM
ajst-32560	34	3	.	.	PUNCT
ajst-32560	35	1	esp32	esp32	ADV
ajst-32560	35	2	and	and	CCONJ
ajst-32560	35	3	pca9685	pca9685	NOUN
ajst-32560	35	4	figure	figure	NOUN
ajst-32560	35	5	2	2	NUM
ajst-32560	35	6	.	.	PUNCT
ajst-32560	35	7	connection	connection	NOUN
ajst-32560	35	8	diagram	diagram	NOUN
ajst-32560	35	9	162	162	NUM
ajst-32560	35	10	in	in	ADP
ajst-32560	35	11	this	this	DET
ajst-32560	35	12	essay	essay	NOUN
ajst-32560	35	13	,	,	PUNCT
ajst-32560	35	14	including	include	VERB
ajst-32560	35	15	the	the	DET
ajst-32560	35	16	diagrams	diagram	NOUN
ajst-32560	36	1	,	,	PUNCT
ajst-32560	36	2	we	we	PRON
ajst-32560	36	3	will	will	AUX
ajst-32560	36	4	refer	refer	VERB
ajst-32560	36	5	to	to	ADP
ajst-32560	36	6	the	the	DET
ajst-32560	36	7	legs	leg	NOUN
ajst-32560	36	8	as	as	ADP
ajst-32560	36	9	in	in	ADP
ajst-32560	36	10	the	the	DET
ajst-32560	36	11	labeled	label	VERB
ajst-32560	36	12	figure	figure	NOUN
ajst-32560	36	13	3	3	NUM
ajst-32560	36	14	.	.	PUNCT
ajst-32560	37	1	also	also	ADV
ajst-32560	37	2	,	,	PUNCT
ajst-32560	37	3	for	for	ADP
ajst-32560	37	4	the	the	DET
ajst-32560	37	5	angles	angle	NOUN
ajst-32560	37	6	,	,	PUNCT
ajst-32560	37	7	our	our	PRON
ajst-32560	37	8	conventions	convention	NOUN
ajst-32560	37	9	are	be	AUX
ajst-32560	37	10	:	:	PUNCT
ajst-32560	37	11	for	for	ADP
ajst-32560	37	12	the	the	DET
ajst-32560	37	13	tibia	tibia	NOUN
ajst-32560	37	14	joints	joint	NOUN
ajst-32560	37	15	,	,	PUNCT
ajst-32560	37	16	180	180	NUM
ajst-32560	37	17	°	°	NOUN
ajst-32560	37	18	is	be	AUX
ajst-32560	37	19	defined	define	VERB
ajst-32560	37	20	as	as	ADP
ajst-32560	37	21	full	full	ADJ
ajst-32560	37	22	extension	extension	NOUN
ajst-32560	37	23	,	,	PUNCT
ajst-32560	37	24	and	and	CCONJ
ajst-32560	37	25	0	0	NUM
ajst-32560	37	26	°	°	NOUN
ajst-32560	37	27	is	be	AUX
ajst-32560	37	28	defined	define	VERB
ajst-32560	37	29	as	as	ADP
ajst-32560	37	30	full	full	ADJ
ajst-32560	37	31	flexion	flexion	NOUN
ajst-32560	37	32	.	.	PUNCT
ajst-32560	38	1	for	for	ADP
ajst-32560	38	2	the	the	DET
ajst-32560	38	3	femur	femur	ADJ
ajst-32560	38	4	joints	joint	NOUN
ajst-32560	38	5	,	,	PUNCT
ajst-32560	38	6	90	90	NUM
ajst-32560	38	7	°	°	NOUN
ajst-32560	38	8	is	be	AUX
ajst-32560	38	9	defined	define	VERB
ajst-32560	38	10	as	as	ADP
ajst-32560	38	11	parallel	parallel	ADJ
ajst-32560	38	12	to	to	ADP
ajst-32560	38	13	the	the	DET
ajst-32560	38	14	horizontal	horizontal	NOUN
ajst-32560	38	15	.	.	PUNCT
ajst-32560	39	1	180	180	NUM
ajst-32560	39	2	°	°	PROPN
ajst-32560	39	3	is	be	AUX
ajst-32560	39	4	defined	define	VERB
ajst-32560	39	5	as	as	ADP
ajst-32560	39	6	pointing	point	VERB
ajst-32560	39	7	straight	straight	ADV
ajst-32560	39	8	down	down	ADV
ajst-32560	39	9	,	,	PUNCT
ajst-32560	39	10	and	and	CCONJ
ajst-32560	39	11	0	0	NUM
ajst-32560	39	12	°	°	NOUN
ajst-32560	39	13	is	be	AUX
ajst-32560	39	14	defined	define	VERB
ajst-32560	39	15	as	as	ADP
ajst-32560	39	16	pointing	point	VERB
ajst-32560	39	17	straight	straight	ADV
ajst-32560	39	18	up	up	ADV
ajst-32560	39	19	.	.	PUNCT
ajst-32560	40	1	for	for	ADP
ajst-32560	40	2	the	the	DET
ajst-32560	40	3	hip	hip	NOUN
ajst-32560	40	4	joints	joint	NOUN
ajst-32560	40	5	,	,	PUNCT
ajst-32560	40	6	90	90	NUM
ajst-32560	40	7	°	°	NOUN
ajst-32560	40	8	is	be	AUX
ajst-32560	40	9	defined	define	VERB
ajst-32560	40	10	as	as	ADP
ajst-32560	40	11	the	the	DET
ajst-32560	40	12	normal	normal	ADJ
ajst-32560	40	13	position	position	NOUN
ajst-32560	40	14	,	,	PUNCT
ajst-32560	40	15	0	0	NUM
ajst-32560	40	16	°	°	PROPN
ajst-32560	40	17	is	be	AUX
ajst-32560	40	18	defined	define	VERB
ajst-32560	40	19	as	as	ADP
ajst-32560	40	20	pointing	point	VERB
ajst-32560	40	21	straight	straight	ADV
ajst-32560	40	22	forward	forward	ADV
ajst-32560	40	23	,	,	PUNCT
ajst-32560	40	24	and	and	CCONJ
ajst-32560	40	25	180	180	NUM
ajst-32560	40	26	°	°	NOUN
ajst-32560	40	27	is	be	AUX
ajst-32560	40	28	defined	define	VERB
ajst-32560	40	29	as	as	ADP
ajst-32560	40	30	pointing	point	VERB
ajst-32560	40	31	backward	backward	ADV
ajst-32560	40	32	.	.	PUNCT
ajst-32560	41	1	figure	figure	VERB
ajst-32560	41	2	3	3	NUM
ajst-32560	41	3	.	.	PUNCT
ajst-32560	41	4	marked	mark	VERB
ajst-32560	41	5	legs	leg	NOUN
ajst-32560	41	6	when	when	SCONJ
ajst-32560	41	7	we	we	PRON
ajst-32560	41	8	were	be	AUX
ajst-32560	41	9	putting	put	VERB
ajst-32560	41	10	the	the	DET
ajst-32560	41	11	robot	robot	NOUN
ajst-32560	41	12	together	together	ADV
ajst-32560	41	13	,	,	PUNCT
ajst-32560	41	14	we	we	PRON
ajst-32560	41	15	spent	spend	VERB
ajst-32560	41	16	a	a	DET
ajst-32560	41	17	lot	lot	NOUN
ajst-32560	41	18	of	of	ADP
ajst-32560	41	19	time	time	NOUN
ajst-32560	41	20	calibrating	calibrate	VERB
ajst-32560	41	21	the	the	DET
ajst-32560	41	22	servos	servo	NOUN
ajst-32560	41	23	;	;	PUNCT
ajst-32560	41	24	however	however	ADV
ajst-32560	41	25	,	,	PUNCT
ajst-32560	41	26	it	it	PRON
ajst-32560	41	27	later	later	ADV
ajst-32560	41	28	turned	turn	VERB
ajst-32560	41	29	out	out	ADP
ajst-32560	41	30	that	that	SCONJ
ajst-32560	41	31	it	it	PRON
ajst-32560	41	32	is	be	AUX
ajst-32560	41	33	easier	easy	ADJ
ajst-32560	41	34	to	to	PART
ajst-32560	41	35	correct	correct	VERB
ajst-32560	41	36	the	the	DET
ajst-32560	41	37	servos	servo	NOUN
ajst-32560	41	38	in	in	ADP
ajst-32560	41	39	the	the	DET
ajst-32560	41	40	code	code	NOUN
ajst-32560	41	41	.	.	PUNCT
ajst-32560	42	1	for	for	ADP
ajst-32560	42	2	the	the	DET
ajst-32560	42	3	anti	anti	ADJ
ajst-32560	42	4	-	-	ADJ
ajst-32560	42	5	slip	slip	ADJ
ajst-32560	42	6	material	material	NOUN
ajst-32560	42	7	of	of	ADP
ajst-32560	42	8	the	the	DET
ajst-32560	42	9	hexapod	hexapod	NOUN
ajst-32560	42	10	robot	robot	NOUN
ajst-32560	42	11	's	's	PART
ajst-32560	42	12	legs	leg	NOUN
ajst-32560	42	13	,	,	PUNCT
ajst-32560	42	14	we	we	PRON
ajst-32560	42	15	had	have	VERB
ajst-32560	42	16	many	many	ADJ
ajst-32560	42	17	options	option	NOUN
ajst-32560	42	18	,	,	PUNCT
ajst-32560	42	19	including	include	VERB
ajst-32560	42	20	cutting	cut	VERB
ajst-32560	42	21	rubber	rubber	NOUN
ajst-32560	42	22	from	from	ADP
ajst-32560	42	23	balloons	balloon	NOUN
ajst-32560	42	24	or	or	CCONJ
ajst-32560	42	25	rubber	rubber	NOUN
ajst-32560	42	26	gloves	glove	NOUN
ajst-32560	42	27	and	and	CCONJ
ajst-32560	42	28	binding	bind	VERB
ajst-32560	42	29	them	they	PRON
ajst-32560	42	30	to	to	ADP
ajst-32560	42	31	the	the	DET
ajst-32560	42	32	robot	robot	NOUN
ajst-32560	42	33	's	's	PART
ajst-32560	42	34	feet	foot	NOUN
ajst-32560	42	35	.	.	PUNCT
ajst-32560	43	1	however	however	ADV
ajst-32560	43	2	,	,	PUNCT
ajst-32560	43	3	these	these	DET
ajst-32560	43	4	methods	method	NOUN
ajst-32560	43	5	caused	cause	VERB
ajst-32560	43	6	different	different	ADJ
ajst-32560	43	7	problems	problem	NOUN
ajst-32560	43	8	.	.	PUNCT
ajst-32560	44	1	we	we	PRON
ajst-32560	44	2	noticed	notice	VERB
ajst-32560	44	3	that	that	SCONJ
ajst-32560	44	4	this	this	DET
ajst-32560	44	5	kind	kind	NOUN
ajst-32560	44	6	of	of	ADP
ajst-32560	44	7	material	material	NOUN
ajst-32560	44	8	and	and	CCONJ
ajst-32560	44	9	structure	structure	NOUN
ajst-32560	44	10	can	can	AUX
ajst-32560	44	11	neither	neither	CCONJ
ajst-32560	44	12	function	function	VERB
ajst-32560	44	13	well	well	ADV
ajst-32560	44	14	under	under	ADP
ajst-32560	44	15	the	the	DET
ajst-32560	44	16	pressure	pressure	NOUN
ajst-32560	44	17	from	from	ADP
ajst-32560	44	18	the	the	DET
ajst-32560	44	19	tips	tip	NOUN
ajst-32560	44	20	of	of	ADP
ajst-32560	44	21	the	the	DET
ajst-32560	44	22	endpoints	endpoint	NOUN
ajst-32560	44	23	of	of	ADP
ajst-32560	44	24	the	the	DET
ajst-32560	44	25	legs	leg	NOUN
ajst-32560	44	26	,	,	PUNCT
ajst-32560	44	27	nor	nor	CCONJ
ajst-32560	44	28	withstand	withstand	VERB
ajst-32560	44	29	the	the	DET
ajst-32560	44	30	shearing	shearing	NOUN
ajst-32560	44	31	stress	stress	NOUN
ajst-32560	44	32	from	from	ADP
ajst-32560	44	33	the	the	DET
ajst-32560	44	34	motion	motion	NOUN
ajst-32560	44	35	of	of	ADP
ajst-32560	44	36	“	"	PUNCT
ajst-32560	44	37	trying	try	VERB
ajst-32560	44	38	to	to	PART
ajst-32560	44	39	move	move	VERB
ajst-32560	44	40	forward	forward	ADV
ajst-32560	44	41	”	"	PUNCT
ajst-32560	44	42	,	,	PUNCT
ajst-32560	44	43	resulting	result	VERB
ajst-32560	44	44	in	in	ADP
ajst-32560	44	45	ripping	rip	VERB
ajst-32560	44	46	.	.	PUNCT
ajst-32560	45	1	inspired	inspire	VERB
ajst-32560	45	2	by	by	ADP
ajst-32560	45	3	the	the	DET
ajst-32560	45	4	resin	resin	NOUN
ajst-32560	45	5	we	we	PRON
ajst-32560	45	6	saw	see	VERB
ajst-32560	45	7	on	on	ADP
ajst-32560	45	8	social	social	ADJ
ajst-32560	45	9	media	medium	NOUN
ajst-32560	45	10	,	,	PUNCT
ajst-32560	45	11	we	we	PRON
ajst-32560	45	12	made	make	VERB
ajst-32560	45	13	a	a	DET
ajst-32560	45	14	plan	plan	NOUN
ajst-32560	45	15	for	for	ADP
ajst-32560	45	16	designing	design	VERB
ajst-32560	45	17	a	a	DET
ajst-32560	45	18	mold	mold	NOUN
ajst-32560	45	19	for	for	ADP
ajst-32560	45	20	a	a	DET
ajst-32560	45	21	foot	foot	NOUN
ajst-32560	45	22	cover	cover	NOUN
ajst-32560	45	23	and	and	CCONJ
ajst-32560	45	24	printing	print	VERB
ajst-32560	45	25	it	it	PRON
ajst-32560	45	26	out	out	ADP
ajst-32560	45	27	with	with	ADP
ajst-32560	45	28	a	a	DET
ajst-32560	45	29	3d	3d	NUM
ajst-32560	45	30	printer	printer	NOUN
ajst-32560	45	31	.	.	PUNCT
ajst-32560	46	1	we	we	PRON
ajst-32560	46	2	wanted	want	VERB
ajst-32560	46	3	to	to	PART
ajst-32560	46	4	make	make	VERB
ajst-32560	46	5	the	the	DET
ajst-32560	46	6	actual	actual	ADJ
ajst-32560	46	7	foot	foot	NOUN
ajst-32560	46	8	cover	cover	NOUN
ajst-32560	46	9	with	with	ADP
ajst-32560	46	10	hot	hot	ADJ
ajst-32560	46	11	melt	melt	NOUN
ajst-32560	46	12	adhesive	adhesive	NOUN
ajst-32560	46	13	.	.	PUNCT
ajst-32560	47	1	however	however	ADV
ajst-32560	47	2	,	,	PUNCT
ajst-32560	47	3	since	since	SCONJ
ajst-32560	47	4	the	the	DET
ajst-32560	47	5	leg	leg	NOUN
ajst-32560	47	6	and	and	CCONJ
ajst-32560	47	7	the	the	DET
ajst-32560	47	8	mold	mold	NOUN
ajst-32560	47	9	are	be	AUX
ajst-32560	47	10	of	of	ADP
ajst-32560	47	11	the	the	DET
ajst-32560	47	12	same	same	ADJ
ajst-32560	47	13	material	material	NOUN
ajst-32560	47	14	,	,	PUNCT
ajst-32560	47	15	the	the	DET
ajst-32560	47	16	hma	hma	NOUN
ajst-32560	47	17	tends	tend	VERB
ajst-32560	47	18	to	to	PART
ajst-32560	47	19	stick	stick	VERB
ajst-32560	47	20	to	to	ADP
ajst-32560	47	21	the	the	DET
ajst-32560	47	22	mold	mold	NOUN
ajst-32560	47	23	.	.	PUNCT
ajst-32560	48	1	so	so	ADV
ajst-32560	48	2	,	,	PUNCT
ajst-32560	48	3	we	we	PRON
ajst-32560	48	4	used	use	VERB
ajst-32560	48	5	hand	hand	NOUN
ajst-32560	48	6	cream	cream	NOUN
ajst-32560	48	7	as	as	ADP
ajst-32560	48	8	a	a	DET
ajst-32560	48	9	substitute	substitute	NOUN
ajst-32560	48	10	for	for	ADP
ajst-32560	48	11	the	the	DET
ajst-32560	48	12	release	release	NOUN
ajst-32560	48	13	agent	agent	NOUN
ajst-32560	48	14	at	at	ADP
ajst-32560	48	15	that	that	DET
ajst-32560	48	16	time	time	NOUN
ajst-32560	48	17	.	.	PUNCT
ajst-32560	49	1	after	after	ADP
ajst-32560	49	2	evenly	evenly	ADV
ajst-32560	49	3	applying	apply	VERB
ajst-32560	49	4	the	the	DET
ajst-32560	49	5	hand	hand	NOUN
ajst-32560	49	6	cream	cream	NOUN
ajst-32560	49	7	inside	inside	ADP
ajst-32560	49	8	the	the	DET
ajst-32560	49	9	mold	mold	NOUN
ajst-32560	49	10	,	,	PUNCT
ajst-32560	49	11	we	we	PRON
ajst-32560	49	12	injected	inject	VERB
ajst-32560	49	13	the	the	DET
ajst-32560	49	14	hma	hma	NOUN
ajst-32560	49	15	and	and	CCONJ
ajst-32560	49	16	pressed	press	VERB
ajst-32560	49	17	the	the	DET
ajst-32560	49	18	robot	robot	NOUN
ajst-32560	49	19	's	's	PART
ajst-32560	49	20	foot	foot	NOUN
ajst-32560	49	21	into	into	ADP
ajst-32560	49	22	the	the	DET
ajst-32560	49	23	mold	mold	NOUN
ajst-32560	49	24	,	,	PUNCT
ajst-32560	49	25	and	and	CCONJ
ajst-32560	49	26	waited	wait	VERB
ajst-32560	49	27	for	for	SCONJ
ajst-32560	49	28	it	it	PRON
ajst-32560	49	29	to	to	PART
ajst-32560	49	30	cool	cool	VERB
ajst-32560	49	31	down	down	ADP
ajst-32560	49	32	and	and	CCONJ
ajst-32560	49	33	solidify	solidify	VERB
ajst-32560	49	34	.	.	PUNCT
ajst-32560	50	1	then	then	ADV
ajst-32560	50	2	we	we	PRON
ajst-32560	50	3	tried	try	VERB
ajst-32560	50	4	to	to	PART
ajst-32560	50	5	pull	pull	VERB
ajst-32560	50	6	the	the	DET
ajst-32560	50	7	foot	foot	NOUN
ajst-32560	50	8	out	out	ADV
ajst-32560	50	9	;	;	PUNCT
ajst-32560	50	10	however	however	ADV
ajst-32560	50	11	,	,	PUNCT
ajst-32560	50	12	we	we	PRON
ajst-32560	50	13	faced	face	VERB
ajst-32560	50	14	tremendous	tremendous	ADJ
ajst-32560	50	15	resisting	resist	VERB
ajst-32560	50	16	forces	force	NOUN
ajst-32560	50	17	.	.	PUNCT
ajst-32560	51	1	we	we	PRON
ajst-32560	51	2	believe	believe	VERB
ajst-32560	51	3	it	it	PRON
ajst-32560	51	4	resulted	result	VERB
ajst-32560	51	5	from	from	ADP
ajst-32560	51	6	the	the	DET
ajst-32560	51	7	poor	poor	ADJ
ajst-32560	51	8	ventilation	ventilation	NOUN
ajst-32560	51	9	:	:	PUNCT
ajst-32560	51	10	the	the	DET
ajst-32560	51	11	vacuum	vacuum	NOUN
ajst-32560	51	12	effect	effect	NOUN
ajst-32560	51	13	in	in	ADP
ajst-32560	51	14	the	the	DET
ajst-32560	51	15	sealed	seal	VERB
ajst-32560	51	16	cold	cold	NOUN
ajst-32560	51	17	has	have	AUX
ajst-32560	51	18	made	make	VERB
ajst-32560	51	19	it	it	PRON
ajst-32560	51	20	very	very	ADV
ajst-32560	51	21	difficult	difficult	ADJ
ajst-32560	51	22	to	to	PART
ajst-32560	51	23	demold	demold	VERB
ajst-32560	51	24	.	.	PUNCT
ajst-32560	52	1	so	so	ADV
ajst-32560	52	2	we	we	PRON
ajst-32560	52	3	added	add	VERB
ajst-32560	52	4	a	a	DET
ajst-32560	52	5	small	small	ADJ
ajst-32560	52	6	hole	hole	NOUN
ajst-32560	52	7	at	at	ADP
ajst-32560	52	8	the	the	DET
ajst-32560	52	9	bottom	bottom	NOUN
ajst-32560	52	10	to	to	PART
ajst-32560	52	11	improve	improve	VERB
ajst-32560	52	12	ventilation	ventilation	NOUN
ajst-32560	52	13	.	.	PUNCT
ajst-32560	53	1	with	with	ADP
ajst-32560	53	2	these	these	DET
ajst-32560	53	3	improvements	improvement	NOUN
ajst-32560	53	4	,	,	PUNCT
ajst-32560	53	5	we	we	PRON
ajst-32560	53	6	obtained	obtain	VERB
ajst-32560	53	7	almost	almost	ADV
ajst-32560	53	8	identical	identical	ADJ
ajst-32560	53	9	foot	foot	NOUN
ajst-32560	53	10	covers	cover	VERB
ajst-32560	53	11	with	with	ADP
ajst-32560	53	12	few	few	ADJ
ajst-32560	53	13	defects	defect	NOUN
ajst-32560	53	14	.	.	PUNCT
ajst-32560	54	1	however	however	ADV
ajst-32560	54	2	,	,	PUNCT
ajst-32560	54	3	the	the	DET
ajst-32560	54	4	feet	foot	NOUN
ajst-32560	54	5	still	still	ADV
ajst-32560	54	6	tend	tend	VERB
ajst-32560	54	7	to	to	PART
ajst-32560	54	8	slip	slip	VERB
ajst-32560	54	9	easily	easily	ADV
ajst-32560	54	10	;	;	PUNCT
ajst-32560	54	11	we	we	PRON
ajst-32560	54	12	suspect	suspect	VERB
ajst-32560	54	13	it	it	PRON
ajst-32560	54	14	is	be	AUX
ajst-32560	54	15	due	due	ADJ
ajst-32560	54	16	to	to	ADP
ajst-32560	54	17	the	the	DET
ajst-32560	54	18	lack	lack	NOUN
ajst-32560	54	19	of	of	ADP
ajst-32560	54	20	larger	large	ADJ
ajst-32560	54	21	structures	structure	NOUN
ajst-32560	54	22	to	to	PART
ajst-32560	54	23	prevent	prevent	VERB
ajst-32560	54	24	slipping	slipping	NOUN
ajst-32560	54	25	,	,	PUNCT
ajst-32560	54	26	so	so	SCONJ
ajst-32560	54	27	we	we	PRON
ajst-32560	54	28	cut	cut	VERB
ajst-32560	54	29	random	random	ADJ
ajst-32560	54	30	lines	line	NOUN
ajst-32560	54	31	on	on	ADP
ajst-32560	54	32	the	the	DET
ajst-32560	54	33	surface	surface	NOUN
ajst-32560	54	34	of	of	ADP
ajst-32560	54	35	the	the	DET
ajst-32560	54	36	foot	foot	NOUN
ajst-32560	54	37	covers	cover	VERB
ajst-32560	54	38	where	where	SCONJ
ajst-32560	54	39	contact	contact	NOUN
ajst-32560	54	40	with	with	ADP
ajst-32560	54	41	the	the	DET
ajst-32560	54	42	ground	ground	NOUN
ajst-32560	54	43	should	should	AUX
ajst-32560	54	44	take	take	VERB
ajst-32560	54	45	place	place	NOUN
ajst-32560	54	46	.	.	PUNCT
ajst-32560	55	1	this	this	PRON
ajst-32560	55	2	successfully	successfully	ADV
ajst-32560	55	3	improved	improve	VERB
ajst-32560	55	4	the	the	DET
ajst-32560	55	5	stability	stability	NOUN
ajst-32560	55	6	of	of	ADP
ajst-32560	55	7	the	the	DET
ajst-32560	55	8	robot	robot	NOUN
ajst-32560	55	9	and	and	CCONJ
ajst-32560	55	10	prevented	prevent	VERB
ajst-32560	55	11	much	much	ADJ
ajst-32560	55	12	of	of	ADP
ajst-32560	55	13	the	the	DET
ajst-32560	55	14	slipping	slipping	NOUN
ajst-32560	55	15	[	[	X
ajst-32560	55	16	5	5	NUM
ajst-32560	55	17	]	]	PUNCT
ajst-32560	55	18	.	.	PUNCT
ajst-32560	56	1	163	163	NUM
ajst-32560	56	2	3	3	NUM
ajst-32560	56	3	.	.	PUNCT
ajst-32560	56	4	methodology	methodology	NOUN
ajst-32560	56	5	we	we	PRON
ajst-32560	56	6	started	start	VERB
ajst-32560	56	7	by	by	ADP
ajst-32560	56	8	designing	design	VERB
ajst-32560	56	9	the	the	DET
ajst-32560	56	10	movements	movement	NOUN
ajst-32560	56	11	via	via	ADP
ajst-32560	56	12	experimenting	experiment	VERB
ajst-32560	56	13	with	with	ADP
ajst-32560	56	14	the	the	DET
ajst-32560	56	15	angles	angle	NOUN
ajst-32560	56	16	of	of	ADP
ajst-32560	56	17	the	the	DET
ajst-32560	56	18	servos	servo	NOUN
ajst-32560	56	19	.	.	PUNCT
ajst-32560	57	1	we	we	PRON
ajst-32560	57	2	used	use	VERB
ajst-32560	57	3	lists	list	NOUN
ajst-32560	57	4	containing	contain	VERB
ajst-32560	57	5	18	18	NUM
ajst-32560	57	6	numbers	number	NOUN
ajst-32560	57	7	representing	represent	VERB
ajst-32560	57	8	the	the	DET
ajst-32560	57	9	angles	angle	NOUN
ajst-32560	57	10	of	of	ADP
ajst-32560	57	11	servos	servo	NOUN
ajst-32560	57	12	,	,	PUNCT
ajst-32560	57	13	and	and	CCONJ
ajst-32560	57	14	setting	set	VERB
ajst-32560	57	15	the	the	DET
ajst-32560	57	16	legs	leg	NOUN
ajst-32560	57	17	with	with	ADP
ajst-32560	57	18	the	the	DET
ajst-32560	57	19	lists	list	NOUN
ajst-32560	57	20	in	in	ADP
ajst-32560	57	21	order	order	NOUN
ajst-32560	57	22	can	can	AUX
ajst-32560	57	23	eventually	eventually	ADV
ajst-32560	57	24	make	make	VERB
ajst-32560	57	25	the	the	DET
ajst-32560	57	26	robot	robot	NOUN
ajst-32560	57	27	move	move	VERB
ajst-32560	57	28	.	.	PUNCT
ajst-32560	58	1	3.1	3.1	NUM
ajst-32560	58	2	tripod	tripod	NOUN
ajst-32560	58	3	gait	gait	NOUN
ajst-32560	58	4	during	during	ADP
ajst-32560	58	5	this	this	DET
ajst-32560	58	6	process	process	NOUN
ajst-32560	58	7	,	,	PUNCT
ajst-32560	58	8	we	we	PRON
ajst-32560	58	9	noticed	notice	VERB
ajst-32560	58	10	that	that	SCONJ
ajst-32560	58	11	while	while	SCONJ
ajst-32560	58	12	the	the	DET
ajst-32560	58	13	structure	structure	NOUN
ajst-32560	58	14	of	of	ADP
ajst-32560	58	15	the	the	DET
ajst-32560	58	16	robot	robot	NOUN
ajst-32560	58	17	is	be	AUX
ajst-32560	58	18	symmetrical	symmetrical	ADJ
ajst-32560	58	19	,	,	PUNCT
ajst-32560	58	20	the	the	DET
ajst-32560	58	21	servos	servo	NOUN
ajst-32560	58	22	are	be	AUX
ajst-32560	58	23	not	not	PART
ajst-32560	58	24	,	,	PUNCT
ajst-32560	58	25	so	so	ADV
ajst-32560	58	26	we	we	PRON
ajst-32560	58	27	reversed	reverse	VERB
ajst-32560	58	28	all	all	DET
ajst-32560	58	29	angles	angle	NOUN
ajst-32560	58	30	for	for	ADP
ajst-32560	58	31	the	the	DET
ajst-32560	58	32	right	right	ADJ
ajst-32560	58	33	side	side	NOUN
ajst-32560	58	34	of	of	ADP
ajst-32560	58	35	the	the	DET
ajst-32560	58	36	robot	robot	NOUN
ajst-32560	58	37	,	,	PUNCT
ajst-32560	58	38	so	so	SCONJ
ajst-32560	58	39	that	that	SCONJ
ajst-32560	58	40	the	the	DET
ajst-32560	58	41	control	control	NOUN
ajst-32560	58	42	of	of	ADP
ajst-32560	58	43	the	the	DET
ajst-32560	58	44	legs	leg	NOUN
ajst-32560	58	45	can	can	AUX
ajst-32560	58	46	be	be	AUX
ajst-32560	58	47	exactly	exactly	ADV
ajst-32560	58	48	the	the	DET
ajst-32560	58	49	same	same	ADJ
ajst-32560	58	50	.	.	PUNCT
ajst-32560	59	1	figure	figure	NOUN
ajst-32560	59	2	4	4	NUM
ajst-32560	59	3	.	.	PUNCT
ajst-32560	59	4	steps	step	NOUN
ajst-32560	59	5	parameter	parameter	NOUN
ajst-32560	59	6	matrix	matrix	NOUN
ajst-32560	59	7	for	for	ADP
ajst-32560	59	8	this	this	DET
ajst-32560	59	9	gait	gait	NOUN
ajst-32560	59	10	,	,	PUNCT
ajst-32560	59	11	the	the	DET
ajst-32560	59	12	legs	leg	NOUN
ajst-32560	59	13	are	be	AUX
ajst-32560	59	14	in	in	ADP
ajst-32560	59	15	two	two	NUM
ajst-32560	59	16	groups	group	NOUN
ajst-32560	59	17	,	,	PUNCT
ajst-32560	59	18	moving	move	VERB
ajst-32560	59	19	out	out	ADP
ajst-32560	59	20	of	of	ADP
ajst-32560	59	21	phase	phase	NOUN
ajst-32560	59	22	.	.	PUNCT
ajst-32560	60	1	in	in	ADP
ajst-32560	60	2	every	every	DET
ajst-32560	60	3	complete	complete	ADJ
ajst-32560	60	4	cycle	cycle	NOUN
ajst-32560	60	5	,	,	PUNCT
ajst-32560	60	6	there	there	PRON
ajst-32560	60	7	are	be	VERB
ajst-32560	60	8	six	six	NUM
ajst-32560	60	9	frames	frame	NOUN
ajst-32560	60	10	,	,	PUNCT
ajst-32560	60	11	named	name	VERB
ajst-32560	60	12	after	after	ADP
ajst-32560	60	13	the	the	DET
ajst-32560	60	14	function	function	NOUN
ajst-32560	60	15	of	of	ADP
ajst-32560	60	16	the	the	DET
ajst-32560	60	17	movement	movement	NOUN
ajst-32560	60	18	from	from	ADP
ajst-32560	60	19	the	the	DET
ajst-32560	60	20	last	last	ADJ
ajst-32560	60	21	frame	frame	NOUN
ajst-32560	60	22	to	to	ADP
ajst-32560	60	23	the	the	DET
ajst-32560	60	24	next	next	ADJ
ajst-32560	60	25	frame	frame	NOUN
ajst-32560	60	26	.	.	PUNCT
ajst-32560	61	1	the	the	DET
ajst-32560	61	2	frames	frame	NOUN
ajst-32560	61	3	for	for	ADP
ajst-32560	61	4	leg0	leg0	NOUN
ajst-32560	61	5	(	(	PUNCT
ajst-32560	61	6	lf	lf	PROPN
ajst-32560	61	7	)	)	PUNCT
ajst-32560	61	8	,	,	PUNCT
ajst-32560	61	9	from	from	ADP
ajst-32560	61	10	0	0	NUM
ajst-32560	61	11	to	to	ADP
ajst-32560	61	12	5	5	NUM
ajst-32560	61	13	,	,	PUNCT
ajst-32560	61	14	are	be	AUX
ajst-32560	61	15	lagging	lag	VERB
ajst-32560	61	16	,	,	PUNCT
ajst-32560	61	17	supporting	support	VERB
ajst-32560	61	18	,	,	PUNCT
ajst-32560	61	19	raising	raise	VERB
ajst-32560	61	20	,	,	PUNCT
ajst-32560	61	21	swinging	swinging	NOUN
ajst-32560	61	22	,	,	PUNCT
ajst-32560	61	23	supporting	supporting	NOUN
ajst-32560	61	24	,	,	PUNCT
ajst-32560	61	25	and	and	CCONJ
ajst-32560	61	26	propelling	propelling	NOUN
ajst-32560	61	27	.	.	PUNCT
ajst-32560	62	1	figure	figure	NOUN
ajst-32560	62	2	5	5	NUM
ajst-32560	62	3	.	.	PUNCT
ajst-32560	62	4	gait	gait	PROPN
ajst-32560	62	5	movement	movement	PROPN
ajst-32560	62	6	diagram	diagram	PROPN
ajst-32560	62	7	we	we	PRON
ajst-32560	62	8	then	then	ADV
ajst-32560	62	9	modelled	model	VERB
ajst-32560	62	10	each	each	DET
ajst-32560	62	11	leg	leg	NOUN
ajst-32560	62	12	as	as	ADP
ajst-32560	62	13	connected	connect	VERB
ajst-32560	62	14	rigid	rigid	ADJ
ajst-32560	62	15	rods	rod	NOUN
ajst-32560	62	16	.	.	PUNCT
ajst-32560	63	1	we	we	PRON
ajst-32560	63	2	then	then	ADV
ajst-32560	63	3	calculated	calculate	VERB
ajst-32560	63	4	and	and	CCONJ
ajst-32560	63	5	collected	collect	VERB
ajst-32560	63	6	the	the	DET
ajst-32560	63	7	coordinates	coordinate	NOUN
ajst-32560	63	8	of	of	ADP
ajst-32560	63	9	one	one	NUM
ajst-32560	63	10	of	of	ADP
ajst-32560	63	11	the	the	DET
ajst-32560	63	12	legs	leg	NOUN
ajst-32560	63	13	during	during	ADP
ajst-32560	63	14	two	two	NUM
ajst-32560	63	15	complete	complete	ADJ
ajst-32560	63	16	cycles	cycle	NOUN
ajst-32560	63	17	and	and	CCONJ
ajst-32560	63	18	graphed	graph	VERB
ajst-32560	63	19	them	they	PRON
ajst-32560	63	20	.	.	PUNCT
ajst-32560	64	1	we	we	PRON
ajst-32560	64	2	noticed	notice	VERB
ajst-32560	64	3	that	that	SCONJ
ajst-32560	64	4	simple	simple	ADJ
ajst-32560	64	5	sine	sine	ADJ
ajst-32560	64	6	waves	wave	NOUN
ajst-32560	64	7	can	can	AUX
ajst-32560	64	8	fit	fit	VERB
ajst-32560	64	9	the	the	DET
ajst-32560	64	10	graph	graph	NOUN
ajst-32560	64	11	well	well	ADV
ajst-32560	64	12	.	.	PUNCT
ajst-32560	65	1	so	so	ADV
ajst-32560	65	2	,	,	PUNCT
ajst-32560	65	3	we	we	PRON
ajst-32560	65	4	used	use	VERB
ajst-32560	65	5	sine	sine	ADJ
ajst-32560	65	6	waves	wave	NOUN
ajst-32560	65	7	to	to	PART
ajst-32560	65	8	generate	generate	VERB
ajst-32560	65	9	the	the	DET
ajst-32560	65	10	coordinates	coordinate	NOUN
ajst-32560	65	11	of	of	ADP
ajst-32560	65	12	the	the	DET
ajst-32560	65	13	end	end	NOUN
ajst-32560	65	14	of	of	ADP
ajst-32560	65	15	the	the	DET
ajst-32560	65	16	legs	leg	NOUN
ajst-32560	65	17	at	at	ADP
ajst-32560	65	18	a	a	DET
ajst-32560	65	19	given	give	VERB
ajst-32560	65	20	time	time	NOUN
ajst-32560	65	21	.	.	PUNCT
ajst-32560	66	1	we	we	PRON
ajst-32560	66	2	can	can	AUX
ajst-32560	66	3	calculate	calculate	VERB
ajst-32560	66	4	the	the	DET
ajst-32560	66	5	angles	angle	NOUN
ajst-32560	66	6	via	via	ADP
ajst-32560	66	7	trigonometry	trigonometry	NOUN
ajst-32560	66	8	.	.	PUNCT
ajst-32560	67	1	we	we	PRON
ajst-32560	67	2	wanted	want	VERB
ajst-32560	67	3	the	the	DET
ajst-32560	67	4	index	index	NOUN
ajst-32560	67	5	of	of	ADP
ajst-32560	67	6	the	the	DET
ajst-32560	67	7	new	new	ADJ
ajst-32560	67	8	controlling	control	VERB
ajst-32560	67	9	system	system	NOUN
ajst-32560	67	10	to	to	PART
ajst-32560	67	11	remain	remain	VERB
ajst-32560	67	12	generally	generally	ADV
ajst-32560	67	13	the	the	DET
ajst-32560	67	14	same	same	ADJ
ajst-32560	67	15	,	,	PUNCT
ajst-32560	67	16	so	so	ADV
ajst-32560	67	17	we	we	PRON
ajst-32560	67	18	set	set	VERB
ajst-32560	67	19	the	the	DET
ajst-32560	67	20	period	period	NOUN
ajst-32560	67	21	to	to	PART
ajst-32560	67	22	be	be	AUX
ajst-32560	67	23	close	close	ADJ
ajst-32560	67	24	to	to	ADP
ajst-32560	67	25	6	6	NUM
ajst-32560	67	26	.	.	PUNCT
ajst-32560	68	1	we	we	PRON
ajst-32560	68	2	also	also	ADV
ajst-32560	68	3	wanted	want	VERB
ajst-32560	68	4	the	the	DET
ajst-32560	68	5	rate	rate	NOUN
ajst-32560	68	6	of	of	ADP
ajst-32560	68	7	change	change	NOUN
ajst-32560	68	8	of	of	ADP
ajst-32560	68	9	y	y	PROPN
ajst-32560	68	10	to	to	PART
ajst-32560	68	11	be	be	AUX
ajst-32560	68	12	maximum	maximum	ADJ
ajst-32560	68	13	when	when	SCONJ
ajst-32560	68	14	the	the	DET
ajst-32560	68	15	z	z	NOUN
ajst-32560	68	16	value	value	NOUN
ajst-32560	68	17	is	be	AUX
ajst-32560	68	18	at	at	ADP
ajst-32560	68	19	maximum	maximum	ADJ
ajst-32560	68	20	or	or	CCONJ
ajst-32560	68	21	minimum	minimum	NOUN
ajst-32560	68	22	(	(	PUNCT
ajst-32560	68	23	when	when	SCONJ
ajst-32560	68	24	it	it	PRON
ajst-32560	68	25	is	be	AUX
ajst-32560	68	26	propelling	propel	VERB
ajst-32560	68	27	or	or	CCONJ
ajst-32560	68	28	swinging	swinge	VERB
ajst-32560	68	29	)	)	PUNCT
ajst-32560	68	30	;	;	PUNCT
ajst-32560	68	31	we	we	PRON
ajst-32560	68	32	also	also	ADV
ajst-32560	68	33	needed	need	VERB
ajst-32560	68	34	the	the	DET
ajst-32560	68	35	rate	rate	NOUN
ajst-32560	68	36	of	of	ADP
ajst-32560	68	37	change	change	NOUN
ajst-32560	68	38	of	of	ADP
ajst-32560	68	39	x	x	PUNCT
ajst-32560	68	40	to	to	PART
ajst-32560	68	41	be	be	AUX
ajst-32560	68	42	0	0	NUM
ajst-32560	68	43	at	at	ADP
ajst-32560	68	44	both	both	CCONJ
ajst-32560	68	45	the	the	DET
ajst-32560	68	46	start	start	NOUN
ajst-32560	68	47	and	and	CCONJ
ajst-32560	68	48	end	end	NOUN
ajst-32560	68	49	of	of	ADP
ajst-32560	68	50	the	the	DET
ajst-32560	68	51	propelling	propelling	NOUN
ajst-32560	68	52	stage	stage	NOUN
ajst-32560	68	53	.	.	PUNCT
ajst-32560	69	1	164	164	NUM
ajst-32560	69	2	figure	figure	NOUN
ajst-32560	69	3	6	6	NUM
ajst-32560	69	4	.	.	PUNCT
ajst-32560	69	5	coordinates	coordinate	NOUN
ajst-32560	69	6	of	of	ADP
ajst-32560	69	7	one	one	NUM
ajst-32560	69	8	leg	leg	NOUN
ajst-32560	69	9	within	within	ADP
ajst-32560	69	10	two	two	NUM
ajst-32560	69	11	complete	complete	ADJ
ajst-32560	69	12	cycles	cycle	NOUN
ajst-32560	69	13	figure	figure	NOUN
ajst-32560	69	14	7	7	NUM
ajst-32560	69	15	.	.	PUNCT
ajst-32560	69	16	partial	partial	ADJ
ajst-32560	69	17	code	code	NOUN
ajst-32560	69	18	illustration	illustration	NOUN
ajst-32560	69	19	3.2	3.2	NUM
ajst-32560	69	20	quadruped	quadruped	NOUN
ajst-32560	69	21	gait	gait	NOUN
ajst-32560	69	22	figure	figure	NOUN
ajst-32560	69	23	8	8	NUM
ajst-32560	69	24	and	and	CCONJ
ajst-32560	69	25	9	9	NUM
ajst-32560	69	26	.	.	X
ajst-32560	69	27	waveform	waveform	VERB
ajst-32560	69	28	diagram	diagram	NOUN
ajst-32560	69	29	depicting	depict	VERB
ajst-32560	69	30	gait	gait	NOUN
ajst-32560	69	31	patterns	pattern	NOUN
ajst-32560	69	32	we	we	PRON
ajst-32560	69	33	also	also	ADV
ajst-32560	69	34	attempted	attempt	VERB
ajst-32560	69	35	a	a	DET
ajst-32560	69	36	quadruped	quadruped	NOUN
ajst-32560	69	37	gait	gait	NOUN
ajst-32560	69	38	by	by	ADP
ajst-32560	69	39	splitting	split	VERB
ajst-32560	69	40	the	the	DET
ajst-32560	69	41	legs	leg	NOUN
ajst-32560	69	42	into	into	ADP
ajst-32560	69	43	three	three	NUM
ajst-32560	69	44	groups	group	NOUN
ajst-32560	69	45	(	(	PUNCT
ajst-32560	69	46	lf	lf	PROPN
ajst-32560	69	47	and	and	CCONJ
ajst-32560	69	48	rr	rr	PROPN
ajst-32560	69	49	,	,	PUNCT
ajst-32560	69	50	lm	lm	PROPN
ajst-32560	69	51	and	and	CCONJ
ajst-32560	69	52	rm	rm	PROPN
ajst-32560	69	53	,	,	PUNCT
ajst-32560	69	54	lr	lr	NOUN
ajst-32560	69	55	and	and	CCONJ
ajst-32560	69	56	rf	rf	NOUN
ajst-32560	69	57	)	)	PUNCT
ajst-32560	69	58	.	.	PUNCT
ajst-32560	70	1	one	one	NUM
ajst-32560	70	2	whole	whole	ADJ
ajst-32560	70	3	cycle	cycle	NOUN
ajst-32560	70	4	will	will	AUX
ajst-32560	70	5	have	have	VERB
ajst-32560	70	6	nine	nine	NUM
ajst-32560	70	7	frames	frame	NOUN
ajst-32560	70	8	,	,	PUNCT
ajst-32560	70	9	very	very	ADV
ajst-32560	70	10	similar	similar	ADJ
ajst-32560	70	11	to	to	ADP
ajst-32560	70	12	the	the	DET
ajst-32560	70	13	tripod	tripod	NOUN
ajst-32560	70	14	gait	gait	NOUN
ajst-32560	70	15	,	,	PUNCT
ajst-32560	70	16	except	except	SCONJ
ajst-32560	70	17	that	that	SCONJ
ajst-32560	70	18	the	the	DET
ajst-32560	70	19	phase	phase	NOUN
ajst-32560	70	20	difference	difference	NOUN
ajst-32560	70	21	between	between	ADP
ajst-32560	70	22	groups	group	NOUN
ajst-32560	70	23	is	be	AUX
ajst-32560	70	24	120	120	NUM
ajst-32560	70	25	°	°	NOUN
ajst-32560	70	26	,	,	PUNCT
ajst-32560	70	27	or	or	CCONJ
ajst-32560	70	28	three	three	NUM
ajst-32560	70	29	frames	frame	NOUN
ajst-32560	70	30	.	.	PUNCT
ajst-32560	71	1	for	for	ADP
ajst-32560	71	2	each	each	DET
ajst-32560	71	3	leg	leg	NOUN
ajst-32560	71	4	,	,	PUNCT
ajst-32560	71	5	it	it	PRON
ajst-32560	71	6	goes	go	VERB
ajst-32560	71	7	through	through	ADP
ajst-32560	71	8	:	:	PUNCT
ajst-32560	71	9	supporting	support	VERB
ajst-32560	71	10	,	,	PUNCT
ajst-32560	71	11	rising	rise	VERB
ajst-32560	71	12	,	,	PUNCT
ajst-32560	71	13	swinging	swinging	NOUN
ajst-32560	71	14	,	,	PUNCT
ajst-32560	71	15	falling	fall	VERB
ajst-32560	71	16	,	,	PUNCT
ajst-32560	71	17	propelling	propelling	NOUN
ajst-32560	71	18	,	,	PUNCT
ajst-32560	71	19	supporting	support	VERB
ajst-32560	71	20	,	,	PUNCT
ajst-32560	71	21	lagging	lagging	NOUN
ajst-32560	71	22	,	,	PUNCT
ajst-32560	71	23	another	another	DET
ajst-32560	71	24	lagging	lagging	ADJ
ajst-32560	71	25	phase	phase	NOUN
ajst-32560	71	26	.	.	PUNCT
ajst-32560	72	1	notice	notice	VERB
ajst-32560	72	2	that	that	SCONJ
ajst-32560	72	3	in	in	ADP
ajst-32560	72	4	a	a	DET
ajst-32560	72	5	quadruped	quadruped	NOUN
ajst-32560	72	6	gait	gait	NOUN
ajst-32560	72	7	,	,	PUNCT
ajst-32560	72	8	we	we	PRON
ajst-32560	72	9	have	have	VERB
ajst-32560	72	10	only	only	ADV
ajst-32560	72	11	three	three	NUM
ajst-32560	72	12	stages	stage	NOUN
ajst-32560	72	13	in	in	ADP
ajst-32560	72	14	which	which	PRON
ajst-32560	72	15	the	the	DET
ajst-32560	72	16	leg	leg	NOUN
ajst-32560	72	17	is	be	AUX
ajst-32560	72	18	not	not	PART
ajst-32560	72	19	touching	touch	VERB
ajst-32560	72	20	the	the	DET
ajst-32560	72	21	ground	ground	NOUN
ajst-32560	72	22	,	,	PUNCT
ajst-32560	72	23	which	which	PRON
ajst-32560	72	24	accounts	account	VERB
ajst-32560	72	25	for	for	ADP
ajst-32560	72	26	one	one	NUM
ajst-32560	72	27	-	-	PUNCT
ajst-32560	72	28	third	third	NOUN
ajst-32560	72	29	of	of	ADP
ajst-32560	72	30	the	the	DET
ajst-32560	72	31	total	total	ADJ
ajst-32560	72	32	nine	nine	NUM
ajst-32560	72	33	stages	stage	NOUN
ajst-32560	72	34	.	.	PUNCT
ajst-32560	73	1	while	while	SCONJ
ajst-32560	73	2	in	in	ADP
ajst-32560	73	3	the	the	DET
ajst-32560	73	4	tripod	tripod	NOUN
ajst-32560	73	5	gait	gait	NOUN
ajst-32560	73	6	,	,	PUNCT
ajst-32560	73	7	we	we	PRON
ajst-32560	73	8	also	also	ADV
ajst-32560	73	9	have	have	VERB
ajst-32560	73	10	three	three	NUM
ajst-32560	73	11	stages	stage	NOUN
ajst-32560	73	12	in	in	ADP
ajst-32560	73	13	which	which	PRON
ajst-32560	73	14	the	the	DET
ajst-32560	73	15	leg	leg	NOUN
ajst-32560	73	16	is	be	AUX
ajst-32560	73	17	not	not	PART
ajst-32560	73	18	touching	touch	VERB
ajst-32560	73	19	the	the	DET
ajst-32560	73	20	ground	ground	NOUN
ajst-32560	73	21	,	,	PUNCT
ajst-32560	73	22	which	which	PRON
ajst-32560	73	23	is	be	AUX
ajst-32560	73	24	50	50	NUM
ajst-32560	73	25	%	%	NOUN
ajst-32560	73	26	of	of	ADP
ajst-32560	73	27	the	the	DET
ajst-32560	73	28	total	total	ADJ
ajst-32560	73	29	six	six	NUM
ajst-32560	73	30	stages	stage	NOUN
ajst-32560	73	31	.	.	PUNCT
ajst-32560	74	1	this	this	PRON
ajst-32560	74	2	would	would	AUX
ajst-32560	74	3	mean	mean	VERB
ajst-32560	74	4	that	that	SCONJ
ajst-32560	74	5	a	a	DET
ajst-32560	74	6	quadruped	quadruped	NOUN
ajst-32560	74	7	165	165	NUM
ajst-32560	74	8	gait	gait	NOUN
ajst-32560	74	9	is	be	AUX
ajst-32560	74	10	more	more	ADV
ajst-32560	74	11	stable	stable	ADJ
ajst-32560	74	12	as	as	SCONJ
ajst-32560	74	13	it	it	PRON
ajst-32560	74	14	has	have	VERB
ajst-32560	74	15	one	one	NUM
ajst-32560	74	16	more	more	ADJ
ajst-32560	74	17	leg	leg	NOUN
ajst-32560	74	18	supporting	support	VERB
ajst-32560	74	19	at	at	ADP
ajst-32560	74	20	any	any	DET
ajst-32560	74	21	time	time	NOUN
ajst-32560	74	22	.	.	PUNCT
ajst-32560	75	1	also	also	ADV
ajst-32560	75	2	,	,	PUNCT
ajst-32560	75	3	we	we	PRON
ajst-32560	75	4	notice	notice	VERB
ajst-32560	75	5	that	that	SCONJ
ajst-32560	75	6	in	in	ADP
ajst-32560	75	7	our	our	PRON
ajst-32560	75	8	quadruped	quadruped	NOUN
ajst-32560	75	9	gait	gait	NOUN
ajst-32560	75	10	,	,	PUNCT
ajst-32560	75	11	there	there	PRON
ajst-32560	75	12	are	be	VERB
ajst-32560	75	13	two	two	NUM
ajst-32560	75	14	stages	stage	NOUN
ajst-32560	75	15	(	(	PUNCT
ajst-32560	75	16	out	out	ADP
ajst-32560	75	17	of	of	ADP
ajst-32560	75	18	nine	nine	NUM
ajst-32560	75	19	stages	stage	NOUN
ajst-32560	75	20	)	)	PUNCT
ajst-32560	75	21	in	in	ADP
ajst-32560	75	22	which	which	PRON
ajst-32560	75	23	the	the	DET
ajst-32560	75	24	leg	leg	NOUN
ajst-32560	75	25	is	be	AUX
ajst-32560	75	26	actively	actively	ADV
ajst-32560	75	27	pushing	push	VERB
ajst-32560	75	28	the	the	DET
ajst-32560	75	29	robot	robot	NOUN
ajst-32560	75	30	forward	forward	ADV
ajst-32560	75	31	(	(	PUNCT
ajst-32560	75	32	the	the	DET
ajst-32560	75	33	propelling	propelling	NOUN
ajst-32560	75	34	stages	stage	NOUN
ajst-32560	75	35	)	)	PUNCT
ajst-32560	75	36	,	,	PUNCT
ajst-32560	75	37	whereas	whereas	SCONJ
ajst-32560	75	38	in	in	ADP
ajst-32560	75	39	our	our	PRON
ajst-32560	75	40	tripod	tripod	NOUN
ajst-32560	75	41	gait	gait	NOUN
ajst-32560	75	42	,	,	PUNCT
ajst-32560	75	43	there	there	PRON
ajst-32560	75	44	is	be	VERB
ajst-32560	75	45	only	only	ADV
ajst-32560	75	46	one	one	NUM
ajst-32560	75	47	propelling	propelling	NOUN
ajst-32560	75	48	stage	stage	NOUN
ajst-32560	75	49	(	(	PUNCT
ajst-32560	75	50	out	out	ADP
ajst-32560	75	51	of	of	ADP
ajst-32560	75	52	six	six	NUM
ajst-32560	75	53	stages	stage	NOUN
ajst-32560	75	54	)	)	PUNCT
ajst-32560	75	55	,	,	PUNCT
ajst-32560	75	56	which	which	PRON
ajst-32560	75	57	means	mean	VERB
ajst-32560	75	58	that	that	SCONJ
ajst-32560	75	59	our	our	PRON
ajst-32560	75	60	quadruped	quadruped	NOUN
ajst-32560	75	61	gait	gait	NOUN
ajst-32560	75	62	is	be	AUX
ajst-32560	75	63	slightly	slightly	ADV
ajst-32560	75	64	faster	fast	ADJ
ajst-32560	75	65	.	.	PUNCT
ajst-32560	76	1	we	we	PRON
ajst-32560	76	2	later	later	ADV
ajst-32560	76	3	confirmed	confirm	VERB
ajst-32560	76	4	this	this	PRON
ajst-32560	76	5	in	in	ADP
ajst-32560	76	6	our	our	PRON
ajst-32560	76	7	actual	actual	ADJ
ajst-32560	76	8	experiment	experiment	NOUN
ajst-32560	76	9	.	.	PUNCT
ajst-32560	77	1	and	and	CCONJ
ajst-32560	77	2	we	we	PRON
ajst-32560	77	3	used	use	VERB
ajst-32560	77	4	similar	similar	ADJ
ajst-32560	77	5	sinusoidal	sinusoidal	ADJ
ajst-32560	77	6	waves	wave	NOUN
ajst-32560	77	7	to	to	PART
ajst-32560	77	8	generate	generate	VERB
ajst-32560	77	9	this	this	DET
ajst-32560	77	10	gait	gait	NOUN
ajst-32560	77	11	.	.	PUNCT
ajst-32560	78	1	this	this	DET
ajst-32560	78	2	time	time	NOUN
ajst-32560	78	3	,	,	PUNCT
ajst-32560	78	4	we	we	PRON
ajst-32560	78	5	set	set	VERB
ajst-32560	78	6	the	the	DET
ajst-32560	78	7	period	period	NOUN
ajst-32560	78	8	close	close	ADV
ajst-32560	78	9	to	to	ADP
ajst-32560	78	10	9	9	NUM
ajst-32560	78	11	,	,	PUNCT
ajst-32560	78	12	which	which	PRON
ajst-32560	78	13	is	be	AUX
ajst-32560	78	14	our	our	PRON
ajst-32560	78	15	original	original	ADJ
ajst-32560	78	16	index	index	NOUN
ajst-32560	78	17	for	for	ADP
ajst-32560	78	18	the	the	DET
ajst-32560	78	19	final	final	ADJ
ajst-32560	78	20	stage	stage	NOUN
ajst-32560	78	21	of	of	ADP
ajst-32560	78	22	a	a	DET
ajst-32560	78	23	complete	complete	ADJ
ajst-32560	78	24	cycle	cycle	NOUN
ajst-32560	78	25	.	.	PUNCT
ajst-32560	79	1	the	the	DET
ajst-32560	79	2	complete	complete	ADJ
ajst-32560	79	3	code	code	NOUN
ajst-32560	79	4	is	be	AUX
ajst-32560	79	5	in	in	ADP
ajst-32560	79	6	the	the	DET
ajst-32560	79	7	final	final	ADJ
ajst-32560	79	8	appendix	appendix	NOUN
ajst-32560	79	9	.	.	PUNCT
ajst-32560	80	1	the	the	DET
ajst-32560	80	2	waveform	waveform	NOUN
ajst-32560	80	3	diagrams	diagram	NOUN
ajst-32560	80	4	depicting	depict	VERB
ajst-32560	80	5	our	our	PRON
ajst-32560	80	6	gait	gait	NOUN
ajst-32560	80	7	patterns	pattern	NOUN
ajst-32560	80	8	have	have	AUX
ajst-32560	80	9	also	also	ADV
ajst-32560	80	10	been	be	AUX
ajst-32560	80	11	included	include	VERB
ajst-32560	80	12	in	in	ADP
ajst-32560	80	13	the	the	DET
ajst-32560	80	14	final	final	ADJ
ajst-32560	80	15	appendix	appendix	ADJ
ajst-32560	80	16	section	section	NOUN
ajst-32560	80	17	.	.	PUNCT
ajst-32560	81	1	these	these	DET
ajst-32560	81	2	visualizations	visualization	NOUN
ajst-32560	81	3	were	be	AUX
ajst-32560	81	4	generated	generate	VERB
ajst-32560	81	5	using	use	VERB
ajst-32560	81	6	desmos	desmo	NOUN
ajst-32560	81	7	,	,	PUNCT
ajst-32560	81	8	a	a	DET
ajst-32560	81	9	graphing	graphing	NOUN
ajst-32560	81	10	tool	tool	NOUN
ajst-32560	81	11	,	,	PUNCT
ajst-32560	81	12	and	and	CCONJ
ajst-32560	81	13	interested	interested	ADJ
ajst-32560	81	14	readers	reader	NOUN
ajst-32560	81	15	are	be	AUX
ajst-32560	81	16	encouraged	encourage	VERB
ajst-32560	81	17	to	to	PART
ajst-32560	81	18	examine	examine	VERB
ajst-32560	81	19	them	they	PRON
ajst-32560	81	20	.	.	PUNCT
ajst-32560	82	1	4	4	X
ajst-32560	82	2	.	.	X
ajst-32560	82	3	stability	stability	NOUN
ajst-32560	82	4	and	and	CCONJ
ajst-32560	82	5	error	error	NOUN
ajst-32560	82	6	analysis	analysis	NOUN
ajst-32560	82	7	achieving	achieve	VERB
ajst-32560	82	8	stable	stable	ADJ
ajst-32560	82	9	and	and	CCONJ
ajst-32560	82	10	smooth	smooth	ADJ
ajst-32560	82	11	locomotion	locomotion	NOUN
ajst-32560	82	12	is	be	AUX
ajst-32560	82	13	a	a	DET
ajst-32560	82	14	fundamental	fundamental	ADJ
ajst-32560	82	15	objective	objective	NOUN
ajst-32560	82	16	in	in	ADP
ajst-32560	82	17	hexapod	hexapod	NOUN
ajst-32560	82	18	robot	robot	NOUN
ajst-32560	82	19	design	design	NOUN
ajst-32560	82	20	.	.	PUNCT
ajst-32560	83	1	different	different	ADJ
ajst-32560	83	2	gait	gait	NOUN
ajst-32560	83	3	and	and	CCONJ
ajst-32560	83	4	posture	posture	NOUN
ajst-32560	83	5	combinations	combination	NOUN
ajst-32560	83	6	offer	offer	VERB
ajst-32560	83	7	varying	vary	VERB
ajst-32560	83	8	levels	level	NOUN
ajst-32560	83	9	of	of	ADP
ajst-32560	83	10	performance	performance	NOUN
ajst-32560	83	11	.	.	PUNCT
ajst-32560	84	1	to	to	PART
ajst-32560	84	2	investigate	investigate	VERB
ajst-32560	84	3	this	this	PRON
ajst-32560	84	4	,	,	PUNCT
ajst-32560	84	5	we	we	PRON
ajst-32560	84	6	conducted	conduct	VERB
ajst-32560	84	7	a	a	DET
ajst-32560	84	8	series	series	NOUN
ajst-32560	84	9	of	of	ADP
ajst-32560	84	10	experiments	experiment	NOUN
ajst-32560	84	11	evaluating	evaluate	VERB
ajst-32560	84	12	lateral	lateral	ADJ
ajst-32560	84	13	offset	offset	NOUN
ajst-32560	84	14	,	,	PUNCT
ajst-32560	84	15	vertical	vertical	ADJ
ajst-32560	84	16	displacement	displacement	NOUN
ajst-32560	84	17	,	,	PUNCT
ajst-32560	84	18	and	and	CCONJ
ajst-32560	84	19	the	the	DET
ajst-32560	84	20	tendency	tendency	NOUN
ajst-32560	84	21	to	to	PART
ajst-32560	84	22	slip	slip	VERB
ajst-32560	84	23	across	across	ADP
ajst-32560	84	24	multiple	multiple	ADJ
ajst-32560	84	25	configurations	configuration	NOUN
ajst-32560	84	26	.	.	PUNCT
ajst-32560	85	1	4.1	4.1	NUM
ajst-32560	85	2	lateral	lateral	ADJ
ajst-32560	85	3	offset	offset	NOUN
ajst-32560	85	4	to	to	PART
ajst-32560	85	5	assess	assess	VERB
ajst-32560	85	6	the	the	DET
ajst-32560	85	7	degree	degree	NOUN
ajst-32560	85	8	of	of	ADP
ajst-32560	85	9	lateral	lateral	ADJ
ajst-32560	85	10	offset	offset	NOUN
ajst-32560	85	11	during	during	ADP
ajst-32560	85	12	locomotion	locomotion	NOUN
ajst-32560	85	13	,	,	PUNCT
ajst-32560	85	14	we	we	PRON
ajst-32560	85	15	conducted	conduct	VERB
ajst-32560	85	16	a	a	DET
ajst-32560	85	17	controlled	control	VERB
ajst-32560	85	18	experiment	experiment	NOUN
ajst-32560	85	19	under	under	ADP
ajst-32560	85	20	two	two	NUM
ajst-32560	85	21	gait	gait	ADJ
ajst-32560	85	22	conditions	condition	NOUN
ajst-32560	85	23	:	:	PUNCT
ajst-32560	85	24	tripod	tripod	NOUN
ajst-32560	85	25	and	and	CCONJ
ajst-32560	85	26	quadruped	quadrupe	VERB
ajst-32560	85	27	.	.	PUNCT
ajst-32560	86	1	for	for	ADP
ajst-32560	86	2	each	each	DET
ajst-32560	86	3	gait	gait	NOUN
ajst-32560	86	4	,	,	PUNCT
ajst-32560	86	5	we	we	PRON
ajst-32560	86	6	varied	vary	VERB
ajst-32560	86	7	the	the	DET
ajst-32560	86	8	robot	robot	NOUN
ajst-32560	86	9	’s	’s	PART
ajst-32560	86	10	average	average	ADJ
ajst-32560	86	11	height	height	NOUN
ajst-32560	86	12	from	from	ADP
ajst-32560	86	13	the	the	DET
ajst-32560	86	14	ground	ground	NOUN
ajst-32560	86	15	(	(	PUNCT
ajst-32560	86	16	termed	term	VERB
ajst-32560	86	17	as	as	ADP
ajst-32560	86	18	“	"	PUNCT
ajst-32560	86	19	settings	setting	NOUN
ajst-32560	86	20	”	"	PUNCT
ajst-32560	86	21	)	)	PUNCT
ajst-32560	86	22	across	across	ADP
ajst-32560	86	23	three	three	NUM
ajst-32560	86	24	levels	level	NOUN
ajst-32560	86	25	:	:	PUNCT
ajst-32560	86	26	120	120	NUM
ajst-32560	86	27	,	,	PUNCT
ajst-32560	86	28	85	85	NUM
ajst-32560	86	29	,	,	PUNCT
ajst-32560	86	30	and	and	CCONJ
ajst-32560	86	31	45	45	NUM
ajst-32560	86	32	.	.	PUNCT
ajst-32560	87	1	a	a	DET
ajst-32560	87	2	total	total	NOUN
ajst-32560	87	3	of	of	ADP
ajst-32560	87	4	six	six	NUM
ajst-32560	87	5	conditions	condition	NOUN
ajst-32560	87	6	were	be	AUX
ajst-32560	87	7	tested	test	VERB
ajst-32560	87	8	,	,	PUNCT
ajst-32560	87	9	and	and	CCONJ
ajst-32560	87	10	data	datum	NOUN
ajst-32560	87	11	were	be	AUX
ajst-32560	87	12	collected	collect	VERB
ajst-32560	87	13	for	for	ADP
ajst-32560	87	14	each	each	DET
ajst-32560	87	15	setting	setting	NOUN
ajst-32560	87	16	.	.	PUNCT
ajst-32560	88	1	the	the	DET
ajst-32560	88	2	results	result	NOUN
ajst-32560	88	3	are	be	AUX
ajst-32560	88	4	presented	present	VERB
ajst-32560	88	5	in	in	ADP
ajst-32560	88	6	table	table	NOUN
ajst-32560	88	7	1	1	NUM
ajst-32560	88	8	below	below	ADV
ajst-32560	88	9	.	.	PUNCT
ajst-32560	89	1	table	table	NOUN
ajst-32560	89	2	1	1	NUM
ajst-32560	89	3	.	.	PUNCT
ajst-32560	90	1	lateral	lateral	ADJ
ajst-32560	90	2	offset	offset	NOUN
ajst-32560	90	3	data	datum	NOUN
ajst-32560	90	4	gait	gait	NOUN
ajst-32560	90	5	tripod	tripod	NOUN
ajst-32560	90	6	settings	setting	VERB
ajst-32560	90	7	120	120	NUM
ajst-32560	90	8	85	85	NUM
ajst-32560	90	9	45	45	NUM
ajst-32560	90	10	distance	distance	NOUN
ajst-32560	90	11	(	(	PUNCT
ajst-32560	90	12	cm	cm	NOUN
ajst-32560	90	13	)	)	PUNCT
ajst-32560	90	14	160	160	NUM
ajst-32560	90	15	160	160	NUM
ajst-32560	90	16	160	160	NUM
ajst-32560	90	17	130	130	NUM
ajst-32560	90	18	130	130	NUM
ajst-32560	90	19	130	130	NUM
ajst-32560	90	20	155	155	NUM
ajst-32560	90	21	160	160	NUM
ajst-32560	90	22	160	160	NUM
ajst-32560	90	23	lateral	lateral	ADJ
ajst-32560	90	24	offset	offset	VERB
ajst-32560	90	25	50	50	NUM
ajst-32560	90	26	40	40	NUM
ajst-32560	90	27	40	40	NUM
ajst-32560	90	28	60	60	NUM
ajst-32560	90	29	60	60	NUM
ajst-32560	90	30	60	60	NUM
ajst-32560	90	31	20	20	NUM
ajst-32560	90	32	10	10	NUM
ajst-32560	90	33	10	10	NUM
ajst-32560	90	34	ratio	ratio	NOUN
ajst-32560	90	35	0.31	0.31	NUM
ajst-32560	90	36	0.25	0.25	NUM
ajst-32560	90	37	0.25	0.25	NUM
ajst-32560	90	38	0.42	0.42	NUM
ajst-32560	90	39	0.42	0.42	NUM
ajst-32560	90	40	0.42	0.42	NUM
ajst-32560	90	41	0.13	0.13	NUM
ajst-32560	90	42	0.06	0.06	NUM
ajst-32560	90	43	0.06	0.06	NUM
ajst-32560	90	44	gait	gait	ADJ
ajst-32560	90	45	quadruped	quadruped	NOUN
ajst-32560	90	46	settings	setting	NOUN
ajst-32560	90	47	120	120	NUM
ajst-32560	90	48	85	85	NUM
ajst-32560	90	49	45	45	NUM
ajst-32560	90	50	distance	distance	NOUN
ajst-32560	90	51	(	(	PUNCT
ajst-32560	90	52	cm	cm	NOUN
ajst-32560	90	53	)	)	PUNCT
ajst-32560	90	54	180	180	NUM
ajst-32560	90	55	180	180	NUM
ajst-32560	90	56	180	180	NUM
ajst-32560	90	57	140	140	NUM
ajst-32560	90	58	120	120	NUM
ajst-32560	90	59	120	120	NUM
ajst-32560	90	60	190	190	NUM
ajst-32560	90	61	200	200	NUM
ajst-32560	90	62	200	200	NUM
ajst-32560	90	63	lateral	lateral	ADJ
ajst-32560	90	64	offset	offset	NOUN
ajst-32560	91	1	60	60	NUM
ajst-32560	91	2	40	40	NUM
ajst-32560	91	3	60	60	NUM
ajst-32560	91	4	30	30	NUM
ajst-32560	91	5	80	80	NUM
ajst-32560	91	6	60	60	NUM
ajst-32560	91	7	20	20	NUM
ajst-32560	91	8	30	30	NUM
ajst-32560	91	9	0	0	NUM
ajst-32560	91	10	ratio	ratio	NOUN
ajst-32560	91	11	0.33	0.33	NUM
ajst-32560	91	12	0.22	0.22	NUM
ajst-32560	91	13	0.33	0.33	NUM
ajst-32560	91	14	0.21	0.21	NUM
ajst-32560	91	15	0.67	0.67	NUM
ajst-32560	91	16	0.5	0.5	NUM
ajst-32560	91	17	0.11	0.11	NUM
ajst-32560	91	18	0.15	0.15	NUM
ajst-32560	91	19	0	0	NUM
ajst-32560	91	20	in	in	ADP
ajst-32560	91	21	table	table	NOUN
ajst-32560	91	22	1	1	NUM
ajst-32560	91	23	,	,	PUNCT
ajst-32560	91	24	distance	distance	NOUN
ajst-32560	91	25	refers	refer	VERB
ajst-32560	91	26	to	to	ADP
ajst-32560	91	27	the	the	DET
ajst-32560	91	28	x	x	ADJ
ajst-32560	91	29	-	-	ADJ
ajst-32560	91	30	axis	axis	ADJ
ajst-32560	91	31	component	component	NOUN
ajst-32560	91	32	of	of	ADP
ajst-32560	91	33	the	the	DET
ajst-32560	91	34	robot	robot	NOUN
ajst-32560	91	35	's	's	PART
ajst-32560	91	36	trajectory	trajectory	NOUN
ajst-32560	91	37	,	,	PUNCT
ajst-32560	91	38	representing	represent	VERB
ajst-32560	91	39	forward	forward	ADJ
ajst-32560	91	40	movement	movement	NOUN
ajst-32560	91	41	.	.	PUNCT
ajst-32560	92	1	lateral	lateral	ADJ
ajst-32560	92	2	offset	offset	NOUN
ajst-32560	92	3	represents	represent	VERB
ajst-32560	92	4	the	the	DET
ajst-32560	92	5	y	y	ADJ
ajst-32560	92	6	-	-	PUNCT
ajst-32560	92	7	axis	axis	NOUN
ajst-32560	92	8	component	component	NOUN
ajst-32560	92	9	,	,	PUNCT
ajst-32560	92	10	representing	represent	VERB
ajst-32560	92	11	lateral	lateral	ADJ
ajst-32560	92	12	deviation	deviation	NOUN
ajst-32560	92	13	from	from	ADP
ajst-32560	92	14	the	the	DET
ajst-32560	92	15	intended	intend	VERB
ajst-32560	92	16	straight	straight	ADJ
ajst-32560	92	17	-	-	PUNCT
ajst-32560	92	18	line	line	NOUN
ajst-32560	92	19	path	path	NOUN
ajst-32560	92	20	.	.	PUNCT
ajst-32560	93	1	the	the	DET
ajst-32560	93	2	ratio	ratio	NOUN
ajst-32560	93	3	is	be	AUX
ajst-32560	93	4	defined	define	VERB
ajst-32560	93	5	as	as	ADP
ajst-32560	93	6	the	the	DET
ajst-32560	93	7	lateral	lateral	ADJ
ajst-32560	93	8	offset	offset	NOUN
ajst-32560	93	9	divided	divide	VERB
ajst-32560	93	10	by	by	ADP
ajst-32560	93	11	the	the	DET
ajst-32560	93	12	distance	distance	NOUN
ajst-32560	93	13	.	.	PUNCT
ajst-32560	94	1	settings	setting	NOUN
ajst-32560	94	2	correspond	correspond	VERB
ajst-32560	94	3	to	to	ADP
ajst-32560	94	4	the	the	DET
ajst-32560	94	5	z	z	NOUN
ajst-32560	94	6	-	-	PUNCT
ajst-32560	94	7	component	component	NOUN
ajst-32560	94	8	height	height	NOUN
ajst-32560	94	9	(	(	PUNCT
ajst-32560	94	10	average	average	ADJ
ajst-32560	94	11	vertical	vertical	ADJ
ajst-32560	94	12	distance	distance	NOUN
ajst-32560	94	13	between	between	ADP
ajst-32560	94	14	the	the	DET
ajst-32560	94	15	robot	robot	NOUN
ajst-32560	94	16	's	's	PART
ajst-32560	94	17	body	body	NOUN
ajst-32560	94	18	and	and	CCONJ
ajst-32560	94	19	the	the	DET
ajst-32560	94	20	ground	ground	NOUN
ajst-32560	94	21	)	)	PUNCT
ajst-32560	94	22	,	,	PUNCT
ajst-32560	94	23	defined	define	VERB
ajst-32560	94	24	in	in	ADP
ajst-32560	94	25	the	the	DET
ajst-32560	94	26	code	code	NOUN
ajst-32560	94	27	below	below	ADV
ajst-32560	94	28	:	:	PUNCT
ajst-32560	94	29	figure	figure	VERB
ajst-32560	94	30	10	10	NUM
ajst-32560	94	31	.	.	PUNCT
ajst-32560	94	32	defined	define	VERB
ajst-32560	94	33	in	in	ADP
ajst-32560	94	34	the	the	DET
ajst-32560	94	35	code	code	NOUN
ajst-32560	94	36	a	a	DET
ajst-32560	94	37	higher	high	ADJ
ajst-32560	94	38	settings	setting	NOUN
ajst-32560	94	39	value	value	NOUN
ajst-32560	94	40	indicates	indicate	VERB
ajst-32560	94	41	a	a	DET
ajst-32560	94	42	greater	great	ADJ
ajst-32560	94	43	average	average	ADJ
ajst-32560	94	44	height	height	NOUN
ajst-32560	94	45	of	of	ADP
ajst-32560	94	46	the	the	DET
ajst-32560	94	47	robot	robot	NOUN
ajst-32560	94	48	during	during	ADP
ajst-32560	94	49	its	its	PRON
ajst-32560	94	50	movement	movement	NOUN
ajst-32560	94	51	.	.	PUNCT
ajst-32560	95	1	166	166	NUM
ajst-32560	95	2	with	with	ADP
ajst-32560	95	3	the	the	DET
ajst-32560	95	4	data	datum	NOUN
ajst-32560	95	5	above	above	ADV
ajst-32560	95	6	,	,	PUNCT
ajst-32560	95	7	we	we	PRON
ajst-32560	95	8	used	use	VERB
ajst-32560	95	9	a	a	DET
ajst-32560	95	10	two	two	NUM
ajst-32560	95	11	-	-	PUNCT
ajst-32560	95	12	way	way	NOUN
ajst-32560	95	13	analysis	analysis	NOUN
ajst-32560	95	14	of	of	ADP
ajst-32560	95	15	variance	variance	NOUN
ajst-32560	95	16	(	(	PUNCT
ajst-32560	95	17	anova	anova	PROPN
ajst-32560	95	18	)	)	PUNCT
ajst-32560	95	19	to	to	PART
ajst-32560	95	20	examine	examine	VERB
ajst-32560	95	21	the	the	DET
ajst-32560	95	22	individual	individual	ADJ
ajst-32560	95	23	and	and	CCONJ
ajst-32560	95	24	interactive	interactive	ADJ
ajst-32560	95	25	effects	effect	NOUN
ajst-32560	95	26	of	of	ADP
ajst-32560	95	27	gait	gait	ADJ
ajst-32560	95	28	type	type	NOUN
ajst-32560	95	29	and	and	CCONJ
ajst-32560	95	30	robot	robot	NOUN
ajst-32560	95	31	settings	setting	NOUN
ajst-32560	95	32	on	on	ADP
ajst-32560	95	33	lateral	lateral	ADJ
ajst-32560	95	34	offset	offset	NOUN
ajst-32560	95	35	.	.	PUNCT
ajst-32560	96	1	the	the	DET
ajst-32560	96	2	results	result	NOUN
ajst-32560	96	3	are	be	AUX
ajst-32560	96	4	shown	show	VERB
ajst-32560	96	5	in	in	ADP
ajst-32560	96	6	the	the	DET
ajst-32560	96	7	table	table	NOUN
ajst-32560	96	8	below	below	ADV
ajst-32560	96	9	.	.	PUNCT
ajst-32560	97	1	table	table	NOUN
ajst-32560	97	2	2	2	NUM
ajst-32560	97	3	.	.	X
ajst-32560	97	4	two	two	NUM
ajst-32560	97	5	-	-	PUNCT
ajst-32560	97	6	way	way	NOUN
ajst-32560	97	7	anova	anova	X
ajst-32560	97	8	summary	summary	NOUN
ajst-32560	97	9	table	table	NOUN
ajst-32560	97	10	regarding	regard	VERB
ajst-32560	97	11	lateral	lateral	ADJ
ajst-32560	97	12	offset	offset	VERB
ajst-32560	97	13	sum	sum	NOUN
ajst-32560	97	14	of	of	ADP
ajst-32560	97	15	squares	square	NOUN
ajst-32560	97	16	df	df	PROPN
ajst-32560	97	17	mean	mean	PROPN
ajst-32560	97	18	square	square	PROPN
ajst-32560	97	19	f	f	PROPN
ajst-32560	98	1	p	p	ADJ
ajst-32560	98	2	-	-	PUNCT
ajst-32560	98	3	value	value	NOUN
ajst-32560	98	4	significance	significance	NOUN
ajst-32560	98	5	settings	setting	NOUN
ajst-32560	98	6	.3795	.3795	PROPN
ajst-32560	98	7	2	2	NUM
ajst-32560	98	8	.1898	.1898	PROPN
ajst-32560	98	9	16.99	16.99	NUM
ajst-32560	98	10	0.0003	0.0003	NUM
ajst-32560	98	11	significant	significant	ADJ
ajst-32560	98	12	gait	gait	NOUN
ajst-32560	98	13	.0022	.0022	NOUN
ajst-32560	98	14	1	1	NUM
ajst-32560	98	15	.0022	.0022	NOUN
ajst-32560	98	16	0.20	0.20	NUM
ajst-32560	98	17	0.6635	0.6635	NUM
ajst-32560	98	18	not	not	PART
ajst-32560	98	19	significant	significant	ADJ
ajst-32560	98	20	gait	gait	ADJ
ajst-32560	98	21	×	×	NOUN
ajst-32560	98	22	settings	setting	NOUN
ajst-32560	98	23	.0010	.0010	NOUN
ajst-32560	99	1	2	2	NUM
ajst-32560	99	2	.0005	.0005	NUM
ajst-32560	99	3	0.05	0.05	NUM
ajst-32560	99	4	0.9559	0.9559	NUM
ajst-32560	99	5	not	not	PART
ajst-32560	99	6	significant	significant	ADJ
ajst-32560	99	7	residual(error	residual(error	NOUN
ajst-32560	99	8	)	)	PUNCT
ajst-32560	99	9	.1340	.1340	NOUN
ajst-32560	99	10	12	12	NUM
ajst-32560	99	11	.0112	.0112	NOUN
ajst-32560	99	12	r	r	X
ajst-32560	99	13	-	-	PUNCT
ajst-32560	99	14	squared	square	VERB
ajst-32560	99	15	0.7407	0.7407	NUM
ajst-32560	99	16	the	the	DET
ajst-32560	99	17	results	result	NOUN
ajst-32560	99	18	show	show	VERB
ajst-32560	99	19	that	that	SCONJ
ajst-32560	99	20	settings	setting	NOUN
ajst-32560	99	21	had	have	VERB
ajst-32560	99	22	a	a	DET
ajst-32560	99	23	statistically	statistically	ADV
ajst-32560	99	24	significant	significant	ADJ
ajst-32560	99	25	effect	effect	NOUN
ajst-32560	99	26	on	on	ADP
ajst-32560	99	27	the	the	DET
ajst-32560	99	28	ratio	ratio	NOUN
ajst-32560	99	29	(	(	PUNCT
ajst-32560	99	30	f(2,12	f(2,12	PROPN
ajst-32560	99	31	)	)	PUNCT
ajst-32560	99	32	=	=	SYM
ajst-32560	100	1	16.99	16.99	NUM
ajst-32560	100	2	,	,	PUNCT
ajst-32560	100	3	p	p	NOUN
ajst-32560	100	4	=	=	PROPN
ajst-32560	100	5	0.0003	0.0003	NUM
ajst-32560	100	6	)	)	PUNCT
ajst-32560	100	7	,	,	PUNCT
ajst-32560	100	8	while	while	SCONJ
ajst-32560	100	9	gait	gait	VERB
ajst-32560	100	10	(	(	PUNCT
ajst-32560	100	11	p	p	X
ajst-32560	100	12	=	=	PROPN
ajst-32560	100	13	0.6635	0.6635	NUM
ajst-32560	100	14	)	)	PUNCT
ajst-32560	100	15	and	and	CCONJ
ajst-32560	100	16	the	the	DET
ajst-32560	100	17	interaction	interaction	NOUN
ajst-32560	100	18	between	between	ADP
ajst-32560	100	19	gait	gait	NOUN
ajst-32560	100	20	and	and	CCONJ
ajst-32560	100	21	settings	setting	NOUN
ajst-32560	100	22	(	(	PUNCT
ajst-32560	100	23	p	p	X
ajst-32560	100	24	=	=	SYM
ajst-32560	100	25	0.9559	0.9559	NUM
ajst-32560	100	26	)	)	PUNCT
ajst-32560	100	27	were	be	AUX
ajst-32560	100	28	not	not	PART
ajst-32560	100	29	statistically	statistically	ADV
ajst-32560	100	30	significant	significant	ADJ
ajst-32560	100	31	.	.	PUNCT
ajst-32560	101	1	in	in	ADP
ajst-32560	101	2	conclusion	conclusion	NOUN
ajst-32560	101	3	,	,	PUNCT
ajst-32560	101	4	the	the	DET
ajst-32560	101	5	setting	setting	NOUN
ajst-32560	101	6	at	at	ADP
ajst-32560	101	7	45	45	NUM
ajst-32560	101	8	resulted	result	VERB
ajst-32560	101	9	in	in	ADP
ajst-32560	101	10	the	the	DET
ajst-32560	101	11	lowest	low	ADJ
ajst-32560	101	12	average	average	ADJ
ajst-32560	101	13	lateral	lateral	ADJ
ajst-32560	101	14	offset	offset	NOUN
ajst-32560	101	15	among	among	ADP
ajst-32560	101	16	all	all	DET
ajst-32560	101	17	configurations	configuration	NOUN
ajst-32560	101	18	,	,	PUNCT
ajst-32560	101	19	while	while	SCONJ
ajst-32560	101	20	the	the	DET
ajst-32560	101	21	setting	setting	NOUN
ajst-32560	101	22	at	at	ADP
ajst-32560	101	23	85	85	NUM
ajst-32560	101	24	resulted	result	VERB
ajst-32560	101	25	in	in	ADP
ajst-32560	101	26	the	the	DET
ajst-32560	101	27	highest	high	ADJ
ajst-32560	101	28	.	.	PUNCT
ajst-32560	102	1	different	different	ADJ
ajst-32560	102	2	gaits	gait	NOUN
ajst-32560	102	3	have	have	VERB
ajst-32560	102	4	no	no	DET
ajst-32560	102	5	significant	significant	ADJ
ajst-32560	102	6	influence	influence	NOUN
ajst-32560	102	7	on	on	ADP
ajst-32560	102	8	lateral	lateral	ADJ
ajst-32560	102	9	offsets	offset	NOUN
ajst-32560	102	10	.	.	PUNCT
ajst-32560	103	1	4.2	4.2	NUM
ajst-32560	103	2	vertical	vertical	ADJ
ajst-32560	103	3	offset	offset	NOUN
ajst-32560	103	4	to	to	PART
ajst-32560	103	5	measure	measure	VERB
ajst-32560	103	6	the	the	DET
ajst-32560	103	7	vertical	vertical	ADJ
ajst-32560	103	8	stability	stability	NOUN
ajst-32560	103	9	,	,	PUNCT
ajst-32560	103	10	we	we	PRON
ajst-32560	103	11	wish	wish	VERB
ajst-32560	103	12	to	to	PART
ajst-32560	103	13	measure	measure	VERB
ajst-32560	103	14	the	the	DET
ajst-32560	103	15	amplitude	amplitude	NOUN
ajst-32560	103	16	of	of	ADP
ajst-32560	103	17	the	the	DET
ajst-32560	103	18	oscillation	oscillation	NOUN
ajst-32560	103	19	of	of	ADP
ajst-32560	103	20	the	the	DET
ajst-32560	103	21	body	body	NOUN
ajst-32560	103	22	of	of	ADP
ajst-32560	103	23	the	the	DET
ajst-32560	103	24	robot	robot	NOUN
ajst-32560	103	25	.	.	PUNCT
ajst-32560	104	1	since	since	SCONJ
ajst-32560	104	2	the	the	DET
ajst-32560	104	3	z	z	NOUN
ajst-32560	104	4	value	value	NOUN
ajst-32560	104	5	is	be	AUX
ajst-32560	104	6	modeled	model	VERB
ajst-32560	104	7	by	by	ADP
ajst-32560	104	8	a	a	DET
ajst-32560	104	9	sine	sine	ADJ
ajst-32560	104	10	wave	wave	NOUN
ajst-32560	104	11	,	,	PUNCT
ajst-32560	104	12	it	it	PRON
ajst-32560	104	13	can	can	AUX
ajst-32560	104	14	be	be	AUX
ajst-32560	104	15	considered	consider	VERB
ajst-32560	104	16	as	as	ADP
ajst-32560	104	17	a	a	DET
ajst-32560	104	18	simple	simple	ADJ
ajst-32560	104	19	harmonic	harmonic	ADJ
ajst-32560	104	20	motion	motion	NOUN
ajst-32560	104	21	.	.	PUNCT
ajst-32560	105	1	so	so	ADV
ajst-32560	105	2	we	we	PRON
ajst-32560	105	3	recorded	record	VERB
ajst-32560	105	4	the	the	DET
ajst-32560	105	5	motion	motion	NOUN
ajst-32560	105	6	of	of	ADP
ajst-32560	105	7	the	the	DET
ajst-32560	105	8	robot	robot	NOUN
ajst-32560	105	9	’s	’s	PART
ajst-32560	105	10	body	body	NOUN
ajst-32560	105	11	from	from	ADP
ajst-32560	105	12	its	its	PRON
ajst-32560	105	13	side	side	NOUN
ajst-32560	105	14	and	and	CCONJ
ajst-32560	105	15	measured	measure	VERB
ajst-32560	105	16	the	the	DET
ajst-32560	105	17	amplitude	amplitude	NOUN
ajst-32560	105	18	under	under	ADP
ajst-32560	105	19	6	6	NUM
ajst-32560	105	20	different	different	ADJ
ajst-32560	105	21	circumstances	circumstance	NOUN
ajst-32560	105	22	.	.	PUNCT
ajst-32560	106	1	table	table	NOUN
ajst-32560	106	2	3	3	NUM
ajst-32560	106	3	.	.	PUNCT
ajst-32560	106	4	vertical	vertical	ADJ
ajst-32560	106	5	offset	offset	PROPN
ajst-32560	106	6	data	datum	NOUN
ajst-32560	106	7	gait	gait	NOUN
ajst-32560	106	8	tripod	tripod	NOUN
ajst-32560	106	9	settings	setting	VERB
ajst-32560	106	10	120	120	NUM
ajst-32560	106	11	85	85	NUM
ajst-32560	106	12	45	45	NUM
ajst-32560	106	13	amplitude(unit	amplitude(unit	PROPN
ajst-32560	106	14	)	)	PUNCT
ajst-32560	106	15	2.1	2.1	NUM
ajst-32560	106	16	2.2	2.2	NUM
ajst-32560	106	17	2.1	2.1	NUM
ajst-32560	106	18	3.5	3.5	NUM
ajst-32560	106	19	3.5	3.5	NUM
ajst-32560	106	20	3.6	3.6	NUM
ajst-32560	106	21	2.5	2.5	NUM
ajst-32560	106	22	2.5	2.5	NUM
ajst-32560	106	23	2.5	2.5	NUM
ajst-32560	106	24	gait	gait	ADJ
ajst-32560	106	25	quadruped	quadruped	NOUN
ajst-32560	106	26	settings	setting	NOUN
ajst-32560	106	27	120	120	NUM
ajst-32560	106	28	85	85	NUM
ajst-32560	106	29	45	45	NUM
ajst-32560	106	30	amplitude(unit	amplitude(unit	PROPN
ajst-32560	106	31	)	)	PUNCT
ajst-32560	106	32	1.5	1.5	NUM
ajst-32560	106	33	1.5	1.5	NUM
ajst-32560	106	34	1.4	1.4	NUM
ajst-32560	106	35	0.8	0.8	NUM
ajst-32560	106	36	0.9	0.9	NUM
ajst-32560	106	37	0.8	0.8	NUM
ajst-32560	106	38	0.1	0.1	NUM
ajst-32560	106	39	0.1	0.1	NUM
ajst-32560	106	40	0.1	0.1	NUM
ajst-32560	106	41	table	table	NOUN
ajst-32560	106	42	4	4	NUM
ajst-32560	106	43	.	.	PUNCT
ajst-32560	106	44	two	two	NUM
ajst-32560	106	45	-	-	PUNCT
ajst-32560	106	46	way	way	NOUN
ajst-32560	106	47	anova	anova	X
ajst-32560	106	48	summary	summary	NOUN
ajst-32560	106	49	table	table	NOUN
ajst-32560	106	50	regarding	regard	VERB
ajst-32560	106	51	amplitude	amplitude	NOUN
ajst-32560	106	52	sum	sum	NOUN
ajst-32560	106	53	of	of	ADP
ajst-32560	106	54	squares	square	NOUN
ajst-32560	106	55	df	df	PROPN
ajst-32560	106	56	mean	mean	PROPN
ajst-32560	106	57	square	square	PROPN
ajst-32560	106	58	f	f	PROPN
ajst-32560	107	1	p	p	ADJ
ajst-32560	107	2	-	-	PUNCT
ajst-32560	107	3	value	value	NOUN
ajst-32560	107	4	significance	significance	NOUN
ajst-32560	107	5	settings	setting	VERB
ajst-32560	107	6	16.6272	16.6272	NUM
ajst-32560	107	7	1	1	NUM
ajst-32560	107	8	16.6272	16.6272	NUM
ajst-32560	107	9	16.99	16.99	NUM
ajst-32560	107	10	0.0000	0.0000	NUM
ajst-32560	107	11	significant	significant	ADJ
ajst-32560	107	12	gait	gait	NOUN
ajst-32560	107	13	2.3544	2.3544	NUM
ajst-32560	107	14	2	2	NUM
ajst-32560	107	15	1.1772	1.1772	NUM
ajst-32560	107	16	0.20	0.20	NUM
ajst-32560	107	17	0.0000	0.0000	NUM
ajst-32560	107	18	significant	significant	ADJ
ajst-32560	107	19	gait	gait	ADJ
ajst-32560	107	20	×	×	NOUN
ajst-32560	107	21	settings	setting	NOUN
ajst-32560	107	22	3.6144	3.6144	NUM
ajst-32560	107	23	2	2	NUM
ajst-32560	107	24	1.8072	1.8072	NUM
ajst-32560	107	25	0.05	0.05	NUM
ajst-32560	107	26	0.0000	0.0000	NUM
ajst-32560	107	27	significant	significant	ADJ
ajst-32560	107	28	residual(error	residual(error	NOUN
ajst-32560	107	29	)	)	PUNCT
ajst-32560	107	30	.0267	.0267	NOUN
ajst-32560	108	1	12	12	NUM
ajst-32560	108	2	.0022	.0022	NOUN
ajst-32560	108	3	r	r	X
ajst-32560	108	4	-	-	PUNCT
ajst-32560	108	5	squared	square	VERB
ajst-32560	108	6	0.9988	0.9988	NUM
ajst-32560	108	7	table	table	NOUN
ajst-32560	108	8	4	4	NUM
ajst-32560	108	9	demonstrates	demonstrate	VERB
ajst-32560	108	10	that	that	SCONJ
ajst-32560	108	11	both	both	CCONJ
ajst-32560	108	12	the	the	DET
ajst-32560	108	13	type	type	NOUN
ajst-32560	108	14	of	of	ADP
ajst-32560	108	15	gaits	gait	NOUN
ajst-32560	108	16	and	and	CCONJ
ajst-32560	108	17	different	different	ADJ
ajst-32560	108	18	settings	setting	NOUN
ajst-32560	108	19	individually	individually	ADV
ajst-32560	108	20	have	have	VERB
ajst-32560	108	21	strong	strong	ADJ
ajst-32560	108	22	effects	effect	NOUN
ajst-32560	108	23	on	on	ADP
ajst-32560	108	24	vertical	vertical	ADJ
ajst-32560	108	25	offsets	offset	NOUN
ajst-32560	108	26	.	.	PUNCT
ajst-32560	109	1	their	their	PRON
ajst-32560	109	2	interaction	interaction	NOUN
ajst-32560	109	3	is	be	AUX
ajst-32560	109	4	also	also	ADV
ajst-32560	109	5	significant	significant	ADJ
ajst-32560	109	6	,	,	PUNCT
ajst-32560	109	7	implying	imply	VERB
ajst-32560	109	8	a	a	DET
ajst-32560	109	9	combined	combine	VERB
ajst-32560	109	10	influence	influence	NOUN
ajst-32560	109	11	.	.	PUNCT
ajst-32560	110	1	in	in	ADP
ajst-32560	110	2	this	this	DET
ajst-32560	110	3	case	case	NOUN
ajst-32560	110	4	,	,	PUNCT
ajst-32560	110	5	the	the	DET
ajst-32560	110	6	model	model	NOUN
ajst-32560	110	7	explains	explain	VERB
ajst-32560	110	8	nearly	nearly	ADV
ajst-32560	110	9	all	all	DET
ajst-32560	110	10	the	the	DET
ajst-32560	110	11	variability	variability	NOUN
ajst-32560	110	12	in	in	ADP
ajst-32560	110	13	the	the	DET
ajst-32560	110	14	data	datum	NOUN
ajst-32560	110	15	with	with	ADP
ajst-32560	110	16	minimal	minimal	ADJ
ajst-32560	110	17	residual	residual	ADJ
ajst-32560	110	18	error	error	NOUN
ajst-32560	110	19	(	(	PUNCT
ajst-32560	110	20	r	r	NOUN
ajst-32560	110	21	-	-	PUNCT
ajst-32560	110	22	squared	square	VERB
ajst-32560	110	23	value	value	NOUN
ajst-32560	110	24	of	of	ADP
ajst-32560	110	25	0.9988	0.9988	NUM
ajst-32560	110	26	)	)	PUNCT
ajst-32560	110	27	.	.	PUNCT
ajst-32560	111	1	in	in	ADP
ajst-32560	111	2	conclusion	conclusion	NOUN
ajst-32560	111	3	,	,	PUNCT
ajst-32560	111	4	tripod	tripod	NOUN
ajst-32560	111	5	gaits	gait	NOUN
ajst-32560	111	6	have	have	VERB
ajst-32560	111	7	larger	large	ADJ
ajst-32560	111	8	amplitudes	amplitude	NOUN
ajst-32560	111	9	than	than	ADP
ajst-32560	111	10	quadruped	quadruped	NOUN
ajst-32560	111	11	gaits	gait	NOUN
ajst-32560	111	12	.	.	PUNCT
ajst-32560	112	1	for	for	ADP
ajst-32560	112	2	tripod	tripod	NOUN
ajst-32560	112	3	,	,	PUNCT
ajst-32560	112	4	setting	set	VERB
ajst-32560	112	5	"	"	PUNCT
ajst-32560	112	6	85	85	NUM
ajst-32560	112	7	"	"	PUNCT
ajst-32560	112	8	has	have	VERB
ajst-32560	112	9	the	the	DET
ajst-32560	112	10	greatest	great	ADJ
ajst-32560	112	11	amplitude	amplitude	NOUN
ajst-32560	112	12	,	,	PUNCT
ajst-32560	112	13	and	and	CCONJ
ajst-32560	112	14	setting	set	VERB
ajst-32560	112	15	"	"	PUNCT
ajst-32560	112	16	120	120	NUM
ajst-32560	112	17	"	"	PUNCT
ajst-32560	112	18	has	have	VERB
ajst-32560	112	19	the	the	DET
ajst-32560	112	20	smallest	small	ADJ
ajst-32560	112	21	.	.	PUNCT
ajst-32560	113	1	for	for	ADP
ajst-32560	113	2	quadruped	quadruped	NOUN
ajst-32560	113	3	,	,	PUNCT
ajst-32560	113	4	setting	set	VERB
ajst-32560	113	5	"	"	PUNCT
ajst-32560	113	6	120	120	NUM
ajst-32560	113	7	"	"	PUNCT
ajst-32560	113	8	has	have	VERB
ajst-32560	113	9	the	the	DET
ajst-32560	113	10	greatest	great	ADJ
ajst-32560	113	11	amplitude	amplitude	NOUN
ajst-32560	113	12	,	,	PUNCT
ajst-32560	113	13	and	and	CCONJ
ajst-32560	113	14	setting	set	VERB
ajst-32560	113	15	"	"	PUNCT
ajst-32560	113	16	45	45	NUM
ajst-32560	113	17	"	"	PUNCT
ajst-32560	113	18	has	have	VERB
ajst-32560	113	19	the	the	DET
ajst-32560	113	20	smallest	small	ADJ
ajst-32560	113	21	.	.	PUNCT
ajst-32560	114	1	4.3	4.3	NUM
ajst-32560	114	2	slipping	slip	VERB
ajst-32560	114	3	when	when	SCONJ
ajst-32560	114	4	the	the	DET
ajst-32560	114	5	robot	robot	NOUN
ajst-32560	114	6	walks	walk	VERB
ajst-32560	114	7	,	,	PUNCT
ajst-32560	114	8	we	we	PRON
ajst-32560	114	9	found	find	VERB
ajst-32560	114	10	that	that	SCONJ
ajst-32560	114	11	its	its	PRON
ajst-32560	114	12	legs	leg	NOUN
ajst-32560	114	13	would	would	AUX
ajst-32560	114	14	inevitably	inevitably	ADV
ajst-32560	114	15	slip	slip	VERB
ajst-32560	114	16	.	.	PUNCT
ajst-32560	115	1	the	the	PRON
ajst-32560	115	2	more	more	ADV
ajst-32560	115	3	its	its	PRON
ajst-32560	115	4	legs	leg	NOUN
ajst-32560	115	5	slip	slip	VERB
ajst-32560	115	6	when	when	SCONJ
ajst-32560	115	7	it	it	PRON
ajst-32560	115	8	is	be	AUX
ajst-32560	115	9	propelling	propel	VERB
ajst-32560	115	10	or	or	CCONJ
ajst-32560	115	11	lagging	lag	VERB
ajst-32560	115	12	,	,	PUNCT
ajst-32560	115	13	the	the	DET
ajst-32560	115	14	more	more	ADV
ajst-32560	115	15	inefficient	inefficient	ADJ
ajst-32560	115	16	this	this	DET
ajst-32560	115	17	stage	stage	NOUN
ajst-32560	115	18	will	will	AUX
ajst-32560	115	19	be	be	AUX
ajst-32560	115	20	,	,	PUNCT
ajst-32560	115	21	so	so	ADV
ajst-32560	115	22	the	the	DET
ajst-32560	115	23	distance	distance	NOUN
ajst-32560	115	24	travelled	travel	VERB
ajst-32560	115	25	will	will	AUX
ajst-32560	115	26	decrease	decrease	VERB
ajst-32560	115	27	.	.	PUNCT
ajst-32560	116	1	167	167	NUM
ajst-32560	116	2	in	in	ADP
ajst-32560	116	3	order	order	NOUN
ajst-32560	116	4	to	to	PART
ajst-32560	116	5	evaluate	evaluate	VERB
ajst-32560	116	6	the	the	DET
ajst-32560	116	7	degree	degree	NOUN
ajst-32560	116	8	of	of	ADP
ajst-32560	116	9	slippage	slippage	NOUN
ajst-32560	116	10	,	,	PUNCT
ajst-32560	116	11	we	we	PRON
ajst-32560	116	12	measured	measure	VERB
ajst-32560	116	13	the	the	DET
ajst-32560	116	14	total	total	ADJ
ajst-32560	116	15	distance	distance	NOUN
ajst-32560	116	16	traveled	travel	VERB
ajst-32560	116	17	by	by	ADP
ajst-32560	116	18	the	the	DET
ajst-32560	116	19	robot	robot	NOUN
ajst-32560	116	20	under	under	ADP
ajst-32560	116	21	two	two	NUM
ajst-32560	116	22	different	different	ADJ
ajst-32560	116	23	gaits	gait	NOUN
ajst-32560	116	24	and	and	CCONJ
ajst-32560	116	25	3	3	NUM
ajst-32560	116	26	different	different	ADJ
ajst-32560	116	27	settings	setting	NOUN
ajst-32560	116	28	over	over	ADP
ajst-32560	116	29	a	a	DET
ajst-32560	116	30	fixed	fix	VERB
ajst-32560	116	31	number	number	NOUN
ajst-32560	116	32	of	of	ADP
ajst-32560	116	33	steps	step	NOUN
ajst-32560	116	34	.	.	PUNCT
ajst-32560	117	1	the	the	DET
ajst-32560	117	2	corresponding	corresponding	ADJ
ajst-32560	117	3	data	datum	NOUN
ajst-32560	117	4	are	be	AUX
ajst-32560	117	5	presented	present	VERB
ajst-32560	117	6	in	in	ADP
ajst-32560	117	7	the	the	DET
ajst-32560	117	8	table	table	NOUN
ajst-32560	117	9	below	below	ADV
ajst-32560	117	10	.	.	PUNCT
ajst-32560	118	1	table	table	NOUN
ajst-32560	118	2	5	5	NUM
ajst-32560	118	3	.	.	PUNCT
ajst-32560	119	1	slipping	slip	VERB
ajst-32560	119	2	data	datum	NOUN
ajst-32560	119	3	gait	gait	NOUN
ajst-32560	119	4	tripod	tripod	NOUN
ajst-32560	119	5	settings	setting	VERB
ajst-32560	119	6	120	120	NUM
ajst-32560	119	7	85	85	NUM
ajst-32560	119	8	45	45	NUM
ajst-32560	119	9	total	total	ADJ
ajst-32560	119	10	distance	distance	NOUN
ajst-32560	119	11	(	(	PUNCT
ajst-32560	119	12	cm	cm	NOUN
ajst-32560	119	13	)	)	PUNCT
ajst-32560	119	14	160	160	NUM
ajst-32560	119	15	160	160	NUM
ajst-32560	119	16	160	160	NUM
ajst-32560	119	17	130	130	NUM
ajst-32560	119	18	130	130	NUM
ajst-32560	119	19	130	130	NUM
ajst-32560	119	20	155	155	NUM
ajst-32560	119	21	160	160	NUM
ajst-32560	119	22	160	160	NUM
ajst-32560	119	23	gait	gait	ADJ
ajst-32560	119	24	quadruped	quadruped	NOUN
ajst-32560	119	25	settings	setting	NOUN
ajst-32560	119	26	120	120	NUM
ajst-32560	119	27	85	85	NUM
ajst-32560	119	28	45	45	NUM
ajst-32560	119	29	total	total	ADJ
ajst-32560	119	30	distance	distance	NOUN
ajst-32560	119	31	(	(	PUNCT
ajst-32560	119	32	cm	cm	NOUN
ajst-32560	119	33	)	)	PUNCT
ajst-32560	120	1	180	180	NUM
ajst-32560	120	2	180	180	NUM
ajst-32560	120	3	180	180	NUM
ajst-32560	120	4	140	140	NUM
ajst-32560	120	5	120	120	NUM
ajst-32560	120	6	120	120	NUM
ajst-32560	120	7	190	190	NUM
ajst-32560	120	8	200	200	NUM
ajst-32560	120	9	200	200	NUM
ajst-32560	120	10	table	table	NOUN
ajst-32560	120	11	6	6	NUM
ajst-32560	120	12	.	.	PUNCT
ajst-32560	121	1	two	two	NUM
ajst-32560	121	2	-	-	PUNCT
ajst-32560	121	3	way	way	NOUN
ajst-32560	121	4	anova	anova	X
ajst-32560	121	5	summary	summary	NOUN
ajst-32560	121	6	table	table	NOUN
ajst-32560	121	7	regarding	regard	VERB
ajst-32560	121	8	slipping	slip	VERB
ajst-32560	121	9	sum	sum	NOUN
ajst-32560	121	10	of	of	ADP
ajst-32560	121	11	squares	square	NOUN
ajst-32560	122	1	df	df	PROPN
ajst-32560	122	2	mean	mean	PROPN
ajst-32560	122	3	square	square	PROPN
ajst-32560	122	4	f	f	PROPN
ajst-32560	123	1	p	p	ADJ
ajst-32560	123	2	-	-	PUNCT
ajst-32560	123	3	value	value	NOUN
ajst-32560	123	4	significance	significance	NOUN
ajst-32560	123	5	settings	setting	VERB
ajst-32560	123	6	1512.5	1512.5	NUM
ajst-32560	123	7	1	1	NUM
ajst-32560	123	8	1512.5	1512.5	NUM
ajst-32560	123	9	51.86	51.86	NUM
ajst-32560	123	10	0.0000	0.0000	NUM
ajst-32560	123	11	significant	significant	ADJ
ajst-32560	123	12	gait	gait	NOUN
ajst-32560	123	13	8419.4444	8419.4444	NUM
ajst-32560	123	14	2	2	NUM
ajst-32560	123	15	4209.7222	4209.7222	NOUN
ajst-32560	123	16	144.33	144.33	NUM
ajst-32560	123	17	0.0000	0.0000	NUM
ajst-32560	123	18	significant	significant	ADJ
ajst-32560	123	19	gait	gait	ADJ
ajst-32560	123	20	×	×	NOUN
ajst-32560	123	21	settings	setting	NOUN
ajst-32560	123	22	1308.3333	1308.3333	NUM
ajst-32560	123	23	2	2	NUM
ajst-32560	123	24	654.1667	654.1667	NUM
ajst-32560	123	25	22.43	22.43	NUM
ajst-32560	123	26	0.0000	0.0000	NUM
ajst-32560	123	27	significant	significant	ADJ
ajst-32560	123	28	residual(error	residual(error	NOUN
ajst-32560	123	29	)	)	PUNCT
ajst-32560	123	30	350	350	NUM
ajst-32560	123	31	12	12	NUM
ajst-32560	123	32	29.1667	29.1667	NUM
ajst-32560	123	33	r	r	NOUN
ajst-32560	123	34	-	-	PUNCT
ajst-32560	123	35	squared	square	VERB
ajst-32560	123	36	0.9698	0.9698	NUM
ajst-32560	123	37	the	the	DET
ajst-32560	123	38	results	result	NOUN
ajst-32560	123	39	indicate	indicate	VERB
ajst-32560	123	40	that	that	SCONJ
ajst-32560	123	41	both	both	DET
ajst-32560	123	42	settings	setting	NOUN
ajst-32560	123	43	and	and	CCONJ
ajst-32560	123	44	gait	gait	NOUN
ajst-32560	123	45	,	,	PUNCT
ajst-32560	123	46	as	as	ADV
ajst-32560	123	47	well	well	ADV
ajst-32560	123	48	as	as	ADP
ajst-32560	123	49	their	their	PRON
ajst-32560	123	50	interaction	interaction	NOUN
ajst-32560	123	51	,	,	PUNCT
ajst-32560	123	52	had	have	VERB
ajst-32560	123	53	statistically	statistically	ADV
ajst-32560	123	54	significant	significant	ADJ
ajst-32560	123	55	effects	effect	NOUN
ajst-32560	123	56	on	on	ADP
ajst-32560	123	57	slipping	slip	VERB
ajst-32560	123	58	(	(	PUNCT
ajst-32560	123	59	all	all	DET
ajst-32560	123	60	p	p	NOUN
ajst-32560	123	61	-	-	PUNCT
ajst-32560	123	62	values	value	NOUN
ajst-32560	123	63	<	<	X
ajst-32560	123	64	0.001	0.001	NUM
ajst-32560	123	65	)	)	PUNCT
ajst-32560	123	66	.	.	PUNCT
ajst-32560	124	1	the	the	DET
ajst-32560	124	2	high	high	ADJ
ajst-32560	124	3	r	r	NOUN
ajst-32560	124	4	-	-	PUNCT
ajst-32560	124	5	squared	square	VERB
ajst-32560	124	6	value	value	NOUN
ajst-32560	124	7	(	(	PUNCT
ajst-32560	124	8	0.9698	0.9698	NUM
ajst-32560	124	9	)	)	PUNCT
ajst-32560	124	10	suggests	suggest	VERB
ajst-32560	124	11	that	that	SCONJ
ajst-32560	124	12	the	the	DET
ajst-32560	124	13	model	model	NOUN
ajst-32560	124	14	explains	explain	VERB
ajst-32560	124	15	approximately	approximately	ADV
ajst-32560	124	16	97	97	NUM
ajst-32560	124	17	%	%	NOUN
ajst-32560	124	18	of	of	ADP
ajst-32560	124	19	the	the	DET
ajst-32560	124	20	variance	variance	NOUN
ajst-32560	124	21	in	in	ADP
ajst-32560	124	22	the	the	DET
ajst-32560	124	23	response	response	NOUN
ajst-32560	124	24	variable	variable	NOUN
ajst-32560	124	25	.	.	PUNCT
ajst-32560	125	1	4.4	4.4	NUM
ajst-32560	125	2	sources	source	NOUN
ajst-32560	125	3	of	of	ADP
ajst-32560	125	4	error	error	NOUN
ajst-32560	125	5	by	by	ADP
ajst-32560	125	6	observing	observe	VERB
ajst-32560	125	7	the	the	DET
ajst-32560	125	8	motion	motion	NOUN
ajst-32560	125	9	of	of	ADP
ajst-32560	125	10	the	the	DET
ajst-32560	125	11	robot	robot	NOUN
ajst-32560	125	12	,	,	PUNCT
ajst-32560	125	13	we	we	PRON
ajst-32560	125	14	noticed	notice	VERB
ajst-32560	125	15	several	several	ADJ
ajst-32560	125	16	causes	cause	NOUN
ajst-32560	125	17	of	of	ADP
ajst-32560	125	18	turning	turn	VERB
ajst-32560	125	19	during	during	ADP
ajst-32560	125	20	an	an	DET
ajst-32560	125	21	intended	intended	ADJ
ajst-32560	125	22	straight	straight	ADJ
ajst-32560	125	23	movement	movement	NOUN
ajst-32560	125	24	.	.	PUNCT
ajst-32560	126	1	first	first	ADV
ajst-32560	126	2	is	be	AUX
ajst-32560	126	3	the	the	DET
ajst-32560	126	4	lateral	lateral	ADJ
ajst-32560	126	5	slipping	slipping	NOUN
ajst-32560	126	6	.	.	PUNCT
ajst-32560	127	1	if	if	SCONJ
ajst-32560	127	2	the	the	DET
ajst-32560	127	3	robot	robot	NOUN
ajst-32560	127	4	's	's	PART
ajst-32560	127	5	leg	leg	NOUN
ajst-32560	127	6	hits	hit	VERB
ajst-32560	127	7	the	the	DET
ajst-32560	127	8	ground	ground	NOUN
ajst-32560	127	9	(	(	PUNCT
ajst-32560	127	10	entering	enter	VERB
ajst-32560	127	11	the	the	DET
ajst-32560	127	12	propelling	propelling	NOUN
ajst-32560	127	13	/	/	SYM
ajst-32560	127	14	supporting	support	VERB
ajst-32560	127	15	stage	stage	NOUN
ajst-32560	127	16	)	)	PUNCT
ajst-32560	127	17	at	at	ADP
ajst-32560	127	18	an	an	DET
ajst-32560	127	19	incorrect	incorrect	ADJ
ajst-32560	127	20	angle	angle	NOUN
ajst-32560	127	21	,	,	PUNCT
ajst-32560	127	22	the	the	DET
ajst-32560	127	23	angle	angle	NOUN
ajst-32560	127	24	of	of	ADP
ajst-32560	127	25	the	the	DET
ajst-32560	127	26	tibia	tibia	NOUN
ajst-32560	127	27	joint	joint	NOUN
ajst-32560	127	28	might	might	AUX
ajst-32560	127	29	be	be	AUX
ajst-32560	127	30	deflected	deflect	VERB
ajst-32560	127	31	.	.	PUNCT
ajst-32560	128	1	as	as	ADP
ajst-32560	128	2	a	a	DET
ajst-32560	128	3	result	result	NOUN
ajst-32560	128	4	,	,	PUNCT
ajst-32560	128	5	the	the	DET
ajst-32560	128	6	effective	effective	ADJ
ajst-32560	128	7	normal	normal	ADJ
ajst-32560	128	8	reaction	reaction	NOUN
ajst-32560	128	9	force	force	NOUN
ajst-32560	128	10	from	from	ADP
ajst-32560	128	11	the	the	DET
ajst-32560	128	12	ground	ground	NOUN
ajst-32560	128	13	will	will	AUX
ajst-32560	128	14	decrease	decrease	VERB
ajst-32560	128	15	,	,	PUNCT
ajst-32560	128	16	decreasing	decrease	VERB
ajst-32560	128	17	the	the	DET
ajst-32560	128	18	effective	effective	ADJ
ajst-32560	128	19	frictional	frictional	ADJ
ajst-32560	128	20	force	force	NOUN
ajst-32560	128	21	that	that	PRON
ajst-32560	128	22	can	can	AUX
ajst-32560	128	23	be	be	AUX
ajst-32560	128	24	exerted	exert	VERB
ajst-32560	128	25	upon	upon	SCONJ
ajst-32560	128	26	the	the	DET
ajst-32560	128	27	robot	robot	NOUN
ajst-32560	128	28	during	during	ADP
ajst-32560	128	29	the	the	DET
ajst-32560	128	30	propelling	propelling	NOUN
ajst-32560	128	31	stage	stage	NOUN
ajst-32560	128	32	.	.	PUNCT
ajst-32560	129	1	to	to	PART
ajst-32560	129	2	be	be	AUX
ajst-32560	129	3	more	more	ADV
ajst-32560	129	4	specific	specific	ADJ
ajst-32560	129	5	,	,	PUNCT
ajst-32560	129	6	to	to	PART
ajst-32560	129	7	increase	increase	VERB
ajst-32560	129	8	the	the	DET
ajst-32560	129	9	frictional	frictional	ADJ
ajst-32560	129	10	force	force	NOUN
ajst-32560	129	11	,	,	PUNCT
ajst-32560	129	12	legs	leg	NOUN
ajst-32560	129	13	should	should	AUX
ajst-32560	129	14	be	be	AUX
ajst-32560	129	15	closer	close	ADJ
ajst-32560	129	16	to	to	ADP
ajst-32560	129	17	normal	normal	ADJ
ajst-32560	129	18	to	to	ADP
ajst-32560	129	19	the	the	DET
ajst-32560	129	20	ground	ground	NOUN
ajst-32560	129	21	when	when	SCONJ
ajst-32560	129	22	in	in	ADP
ajst-32560	129	23	contact	contact	NOUN
ajst-32560	129	24	with	with	ADP
ajst-32560	129	25	the	the	DET
ajst-32560	129	26	ground	ground	NOUN
ajst-32560	129	27	.	.	PUNCT
ajst-32560	130	1	this	this	DET
ajst-32560	130	2	difference	difference	NOUN
ajst-32560	130	3	in	in	ADP
ajst-32560	130	4	frictional	frictional	ADJ
ajst-32560	130	5	forces	force	NOUN
ajst-32560	130	6	will	will	AUX
ajst-32560	130	7	cause	cause	VERB
ajst-32560	130	8	this	this	DET
ajst-32560	130	9	side	side	NOUN
ajst-32560	130	10	of	of	ADP
ajst-32560	130	11	the	the	DET
ajst-32560	130	12	robot	robot	NOUN
ajst-32560	130	13	to	to	PART
ajst-32560	130	14	move	move	VERB
ajst-32560	130	15	more	more	ADV
ajst-32560	130	16	slowy	slowy	ADJ
ajst-32560	130	17	than	than	ADP
ajst-32560	130	18	the	the	DET
ajst-32560	130	19	other	other	ADJ
ajst-32560	130	20	side	side	NOUN
ajst-32560	130	21	.	.	PUNCT
ajst-32560	131	1	another	another	DET
ajst-32560	131	2	factor	factor	NOUN
ajst-32560	131	3	is	be	AUX
ajst-32560	131	4	the	the	DET
ajst-32560	131	5	faulty	faulty	ADJ
ajst-32560	131	6	calibration	calibration	NOUN
ajst-32560	131	7	of	of	ADP
ajst-32560	131	8	the	the	DET
ajst-32560	131	9	hip	hip	NOUN
ajst-32560	131	10	joints	joint	NOUN
ajst-32560	131	11	,	,	PUNCT
ajst-32560	131	12	which	which	PRON
ajst-32560	131	13	breaks	break	VERB
ajst-32560	131	14	the	the	DET
ajst-32560	131	15	symmetry	symmetry	NOUN
ajst-32560	131	16	of	of	ADP
ajst-32560	131	17	the	the	DET
ajst-32560	131	18	two	two	NUM
ajst-32560	131	19	corresponding	correspond	VERB
ajst-32560	131	20	legs	leg	NOUN
ajst-32560	131	21	on	on	ADP
ajst-32560	131	22	different	different	ADJ
ajst-32560	131	23	sides	side	NOUN
ajst-32560	131	24	,	,	PUNCT
ajst-32560	131	25	which	which	PRON
ajst-32560	131	26	means	mean	VERB
ajst-32560	131	27	that	that	SCONJ
ajst-32560	131	28	the	the	DET
ajst-32560	131	29	pair	pair	NOUN
ajst-32560	131	30	of	of	ADP
ajst-32560	131	31	legs	leg	NOUN
ajst-32560	131	32	will	will	AUX
ajst-32560	131	33	not	not	PART
ajst-32560	131	34	be	be	AUX
ajst-32560	131	35	propelling	propel	VERB
ajst-32560	131	36	directly	directly	ADV
ajst-32560	131	37	forward	forward	ADV
ajst-32560	131	38	.	.	PUNCT
ajst-32560	132	1	normally	normally	ADV
ajst-32560	132	2	,	,	PUNCT
ajst-32560	132	3	apart	apart	ADV
ajst-32560	132	4	from	from	ADP
ajst-32560	132	5	the	the	DET
ajst-32560	132	6	middle	middle	ADJ
ajst-32560	132	7	legs	leg	NOUN
ajst-32560	132	8	,	,	PUNCT
ajst-32560	132	9	each	each	DET
ajst-32560	132	10	leg	leg	NOUN
ajst-32560	132	11	in	in	ADP
ajst-32560	132	12	the	the	DET
ajst-32560	132	13	other	other	ADJ
ajst-32560	132	14	two	two	NUM
ajst-32560	132	15	pairs	pair	NOUN
ajst-32560	132	16	of	of	ADP
ajst-32560	132	17	legs	leg	NOUN
ajst-32560	132	18	will	will	AUX
ajst-32560	132	19	produce	produce	VERB
ajst-32560	132	20	a	a	DET
ajst-32560	132	21	force	force	NOUN
ajst-32560	132	22	with	with	ADP
ajst-32560	132	23	a	a	DET
ajst-32560	132	24	non	non	ADJ
ajst-32560	132	25	zero	zero	NUM
ajst-32560	132	26	lateral	lateral	ADJ
ajst-32560	132	27	component	component	NOUN
ajst-32560	132	28	,	,	PUNCT
ajst-32560	132	29	which	which	PRON
ajst-32560	132	30	should	should	AUX
ajst-32560	132	31	cancel	cancel	VERB
ajst-32560	132	32	out	out	ADP
ajst-32560	132	33	with	with	ADP
ajst-32560	132	34	the	the	DET
ajst-32560	132	35	latertal	latertal	ADJ
ajst-32560	132	36	component	component	NOUN
ajst-32560	132	37	from	from	ADP
ajst-32560	132	38	the	the	DET
ajst-32560	132	39	cooressponding	cooressponde	VERB
ajst-32560	132	40	leg	leg	NOUN
ajst-32560	132	41	,	,	PUNCT
ajst-32560	132	42	however	however	ADV
ajst-32560	132	43	if	if	SCONJ
ajst-32560	132	44	the	the	DET
ajst-32560	132	45	hip	hip	NOUN
ajst-32560	132	46	joint	joint	NOUN
ajst-32560	132	47	is	be	AUX
ajst-32560	132	48	not	not	PART
ajst-32560	132	49	perfectly	perfectly	ADV
ajst-32560	132	50	callibrated	callibrate	VERB
ajst-32560	132	51	,	,	PUNCT
ajst-32560	132	52	the	the	DET
ajst-32560	132	53	direction	direction	NOUN
ajst-32560	132	54	of	of	ADP
ajst-32560	132	55	the	the	DET
ajst-32560	132	56	propelling	propel	VERB
ajst-32560	132	57	force	force	NOUN
ajst-32560	132	58	will	will	AUX
ajst-32560	132	59	change	change	VERB
ajst-32560	132	60	,	,	PUNCT
ajst-32560	132	61	and	and	CCONJ
ajst-32560	132	62	the	the	DET
ajst-32560	132	63	lateral	lateral	ADJ
ajst-32560	132	64	component	component	NOUN
ajst-32560	132	65	will	will	AUX
ajst-32560	132	66	not	not	PART
ajst-32560	132	67	cancel	cancel	VERB
ajst-32560	132	68	out	out	ADP
ajst-32560	132	69	perfectly	perfectly	ADV
ajst-32560	132	70	,	,	PUNCT
ajst-32560	132	71	causing	cause	VERB
ajst-32560	132	72	the	the	DET
ajst-32560	132	73	robot	robot	NOUN
ajst-32560	132	74	to	to	PART
ajst-32560	132	75	turn	turn	VERB
ajst-32560	132	76	slightly	slightly	ADV
ajst-32560	132	77	.	.	PUNCT
ajst-32560	133	1	a	a	DET
ajst-32560	133	2	third	third	ADJ
ajst-32560	133	3	factor	factor	NOUN
ajst-32560	133	4	is	be	AUX
ajst-32560	133	5	the	the	DET
ajst-32560	133	6	slight	slight	ADJ
ajst-32560	133	7	difference	difference	NOUN
ajst-32560	133	8	in	in	ADP
ajst-32560	133	9	the	the	DET
ajst-32560	133	10	foot	foot	NOUN
ajst-32560	133	11	cover	cover	NOUN
ajst-32560	133	12	;	;	PUNCT
ajst-32560	133	13	some	some	DET
ajst-32560	133	14	legs	leg	NOUN
ajst-32560	133	15	might	might	AUX
ajst-32560	133	16	be	be	AUX
ajst-32560	133	17	exerting	exert	VERB
ajst-32560	133	18	a	a	DET
ajst-32560	133	19	greater	great	ADJ
ajst-32560	133	20	force	force	NOUN
ajst-32560	133	21	while	while	SCONJ
ajst-32560	133	22	propelling	propel	VERB
ajst-32560	133	23	,	,	PUNCT
ajst-32560	133	24	so	so	ADV
ajst-32560	133	25	we	we	PRON
ajst-32560	133	26	tried	try	VERB
ajst-32560	133	27	to	to	PART
ajst-32560	133	28	improve	improve	VERB
ajst-32560	133	29	this	this	PRON
ajst-32560	133	30	by	by	ADP
ajst-32560	133	31	cutting	cut	VERB
ajst-32560	133	32	the	the	DET
ajst-32560	133	33	foot	foot	NOUN
ajst-32560	133	34	cover	cover	VERB
ajst-32560	133	35	more	more	ADV
ajst-32560	133	36	regularly	regularly	ADV
ajst-32560	133	37	.	.	PUNCT
ajst-32560	134	1	this	this	PRON
ajst-32560	134	2	turned	turn	VERB
ajst-32560	134	3	out	out	ADP
ajst-32560	134	4	to	to	PART
ajst-32560	134	5	be	be	AUX
ajst-32560	134	6	successful	successful	ADJ
ajst-32560	134	7	,	,	PUNCT
ajst-32560	134	8	it	it	PRON
ajst-32560	134	9	exterminated	exterminate	VERB
ajst-32560	134	10	the	the	DET
ajst-32560	134	11	cases	case	NOUN
ajst-32560	134	12	in	in	ADP
ajst-32560	134	13	which	which	PRON
ajst-32560	134	14	the	the	DET
ajst-32560	134	15	robot	robot	NOUN
ajst-32560	134	16	turns	turn	VERB
ajst-32560	134	17	very	very	ADV
ajst-32560	134	18	fast	fast	ADV
ajst-32560	134	19	and	and	CCONJ
ajst-32560	134	20	hits	hit	VERB
ajst-32560	134	21	the	the	DET
ajst-32560	134	22	wall	wall	NOUN
ajst-32560	134	23	before	before	SCONJ
ajst-32560	134	24	the	the	DET
ajst-32560	134	25	robot	robot	NOUN
ajst-32560	134	26	was	be	AUX
ajst-32560	134	27	planned	plan	VERB
ajst-32560	134	28	to	to	PART
ajst-32560	134	29	stop	stop	VERB
ajst-32560	134	30	.	.	PUNCT
ajst-32560	135	1	a	a	DET
ajst-32560	135	2	fourth	fourth	ADJ
ajst-32560	135	3	factor	factor	NOUN
ajst-32560	135	4	is	be	AUX
ajst-32560	135	5	the	the	DET
ajst-32560	135	6	location	location	NOUN
ajst-32560	135	7	of	of	ADP
ajst-32560	135	8	the	the	DET
ajst-32560	135	9	center	center	NOUN
ajst-32560	135	10	of	of	ADP
ajst-32560	135	11	gravity	gravity	NOUN
ajst-32560	135	12	.	.	PUNCT
ajst-32560	136	1	if	if	SCONJ
ajst-32560	136	2	the	the	DET
ajst-32560	136	3	centre	centre	NOUN
ajst-32560	136	4	of	of	ADP
ajst-32560	136	5	gravity	gravity	NOUN
ajst-32560	136	6	is	be	AUX
ajst-32560	136	7	not	not	PART
ajst-32560	136	8	perfectly	perfectly	ADV
ajst-32560	136	9	on	on	ADP
ajst-32560	136	10	the	the	DET
ajst-32560	136	11	center	center	NOUN
ajst-32560	136	12	axis	axis	NOUN
ajst-32560	136	13	,	,	PUNCT
ajst-32560	136	14	the	the	DET
ajst-32560	136	15	normal	normal	ADJ
ajst-32560	136	16	reaction	reaction	NOUN
ajst-32560	136	17	force	force	NOUN
ajst-32560	136	18	exerted	exert	VERB
ajst-32560	136	19	on	on	ADP
ajst-32560	136	20	one	one	NUM
ajst-32560	136	21	side	side	NOUN
ajst-32560	136	22	of	of	ADP
ajst-32560	136	23	the	the	DET
ajst-32560	136	24	robot	robot	NOUN
ajst-32560	136	25	will	will	AUX
ajst-32560	136	26	be	be	AUX
ajst-32560	136	27	greater	great	ADJ
ajst-32560	136	28	than	than	ADP
ajst-32560	136	29	the	the	DET
ajst-32560	136	30	normal	normal	ADJ
ajst-32560	136	31	reaction	reaction	NOUN
ajst-32560	136	32	force	force	NOUN
ajst-32560	136	33	on	on	ADP
ajst-32560	136	34	the	the	DET
ajst-32560	136	35	other	other	ADJ
ajst-32560	136	36	side	side	NOUN
ajst-32560	136	37	.	.	PUNCT
ajst-32560	137	1	this	this	PRON
ajst-32560	137	2	means	mean	VERB
ajst-32560	137	3	that	that	SCONJ
ajst-32560	137	4	the	the	DET
ajst-32560	137	5	propelling	propel	VERB
ajst-32560	137	6	force	force	NOUN
ajst-32560	137	7	will	will	AUX
ajst-32560	137	8	be	be	AUX
ajst-32560	137	9	stronger	strong	ADJ
ajst-32560	137	10	on	on	ADP
ajst-32560	137	11	one	one	NUM
ajst-32560	137	12	side	side	NOUN
ajst-32560	137	13	,	,	PUNCT
ajst-32560	137	14	causing	cause	VERB
ajst-32560	137	15	the	the	DET
ajst-32560	137	16	robot	robot	NOUN
ajst-32560	137	17	to	to	PART
ajst-32560	137	18	turn	turn	VERB
ajst-32560	137	19	.	.	PUNCT
ajst-32560	138	1	this	this	PRON
ajst-32560	138	2	can	can	AUX
ajst-32560	138	3	be	be	AUX
ajst-32560	138	4	fixed	fix	VERB
ajst-32560	138	5	by	by	ADP
ajst-32560	138	6	carefully	carefully	ADV
ajst-32560	138	7	placing	place	VERB
ajst-32560	138	8	some	some	DET
ajst-32560	138	9	load	load	NOUN
ajst-32560	138	10	to	to	PART
ajst-32560	138	11	balance	balance	VERB
ajst-32560	138	12	the	the	DET
ajst-32560	138	13	hexapod	hexapod	NOUN
ajst-32560	138	14	robot	robot	NOUN
ajst-32560	138	15	.	.	PUNCT
ajst-32560	139	1	we	we	PRON
ajst-32560	139	2	did	do	AUX
ajst-32560	139	3	not	not	PART
ajst-32560	139	4	attempt	attempt	VERB
ajst-32560	139	5	this	this	PRON
ajst-32560	139	6	because	because	SCONJ
ajst-32560	139	7	we	we	PRON
ajst-32560	139	8	did	do	AUX
ajst-32560	139	9	not	not	PART
ajst-32560	139	10	have	have	VERB
ajst-32560	139	11	space	space	NOUN
ajst-32560	139	12	for	for	ADP
ajst-32560	139	13	the	the	DET
ajst-32560	139	14	load	load	NOUN
ajst-32560	139	15	.	.	PUNCT
ajst-32560	140	1	168	168	NUM
ajst-32560	140	2	5	5	NUM
ajst-32560	140	3	.	.	PUNCT
ajst-32560	140	4	conclusion	conclusion	NOUN
ajst-32560	140	5	&	&	CCONJ
ajst-32560	140	6	future	future	ADJ
ajst-32560	140	7	work	work	NOUN
ajst-32560	140	8	in	in	ADP
ajst-32560	140	9	conclusion	conclusion	NOUN
ajst-32560	141	1	,	,	PUNCT
ajst-32560	141	2	this	this	DET
ajst-32560	141	3	study	study	NOUN
ajst-32560	141	4	presents	present	VERB
ajst-32560	141	5	the	the	DET
ajst-32560	141	6	gait	gait	ADJ
ajst-32560	141	7	development	development	NOUN
ajst-32560	141	8	of	of	ADP
ajst-32560	141	9	a	a	DET
ajst-32560	141	10	biomimetic	biomimetic	ADJ
ajst-32560	141	11	hexapod	hexapod	NOUN
ajst-32560	141	12	robot	robot	NOUN
ajst-32560	141	13	and	and	CCONJ
ajst-32560	141	14	investigates	investigate	VERB
ajst-32560	141	15	how	how	SCONJ
ajst-32560	141	16	body	body	NOUN
ajst-32560	141	17	height	height	NOUN
ajst-32560	141	18	and	and	CCONJ
ajst-32560	141	19	gait	gait	ADJ
ajst-32560	141	20	type	type	NOUN
ajst-32560	141	21	affect	affect	VERB
ajst-32560	141	22	its	its	PRON
ajst-32560	141	23	locomotion	locomotion	NOUN
ajst-32560	141	24	stability	stability	NOUN
ajst-32560	141	25	.	.	PUNCT
ajst-32560	142	1	we	we	PRON
ajst-32560	142	2	designed	design	VERB
ajst-32560	142	3	the	the	DET
ajst-32560	142	4	robot	robot	NOUN
ajst-32560	142	5	’s	’s	PART
ajst-32560	142	6	mechanical	mechanical	ADJ
ajst-32560	142	7	system	system	NOUN
ajst-32560	142	8	,	,	PUNCT
ajst-32560	142	9	implemented	implement	VERB
ajst-32560	142	10	custom	custom	NOUN
ajst-32560	142	11	anti	anti	ADJ
ajst-32560	142	12	-	-	ADJ
ajst-32560	142	13	slip	slip	ADJ
ajst-32560	142	14	foot	foot	NOUN
ajst-32560	142	15	covers	cover	NOUN
ajst-32560	142	16	,	,	PUNCT
ajst-32560	142	17	and	and	CCONJ
ajst-32560	142	18	developed	develop	VERB
ajst-32560	142	19	gait	gait	NOUN
ajst-32560	142	20	control	control	NOUN
ajst-32560	142	21	using	use	VERB
ajst-32560	142	22	sinusoidal	sinusoidal	ADJ
ajst-32560	142	23	motion	motion	NOUN
ajst-32560	142	24	planning	planning	NOUN
ajst-32560	142	25	.	.	PUNCT
ajst-32560	143	1	through	through	ADP
ajst-32560	143	2	systematic	systematic	ADJ
ajst-32560	143	3	experiments	experiment	NOUN
ajst-32560	143	4	and	and	CCONJ
ajst-32560	143	5	two	two	NUM
ajst-32560	143	6	-	-	PUNCT
ajst-32560	143	7	way	way	NOUN
ajst-32560	143	8	anova	anova	PROPN
ajst-32560	143	9	analysis	analysis	NOUN
ajst-32560	143	10	,	,	PUNCT
ajst-32560	143	11	we	we	PRON
ajst-32560	143	12	found	find	VERB
ajst-32560	143	13	that	that	SCONJ
ajst-32560	143	14	body	body	NOUN
ajst-32560	143	15	height	height	NOUN
ajst-32560	143	16	significantly	significantly	ADV
ajst-32560	143	17	influences	influence	VERB
ajst-32560	143	18	lateral	lateral	ADJ
ajst-32560	143	19	deviation	deviation	NOUN
ajst-32560	143	20	and	and	CCONJ
ajst-32560	143	21	slippage	slippage	NOUN
ajst-32560	143	22	,	,	PUNCT
ajst-32560	143	23	while	while	SCONJ
ajst-32560	143	24	both	both	PRON
ajst-32560	143	25	gait	gait	VERB
ajst-32560	143	26	and	and	CCONJ
ajst-32560	143	27	height	height	NOUN
ajst-32560	143	28	affect	affect	VERB
ajst-32560	143	29	vertical	vertical	ADJ
ajst-32560	143	30	oscillation	oscillation	NOUN
ajst-32560	143	31	.	.	PUNCT
ajst-32560	144	1	additional	additional	ADJ
ajst-32560	144	2	sources	source	NOUN
ajst-32560	144	3	of	of	ADP
ajst-32560	144	4	error	error	NOUN
ajst-32560	144	5	,	,	PUNCT
ajst-32560	144	6	such	such	ADJ
ajst-32560	144	7	as	as	ADP
ajst-32560	144	8	joint	joint	ADJ
ajst-32560	144	9	miscalibration	miscalibration	NOUN
ajst-32560	144	10	and	and	CCONJ
ajst-32560	144	11	uneven	uneven	ADJ
ajst-32560	144	12	foot	foot	NOUN
ajst-32560	144	13	structures	structure	NOUN
ajst-32560	144	14	,	,	PUNCT
ajst-32560	144	15	were	be	AUX
ajst-32560	144	16	identified	identify	VERB
ajst-32560	144	17	.	.	PUNCT
ajst-32560	145	1	we	we	PRON
ajst-32560	145	2	observed	observe	VERB
ajst-32560	145	3	that	that	SCONJ
ajst-32560	145	4	the	the	DET
ajst-32560	145	5	angle	angle	NOUN
ajst-32560	145	6	between	between	ADP
ajst-32560	145	7	the	the	DET
ajst-32560	145	8	robot	robot	NOUN
ajst-32560	145	9	's	's	PART
ajst-32560	145	10	legs	leg	NOUN
ajst-32560	145	11	and	and	CCONJ
ajst-32560	145	12	the	the	DET
ajst-32560	145	13	ground	ground	NOUN
ajst-32560	145	14	may	may	AUX
ajst-32560	145	15	be	be	AUX
ajst-32560	145	16	an	an	DET
ajst-32560	145	17	important	important	ADJ
ajst-32560	145	18	factor	factor	NOUN
ajst-32560	145	19	influencing	influence	VERB
ajst-32560	145	20	stability	stability	NOUN
ajst-32560	145	21	.	.	PUNCT
ajst-32560	146	1	however	however	ADV
ajst-32560	146	2	,	,	PUNCT
ajst-32560	146	3	we	we	PRON
ajst-32560	146	4	were	be	AUX
ajst-32560	146	5	not	not	PART
ajst-32560	146	6	able	able	ADJ
ajst-32560	146	7	to	to	PART
ajst-32560	146	8	control	control	VERB
ajst-32560	146	9	or	or	CCONJ
ajst-32560	146	10	precisely	precisely	ADV
ajst-32560	146	11	measure	measure	VERB
ajst-32560	146	12	this	this	DET
ajst-32560	146	13	parameter	parameter	NOUN
ajst-32560	146	14	in	in	ADP
ajst-32560	146	15	our	our	PRON
ajst-32560	146	16	current	current	ADJ
ajst-32560	146	17	setup	setup	NOUN
ajst-32560	146	18	.	.	PUNCT
ajst-32560	147	1	in	in	ADP
ajst-32560	147	2	future	future	ADJ
ajst-32560	147	3	work	work	NOUN
ajst-32560	147	4	,	,	PUNCT
ajst-32560	147	5	we	we	PRON
ajst-32560	147	6	aim	aim	VERB
ajst-32560	147	7	to	to	PART
ajst-32560	147	8	incorporate	incorporate	VERB
ajst-32560	147	9	more	more	ADV
ajst-32560	147	10	advanced	advanced	ADJ
ajst-32560	147	11	posture	posture	NOUN
ajst-32560	147	12	control	control	NOUN
ajst-32560	147	13	,	,	PUNCT
ajst-32560	147	14	including	include	VERB
ajst-32560	147	15	both	both	CCONJ
ajst-32560	147	16	translational	translational	ADJ
ajst-32560	147	17	and	and	CCONJ
ajst-32560	147	18	rotational	rotational	ADJ
ajst-32560	147	19	adjustments	adjustment	NOUN
ajst-32560	147	20	.	.	PUNCT
ajst-32560	148	1	as	as	ADP
ajst-32560	148	2	a	a	DET
ajst-32560	148	3	biomimetic	biomimetic	ADJ
ajst-32560	148	4	mobile	mobile	ADJ
ajst-32560	148	5	platform	platform	NOUN
ajst-32560	148	6	,	,	PUNCT
ajst-32560	148	7	there	there	PRON
ajst-32560	148	8	is	be	VERB
ajst-32560	148	9	more	more	ADV
ajst-32560	148	10	remaining	remain	VERB
ajst-32560	148	11	space	space	NOUN
ajst-32560	148	12	for	for	ADP
ajst-32560	148	13	improvement	improvement	NOUN
ajst-32560	148	14	regarding	regard	VERB
ajst-32560	148	15	the	the	DET
ajst-32560	148	16	adaptability	adaptability	NOUN
ajst-32560	148	17	of	of	ADP
ajst-32560	148	18	the	the	DET
ajst-32560	148	19	hexapod	hexapod	NOUN
ajst-32560	148	20	robot	robot	NOUN
ajst-32560	148	21	in	in	ADP
ajst-32560	148	22	complex	complex	ADJ
ajst-32560	148	23	environments	environment	NOUN
ajst-32560	148	24	.	.	PUNCT
ajst-32560	149	1	for	for	ADP
ajst-32560	149	2	future	future	ADJ
ajst-32560	149	3	research	research	NOUN
ajst-32560	149	4	,	,	PUNCT
ajst-32560	149	5	we	we	PRON
ajst-32560	149	6	could	could	AUX
ajst-32560	149	7	focus	focus	VERB
ajst-32560	149	8	on	on	ADP
ajst-32560	149	9	the	the	DET
ajst-32560	149	10	following	follow	VERB
ajst-32560	149	11	improvements	improvement	NOUN
ajst-32560	149	12	:	:	PUNCT
ajst-32560	149	13	self	self	NOUN
ajst-32560	149	14	-	-	PUNCT
ajst-32560	149	15	balancing	balance	VERB
ajst-32560	149	16	ability	ability	NOUN
ajst-32560	149	17	optimization	optimization	NOUN
ajst-32560	149	18	:	:	PUNCT
ajst-32560	149	19	during	during	ADP
ajst-32560	149	20	the	the	DET
ajst-32560	149	21	period	period	NOUN
ajst-32560	149	22	of	of	ADP
ajst-32560	149	23	static	static	ADJ
ajst-32560	149	24	standing	standing	NOUN
ajst-32560	149	25	and	and	CCONJ
ajst-32560	149	26	dynamic	dynamic	ADJ
ajst-32560	149	27	walking	walking	NOUN
ajst-32560	149	28	,	,	PUNCT
ajst-32560	149	29	there	there	PRON
ajst-32560	149	30	is	be	VERB
ajst-32560	149	31	a	a	DET
ajst-32560	149	32	need	need	NOUN
ajst-32560	149	33	for	for	ADP
ajst-32560	149	34	the	the	DET
ajst-32560	149	35	stability	stability	NOUN
ajst-32560	149	36	of	of	ADP
ajst-32560	149	37	the	the	DET
ajst-32560	149	38	robot	robot	NOUN
ajst-32560	149	39	,	,	PUNCT
ajst-32560	149	40	especially	especially	ADV
ajst-32560	149	41	when	when	SCONJ
ajst-32560	149	42	there	there	PRON
ajst-32560	149	43	is	be	VERB
ajst-32560	149	44	an	an	DET
ajst-32560	149	45	external	external	ADJ
ajst-32560	149	46	force	force	NOUN
ajst-32560	149	47	such	such	ADJ
ajst-32560	149	48	as	as	ADP
ajst-32560	149	49	a	a	DET
ajst-32560	149	50	varying	vary	VERB
ajst-32560	149	51	load	load	NOUN
ajst-32560	149	52	or	or	CCONJ
ajst-32560	149	53	the	the	DET
ajst-32560	149	54	ground	ground	NOUN
ajst-32560	149	55	is	be	AUX
ajst-32560	149	56	not	not	PART
ajst-32560	149	57	perfectly	perfectly	ADV
ajst-32560	149	58	level	level	ADJ
ajst-32560	149	59	or	or	CCONJ
ajst-32560	149	60	perfectly	perfectly	ADV
ajst-32560	149	61	flat	flat	ADJ
ajst-32560	149	62	,	,	PUNCT
ajst-32560	149	63	as	as	SCONJ
ajst-32560	149	64	it	it	PRON
ajst-32560	149	65	is	be	AUX
ajst-32560	149	66	a	a	DET
ajst-32560	149	67	potential	potential	ADJ
ajst-32560	149	68	challenge	challenge	NOUN
ajst-32560	149	69	to	to	PART
ajst-32560	149	70	adjust	adjust	VERB
ajst-32560	149	71	posture	posture	NOUN
ajst-32560	149	72	and	and	CCONJ
ajst-32560	149	73	keep	keep	VERB
ajst-32560	149	74	the	the	DET
ajst-32560	149	75	robot	robot	NOUN
ajst-32560	149	76	stable	stable	ADJ
ajst-32560	149	77	.	.	PUNCT
ajst-32560	150	1	it	it	PRON
ajst-32560	150	2	would	would	AUX
ajst-32560	150	3	require	require	VERB
ajst-32560	150	4	the	the	DET
ajst-32560	150	5	addition	addition	NOUN
ajst-32560	150	6	of	of	ADP
ajst-32560	150	7	sensors	sensor	NOUN
ajst-32560	150	8	and	and	CCONJ
ajst-32560	150	9	a	a	DET
ajst-32560	150	10	special	special	ADJ
ajst-32560	150	11	control	control	NOUN
ajst-32560	150	12	system	system	NOUN
ajst-32560	150	13	to	to	PART
ajst-32560	150	14	react	react	VERB
ajst-32560	150	15	to	to	ADP
ajst-32560	150	16	external	external	ADJ
ajst-32560	150	17	changes	change	NOUN
ajst-32560	150	18	.	.	PUNCT
ajst-32560	151	1	adaptive	adaptive	ADJ
ajst-32560	151	2	improvement	improvement	NOUN
ajst-32560	151	3	in	in	ADP
ajst-32560	151	4	a	a	DET
ajst-32560	151	5	complex	complex	ADJ
ajst-32560	151	6	environment	environment	NOUN
ajst-32560	151	7	:	:	PUNCT
ajst-32560	151	8	six	six	NUM
ajst-32560	151	9	-	-	PUNCT
ajst-32560	151	10	legged	legged	ADJ
ajst-32560	151	11	robot	robot	NOUN
ajst-32560	151	12	needs	need	VERB
ajst-32560	151	13	to	to	PART
ajst-32560	151	14	adapt	adapt	VERB
ajst-32560	151	15	to	to	PART
ajst-32560	151	16	diverse	diverse	ADJ
ajst-32560	151	17	terrains	terrain	NOUN
ajst-32560	151	18	,	,	PUNCT
ajst-32560	151	19	like	like	ADP
ajst-32560	151	20	sand	sand	NOUN
ajst-32560	151	21	,	,	PUNCT
ajst-32560	151	22	mud	mud	NOUN
ajst-32560	151	23	,	,	PUNCT
ajst-32560	151	24	gravel	gravel	NOUN
ajst-32560	151	25	,	,	PUNCT
ajst-32560	151	26	and	and	CCONJ
ajst-32560	151	27	slopes	slope	NOUN
ajst-32560	151	28	.	.	PUNCT
ajst-32560	152	1	it	it	PRON
ajst-32560	152	2	can	can	AUX
ajst-32560	152	3	autonomously	autonomously	ADV
ajst-32560	152	4	adjust	adjust	VERB
ajst-32560	152	5	its	its	PRON
ajst-32560	152	6	gait	gait	NOUN
ajst-32560	152	7	and	and	CCONJ
ajst-32560	152	8	motion	motion	NOUN
ajst-32560	152	9	strategy	strategy	NOUN
ajst-32560	152	10	in	in	ADP
ajst-32560	152	11	an	an	DET
ajst-32560	152	12	unknown	unknown	ADJ
ajst-32560	152	13	environment	environment	NOUN
ajst-32560	152	14	,	,	PUNCT
ajst-32560	152	15	in	in	ADP
ajst-32560	152	16	order	order	NOUN
ajst-32560	152	17	to	to	PART
ajst-32560	152	18	keep	keep	VERB
ajst-32560	152	19	walking	walk	VERB
ajst-32560	152	20	stably	stably	ADV
ajst-32560	152	21	.	.	PUNCT
ajst-32560	153	1	this	this	PRON
ajst-32560	153	2	might	might	AUX
ajst-32560	153	3	require	require	VERB
ajst-32560	153	4	the	the	DET
ajst-32560	153	5	ability	ability	NOUN
ajst-32560	153	6	to	to	PART
ajst-32560	153	7	sense	sense	VERB
ajst-32560	153	8	changes	change	NOUN
ajst-32560	153	9	in	in	ADP
ajst-32560	153	10	its	its	PRON
ajst-32560	153	11	posture	posture	NOUN
ajst-32560	153	12	,	,	PUNCT
ajst-32560	153	13	and	and	CCONJ
ajst-32560	153	14	perhaps	perhaps	ADV
ajst-32560	153	15	a	a	DET
ajst-32560	153	16	randomized	randomized	ADJ
ajst-32560	153	17	genetic	genetic	ADJ
ajst-32560	153	18	algorithm	algorithm	NOUN
ajst-32560	153	19	for	for	ADP
ajst-32560	153	20	control	control	NOUN
ajst-32560	153	21	.	.	PUNCT
ajst-32560	154	1	motion	motion	NOUN
ajst-32560	154	2	control	control	NOUN
ajst-32560	154	3	for	for	ADP
ajst-32560	154	4	recovery	recovery	NOUN
ajst-32560	154	5	:	:	PUNCT
ajst-32560	154	6	when	when	SCONJ
ajst-32560	154	7	the	the	DET
ajst-32560	154	8	robot	robot	NOUN
ajst-32560	154	9	stays	stay	VERB
ajst-32560	154	10	in	in	ADP
ajst-32560	154	11	some	some	DET
ajst-32560	154	12	stable	stable	ADJ
ajst-32560	154	13	state	state	NOUN
ajst-32560	154	14	(	(	PUNCT
ajst-32560	154	15	such	such	ADJ
ajst-32560	154	16	as	as	ADP
ajst-32560	154	17	being	be	AUX
ajst-32560	154	18	pushed	push	VERB
ajst-32560	154	19	down	down	ADP
ajst-32560	154	20	by	by	ADP
ajst-32560	154	21	external	external	ADJ
ajst-32560	154	22	forces	force	NOUN
ajst-32560	154	23	or	or	CCONJ
ajst-32560	154	24	being	be	AUX
ajst-32560	154	25	on	on	ADP
ajst-32560	154	26	the	the	DET
ajst-32560	154	27	rotating	rotate	VERB
ajst-32560	154	28	platform	platform	NOUN
ajst-32560	154	29	)	)	PUNCT
ajst-32560	154	30	,	,	PUNCT
ajst-32560	154	31	achieving	achieve	VERB
ajst-32560	154	32	posture	posture	NOUN
ajst-32560	154	33	recovery	recovery	NOUN
ajst-32560	154	34	and	and	CCONJ
ajst-32560	154	35	continuing	continue	VERB
ajst-32560	154	36	to	to	PART
ajst-32560	154	37	walk	walk	VERB
ajst-32560	154	38	is	be	AUX
ajst-32560	154	39	the	the	DET
ajst-32560	154	40	vital	vital	ADJ
ajst-32560	154	41	direction	direction	NOUN
ajst-32560	154	42	in	in	ADP
ajst-32560	154	43	our	our	PRON
ajst-32560	154	44	future	future	ADJ
ajst-32560	154	45	research	research	NOUN
ajst-32560	154	46	.	.	PUNCT
ajst-32560	155	1	robust	robust	ADJ
ajst-32560	155	2	walking	walking	NOUN
ajst-32560	155	3	in	in	ADP
ajst-32560	155	4	an	an	DET
ajst-32560	155	5	unstructured	unstructured	ADJ
ajst-32560	155	6	environment	environment	NOUN
ajst-32560	155	7	:	:	PUNCT
ajst-32560	155	8	in	in	ADP
ajst-32560	155	9	a	a	DET
ajst-32560	155	10	dynamic	dynamic	ADJ
ajst-32560	155	11	or	or	CCONJ
ajst-32560	155	12	"	"	PUNCT
ajst-32560	155	13	inexplicable	inexplicable	ADJ
ajst-32560	155	14	"	"	PUNCT
ajst-32560	155	15	state	state	NOUN
ajst-32560	155	16	,	,	PUNCT
ajst-32560	155	17	like	like	ADP
ajst-32560	155	18	sudden	sudden	ADJ
ajst-32560	155	19	ground	ground	NOUN
ajst-32560	155	20	collapse	collapse	NOUN
ajst-32560	155	21	,	,	PUNCT
ajst-32560	155	22	obstacle	obstacle	NOUN
ajst-32560	155	23	movement	movement	NOUN
ajst-32560	155	24	,	,	PUNCT
ajst-32560	155	25	strong	strong	ADJ
ajst-32560	155	26	wind	wind	NOUN
ajst-32560	155	27	interference	interference	NOUN
ajst-32560	155	28	,	,	PUNCT
ajst-32560	155	29	etc	etc	X
ajst-32560	155	30	.	.	X
ajst-32560	156	1	robots	robot	NOUN
ajst-32560	156	2	need	need	VERB
ajst-32560	156	3	to	to	PART
ajst-32560	156	4	have	have	VERB
ajst-32560	156	5	stronger	strong	ADJ
ajst-32560	156	6	antiinterference	antiinterference	NOUN
ajst-32560	156	7	ability	ability	NOUN
ajst-32560	156	8	and	and	CCONJ
ajst-32560	156	9	autonomous	autonomous	ADJ
ajst-32560	156	10	decision	decision	NOUN
ajst-32560	156	11	-	-	PUNCT
ajst-32560	156	12	making	make	VERB
ajst-32560	156	13	ability	ability	NOUN
ajst-32560	156	14	to	to	PART
ajst-32560	156	15	maintain	maintain	VERB
ajst-32560	156	16	stable	stable	ADJ
ajst-32560	156	17	motion	motion	NOUN
ajst-32560	156	18	.	.	PUNCT
ajst-32560	157	1	fusion	fusion	NOUN
ajst-32560	157	2	of	of	ADP
ajst-32560	157	3	multimodal	multimodal	NOUN
ajst-32560	157	4	perception	perception	NOUN
ajst-32560	157	5	and	and	CCONJ
ajst-32560	157	6	intelligent	intelligent	ADJ
ajst-32560	157	7	decision	decision	NOUN
ajst-32560	157	8	-	-	PUNCT
ajst-32560	157	9	making	making	NOUN
ajst-32560	157	10	:	:	PUNCT
ajst-32560	157	11	combine	combine	VERB
ajst-32560	157	12	multi	multi	ADJ
ajst-32560	157	13	-	-	ADJ
ajst-32560	157	14	sensor	sensor	ADJ
ajst-32560	157	15	information	information	NOUN
ajst-32560	157	16	such	such	ADJ
ajst-32560	157	17	as	as	ADP
ajst-32560	157	18	vision	vision	NOUN
ajst-32560	157	19	,	,	PUNCT
ajst-32560	157	20	force	force	NOUN
ajst-32560	157	21	,	,	PUNCT
ajst-32560	157	22	and	and	CCONJ
ajst-32560	157	23	touch	touch	NOUN
ajst-32560	157	24	,	,	PUNCT
ajst-32560	157	25	improving	improve	VERB
ajst-32560	157	26	the	the	DET
ajst-32560	157	27	ability	ability	NOUN
ajst-32560	157	28	of	of	ADP
ajst-32560	157	29	real	real	ADJ
ajst-32560	157	30	-	-	PUNCT
ajst-32560	157	31	time	time	NOUN
ajst-32560	157	32	perception	perception	NOUN
ajst-32560	157	33	of	of	ADP
ajst-32560	157	34	the	the	DET
ajst-32560	157	35	robot	robot	NOUN
ajst-32560	157	36	,	,	PUNCT
ajst-32560	157	37	and	and	CCONJ
ajst-32560	157	38	on	on	ADP
ajst-32560	157	39	the	the	DET
ajst-32560	157	40	basis	basis	NOUN
ajst-32560	157	41	of	of	ADP
ajst-32560	157	42	an	an	DET
ajst-32560	157	43	intelligent	intelligent	ADJ
ajst-32560	157	44	algorithm	algorithm	NOUN
ajst-32560	157	45	,	,	PUNCT
ajst-32560	157	46	to	to	PART
ajst-32560	157	47	achieve	achieve	VERB
ajst-32560	157	48	more	more	ADV
ajst-32560	157	49	efficient	efficient	ADJ
ajst-32560	157	50	gait	gait	NOUN
ajst-32560	157	51	planning	planning	NOUN
ajst-32560	157	52	and	and	CCONJ
ajst-32560	157	53	motion	motion	NOUN
ajst-32560	157	54	control	control	NOUN
ajst-32560	157	55	.	.	PUNCT
ajst-32560	158	1	in	in	ADP
ajst-32560	158	2	the	the	DET
ajst-32560	158	3	future	future	NOUN
ajst-32560	158	4	,	,	PUNCT
ajst-32560	158	5	the	the	DET
ajst-32560	158	6	hexapod	hexapod	NOUN
ajst-32560	158	7	robot	robot	NOUN
ajst-32560	158	8	is	be	AUX
ajst-32560	158	9	expected	expect	VERB
ajst-32560	158	10	to	to	PART
ajst-32560	158	11	improve	improve	VERB
ajst-32560	158	12	in	in	ADP
ajst-32560	158	13	the	the	DET
ajst-32560	158	14	aspects	aspect	NOUN
ajst-32560	158	15	mentioned	mention	VERB
ajst-32560	158	16	above	above	ADV
ajst-32560	158	17	and	and	CCONJ
ajst-32560	158	18	play	play	VERB
ajst-32560	158	19	a	a	DET
ajst-32560	158	20	more	more	ADV
ajst-32560	158	21	critical	critical	ADJ
ajst-32560	158	22	role	role	NOUN
ajst-32560	158	23	in	in	ADP
ajst-32560	158	24	applications	application	NOUN
ajst-32560	158	25	such	such	ADJ
ajst-32560	158	26	as	as	ADP
ajst-32560	158	27	rescue	rescue	NOUN
ajst-32560	158	28	missions	mission	NOUN
ajst-32560	158	29	,	,	PUNCT
ajst-32560	158	30	exploration	exploration	NOUN
ajst-32560	158	31	,	,	PUNCT
ajst-32560	158	32	and	and	CCONJ
ajst-32560	158	33	military	military	ADJ
ajst-32560	158	34	operations	operation	NOUN
ajst-32560	158	35	.	.	PUNCT
ajst-32560	159	1	with	with	ADP
ajst-32560	159	2	further	further	ADJ
ajst-32560	159	3	development	development	NOUN
ajst-32560	159	4	,	,	PUNCT
ajst-32560	159	5	it	it	PRON
ajst-32560	159	6	has	have	VERB
ajst-32560	159	7	the	the	DET
ajst-32560	159	8	potential	potential	NOUN
ajst-32560	159	9	to	to	PART
ajst-32560	159	10	become	become	VERB
ajst-32560	159	11	an	an	DET
ajst-32560	159	12	intelligent	intelligent	ADJ
ajst-32560	159	13	mobile	mobile	ADJ
ajst-32560	159	14	platform	platform	NOUN
ajst-32560	159	15	capable	capable	ADJ
ajst-32560	159	16	of	of	ADP
ajst-32560	159	17	effectively	effectively	ADV
ajst-32560	159	18	adapting	adapt	VERB
ajst-32560	159	19	to	to	ADP
ajst-32560	159	20	complex	complex	ADJ
ajst-32560	159	21	and	and	CCONJ
ajst-32560	159	22	unstructured	unstructured	ADJ
ajst-32560	159	23	environments	environment	NOUN
ajst-32560	159	24	.	.	PUNCT
ajst-32560	160	1	references	reference	NOUN
ajst-32560	160	2	[	[	X
ajst-32560	160	3	1	1	NUM
ajst-32560	160	4	]	]	X
ajst-32560	160	5	liu	liu	PROPN
ajst-32560	160	6	,	,	PUNCT
ajst-32560	160	7	y.	y.	PROPN
ajst-32560	160	8	,	,	PUNCT
ajst-32560	160	9	wang	wang	PROPN
ajst-32560	160	10	,	,	PUNCT
ajst-32560	160	11	c.	c.	PROPN
ajst-32560	160	12	,	,	PUNCT
ajst-32560	160	13	zhang	zhang	PROPN
ajst-32560	160	14	,	,	PUNCT
ajst-32560	160	15	h.	h.	PROPN
ajst-32560	160	16	,	,	PUNCT
ajst-32560	160	17	&	&	CCONJ
ajst-32560	160	18	zhao	zhao	PROPN
ajst-32560	160	19	,	,	PUNCT
ajst-32560	160	20	j.	j.	PROPN
ajst-32560	160	21	(	(	PUNCT
ajst-32560	160	22	2020	2020	NUM
ajst-32560	160	23	)	)	PUNCT
ajst-32560	160	24	.	.	PUNCT
ajst-32560	161	1	research	research	NOUN
ajst-32560	161	2	on	on	ADP
ajst-32560	161	3	the	the	DET
ajst-32560	161	4	posture	posture	NOUN
ajst-32560	161	5	control	control	NOUN
ajst-32560	161	6	method	method	NOUN
ajst-32560	161	7	of	of	ADP
ajst-32560	161	8	hexapod	hexapod	NOUN
ajst-32560	161	9	robot	robot	NOUN
ajst-32560	161	10	for	for	ADP
ajst-32560	161	11	rugged	rugged	ADJ
ajst-32560	161	12	terrain	terrain	NOUN
ajst-32560	161	13	.	.	PUNCT
ajst-32560	162	1	applied	apply	VERB
ajst-32560	162	2	sciences	science	NOUN
ajst-32560	162	3	,	,	PUNCT
ajst-32560	162	4	10(19	10(19	NUM
ajst-32560	162	5	)	)	PUNCT
ajst-32560	162	6	,	,	PUNCT
ajst-32560	162	7	6725	6725	NUM
ajst-32560	162	8	.	.	PUNCT
ajst-32560	163	1	https://doi.org/10.3390/app10196725	https://doi.org/10.3390/app10196725	PROPN
ajst-32560	163	2	.	.	PUNCT
ajst-32560	164	1	[	[	X
ajst-32560	164	2	2	2	NUM
ajst-32560	164	3	]	]	PUNCT
ajst-32560	164	4	arrigoni	arrigoni	NOUN
ajst-32560	164	5	,	,	PUNCT
ajst-32560	164	6	s.	s.	PROPN
ajst-32560	164	7	,	,	PUNCT
ajst-32560	164	8	zangrandi	zangrandi	PROPN
ajst-32560	164	9	,	,	PUNCT
ajst-32560	164	10	m.	m.	NOUN
ajst-32560	164	11	,	,	PUNCT
ajst-32560	164	12	bianchi	bianchi	NOUN
ajst-32560	164	13	,	,	PUNCT
ajst-32560	164	14	g.	g.	PROPN
ajst-32560	164	15	,	,	PUNCT
ajst-32560	164	16	&	&	CCONJ
ajst-32560	164	17	braghin	braghin	PROPN
ajst-32560	164	18	,	,	PUNCT
ajst-32560	164	19	f.	f.	PROPN
ajst-32560	164	20	(	(	PUNCT
ajst-32560	164	21	2024	2024	NUM
ajst-32560	164	22	)	)	PUNCT
ajst-32560	164	23	.	.	PUNCT
ajst-32560	165	1	control	control	NOUN
ajst-32560	165	2	of	of	ADP
ajst-32560	165	3	a	a	DET
ajst-32560	165	4	hexapod	hexapod	NOUN
ajst-32560	165	5	robot	robot	NOUN
ajst-32560	165	6	considering	consider	VERB
ajst-32560	165	7	terrain	terrain	NOUN
ajst-32560	165	8	interaction	interaction	NOUN
ajst-32560	165	9	.	.	PUNCT
ajst-32560	166	1	robotics	robotic	NOUN
ajst-32560	166	2	,	,	PUNCT
ajst-32560	166	3	13(10	13(10	NUM
ajst-32560	166	4	)	)	PUNCT
ajst-32560	166	5	,	,	PUNCT
ajst-32560	166	6	142	142	NUM
ajst-32560	166	7	.	.	PUNCT
ajst-32560	167	1	https://doi.org/10.3390/robotics13100142	https://doi.org/10.3390/robotics13100142	PROPN
ajst-32560	167	2	.	.	PUNCT
ajst-32560	168	1	[	[	X
ajst-32560	168	2	3	3	NUM
ajst-32560	168	3	]	]	X
ajst-32560	168	4	coelho	coelho	NOUN
ajst-32560	168	5	,	,	PUNCT
ajst-32560	168	6	j.	j.	PROPN
ajst-32560	168	7	,	,	PUNCT
ajst-32560	168	8	dias	dias	PROPN
ajst-32560	168	9	,	,	PUNCT
ajst-32560	168	10	b.	b.	PROPN
ajst-32560	168	11	,	,	PUNCT
ajst-32560	168	12	lopes	lopes	PROPN
ajst-32560	168	13	,	,	PUNCT
ajst-32560	168	14	g.	g.	PROPN
ajst-32560	168	15	,	,	PUNCT
ajst-32560	168	16	ribeiro	ribeiro	PROPN
ajst-32560	168	17	,	,	PUNCT
ajst-32560	168	18	f.	f.	PROPN
ajst-32560	168	19	,	,	PUNCT
ajst-32560	168	20	&	&	CCONJ
ajst-32560	168	21	flores	flores	PROPN
ajst-32560	168	22	,	,	PUNCT
ajst-32560	168	23	p.	p.	NOUN
ajst-32560	168	24	(	(	PUNCT
ajst-32560	168	25	2024	2024	NUM
ajst-32560	168	26	)	)	PUNCT
ajst-32560	168	27	.	.	PUNCT
ajst-32560	169	1	development	development	NOUN
ajst-32560	169	2	and	and	CCONJ
ajst-32560	169	3	implementation	implementation	NOUN
ajst-32560	169	4	of	of	ADP
ajst-32560	169	5	a	a	DET
ajst-32560	169	6	new	new	ADJ
ajst-32560	169	7	approach	approach	NOUN
ajst-32560	169	8	for	for	ADP
ajst-32560	169	9	posture	posture	NOUN
ajst-32560	169	10	control	control	NOUN
ajst-32560	169	11	of	of	ADP
ajst-32560	169	12	a	a	DET
ajst-32560	169	13	hexapod	hexapod	NOUN
ajst-32560	169	14	robot	robot	NOUN
ajst-32560	169	15	to	to	PART
ajst-32560	169	16	walk	walk	VERB
ajst-32560	169	17	in	in	ADP
ajst-32560	169	18	irregular	irregular	ADJ
ajst-32560	169	19	terrains	terrain	NOUN
ajst-32560	169	20	.	.	PUNCT
ajst-32560	170	1	robotica	robotica	PROPN
ajst-32560	170	2	,	,	PUNCT
ajst-32560	170	3	42(3	42(3	NUM
ajst-32560	170	4	)	)	PUNCT
ajst-32560	170	5	,	,	PUNCT
ajst-32560	170	6	792	792	NUM
ajst-32560	170	7	–	–	PUNCT
ajst-32560	170	8	816	816	NUM
ajst-32560	170	9	.	.	PUNCT
ajst-32560	170	10	doi:10.1017	doi:10.1017	PROPN
ajst-32560	170	11	/	/	SYM
ajst-32560	170	12	s0263574723001765	s0263574723001765	PROPN
ajst-32560	170	13	.	.	PUNCT
ajst-32560	171	1	[	[	X
ajst-32560	171	2	4	4	NUM
ajst-32560	171	3	]	]	SYM
ajst-32560	171	4	su	su	PROPN
ajst-32560	171	5	,	,	PUNCT
ajst-32560	171	6	y.	y.	NOUN
ajst-32560	171	7	,	,	PUNCT
ajst-32560	171	8	ding	ding	NOUN
ajst-32560	171	9	,	,	PUNCT
ajst-32560	171	10	l.	l.	PROPN
ajst-32560	171	11	,	,	PUNCT
ajst-32560	171	12	xu	xu	PROPN
ajst-32560	171	13	,	,	PUNCT
ajst-32560	171	14	p.	p.	PROPN
ajst-32560	171	15	,	,	PUNCT
ajst-32560	171	16	wang	wang	PROPN
ajst-32560	171	17	,	,	PUNCT
ajst-32560	171	18	g.	g.	PROPN
ajst-32560	171	19	,	,	PUNCT
ajst-32560	171	20	wei	wei	PROPN
ajst-32560	171	21	,	,	PUNCT
ajst-32560	171	22	q.	q.	PROPN
ajst-32560	171	23	,	,	PUNCT
ajst-32560	171	24	liu	liu	PROPN
ajst-32560	171	25	,	,	PUNCT
ajst-32560	171	26	t.	t.	PROPN
ajst-32560	171	27	,	,	PUNCT
ajst-32560	171	28	wang	wang	PROPN
ajst-32560	171	29	,	,	PUNCT
ajst-32560	171	30	h.	h.	PROPN
ajst-32560	171	31	,	,	PUNCT
ajst-32560	171	32	&	&	CCONJ
ajst-32560	171	33	gao	gao	PROPN
ajst-32560	171	34	,	,	PUNCT
ajst-32560	171	35	h.	h.	PROPN
ajst-32560	171	36	(	(	PUNCT
ajst-32560	171	37	2025	2025	NUM
ajst-32560	171	38	)	)	PUNCT
ajst-32560	171	39	.	.	PUNCT
ajst-32560	172	1	dimensional	dimensional	ADJ
ajst-32560	172	2	design	design	NOUN
ajst-32560	172	3	method	method	NOUN
ajst-32560	172	4	based	base	VERB
ajst-32560	172	5	on	on	ADP
ajst-32560	172	6	stability	stability	NOUN
ajst-32560	172	7	analysis	analysis	NOUN
ajst-32560	172	8	to	to	PART
ajst-32560	172	9	enhance	enhance	VERB
ajst-32560	172	10	traversability	traversability	NOUN
ajst-32560	172	11	of	of	ADP
ajst-32560	172	12	heavy	heavy	ADJ
ajst-32560	172	13	-	-	PUNCT
ajst-32560	172	14	duty	duty	NOUN
ajst-32560	172	15	hexapod	hexapod	NOUN
ajst-32560	172	16	robots	robot	NOUN
ajst-32560	172	17	over	over	ADP
ajst-32560	172	18	challenging	challenge	VERB
ajst-32560	172	19	terrains	terrain	NOUN
ajst-32560	172	20	.	.	PUNCT
ajst-32560	173	1	ssrn	ssrn	PROPN
ajst-32560	173	2	electronic	electronic	ADJ
ajst-32560	173	3	journal	journal	NOUN
ajst-32560	173	4	.	.	PUNCT
ajst-32560	174	1	https://doi.org/10.2139/ssrn.5167730	https://doi.org/10.2139/ssrn.5167730	NOUN
ajst-32560	174	2	.	.	PUNCT
ajst-32560	175	1	[	[	X
ajst-32560	175	2	5	5	NUM
ajst-32560	175	3	]	]	X
ajst-32560	175	4	ruyuan	ruyuan	PROPN
ajst-32560	175	5	xiao	xiao	PROPN
ajst-32560	175	6	li	li	PROPN
ajst-32560	175	7	microcontroller	microcontroller	PROPN
ajst-32560	175	8	design	design	NOUN
ajst-32560	175	9	.	.	PUNCT
ajst-32560	176	1	(	(	PUNCT
ajst-32560	176	2	2025	2025	NUM
ajst-32560	176	3	)	)	PUNCT
ajst-32560	176	4	.	.	PUNCT
ajst-32560	177	1	stm32	stm32	PROPN
ajst-32560	177	2	sg90	sg90	PROPN
ajst-32560	177	3	servo	servo	NOUN
ajst-32560	177	4	control	control	NOUN
ajst-32560	177	5	(	(	PUNCT
ajst-32560	177	6	video	video	NOUN
ajst-32560	177	7	explanation	explanation	NOUN
ajst-32560	177	8	included	include	VERB
ajst-32560	177	9	)	)	PUNCT
ajst-32560	177	10	.	.	PUNCT
ajst-32560	178	1	https://blog.csdn.net/qq_50749196/article/details/145636471	https://blog.csdn.net/qq_50749196/article/details/145636471	NOUN
ajst-32560	179	1	[	[	X
ajst-32560	179	2	in	in	ADP
ajst-32560	179	3	chinese	chinese	PROPN
ajst-32560	179	4	]	]	PUNCT
ajst-32560	179	5	.	.	PUNCT