id	sid	tid	token	lemma	pos
ajst-32562	1	1	179	179	NUM
ajst-32562	1	2	motion	motion	NOUN
ajst-32562	1	3	analysis	analysis	NOUN
ajst-32562	1	4	of	of	ADP
ajst-32562	1	5	two	two	NUM
ajst-32562	1	6	typical	typical	ADJ
ajst-32562	1	7	gaits	gait	NOUN
ajst-32562	1	8	and	and	CCONJ
ajst-32562	1	9	other	other	ADJ
ajst-32562	1	10	functions	function	NOUN
ajst-32562	1	11	in	in	ADP
ajst-32562	1	12	a	a	DET
ajst-32562	1	13	biomimetic	biomimetic	ADJ
ajst-32562	1	14	hexapod	hexapod	NOUN
ajst-32562	1	15	robot	robot	NOUN
ajst-32562	1	16	zijie	zijie	PROPN
ajst-32562	1	17	zhou	zhou	PROPN
ajst-32562	1	18	*	*	PUNCT
ajst-32562	1	19	,	,	PUNCT
ajst-32562	1	20	yiran	yiran	PROPN
ajst-32562	1	21	feng	feng	PROPN
ajst-32562	1	22	a	a	DET
ajst-32562	1	23	shenzhen	shenzhen	PROPN
ajst-32562	1	24	collage	collage	NOUN
ajst-32562	1	25	of	of	ADP
ajst-32562	1	26	international	international	ADJ
ajst-32562	1	27	education	education	NOUN
ajst-32562	1	28	,	,	PUNCT
ajst-32562	1	29	shenzhen	shenzhen	PROPN
ajst-32562	1	30	,	,	PUNCT
ajst-32562	1	31	guangdong	guangdong	PROPN
ajst-32562	1	32	,	,	PUNCT
ajst-32562	1	33	china	china	PROPN
ajst-32562	1	34	*	*	PUNCT
ajst-32562	1	35	corresponding	correspond	VERB
ajst-32562	1	36	author	author	NOUN
ajst-32562	1	37	:	:	PUNCT
ajst-32562	1	38	zijie	zijie	PROPN
ajst-32562	1	39	zhou	zhou	PROPN
ajst-32562	1	40	(	(	PUNCT
ajst-32562	1	41	email	email	NOUN
ajst-32562	1	42	:	:	PUNCT
ajst-32562	1	43	702164675@qq.com	702164675@qq.com	NUM
ajst-32562	1	44	)	)	PUNCT
ajst-32562	1	45	,	,	PUNCT
ajst-32562	1	46	a	a	DET
ajst-32562	1	47	leonsz2009@qq.com	leonsz2009@qq.com	PROPN
ajst-32562	1	48	abstract	abstract	NOUN
ajst-32562	1	49	.	.	PUNCT
ajst-32562	2	1	as	as	SCONJ
ajst-32562	2	2	hexapod	hexapod	NOUN
ajst-32562	2	3	robots	robot	NOUN
ajst-32562	2	4	are	be	AUX
ajst-32562	2	5	increasingly	increasingly	ADV
ajst-32562	2	6	used	use	VERB
ajst-32562	2	7	in	in	ADP
ajst-32562	2	8	complex	complex	ADJ
ajst-32562	2	9	terrains	terrain	NOUN
ajst-32562	2	10	where	where	SCONJ
ajst-32562	2	11	stability	stability	NOUN
ajst-32562	2	12	and	and	CCONJ
ajst-32562	2	13	energy	energy	NOUN
ajst-32562	2	14	efficiency	efficiency	NOUN
ajst-32562	2	15	are	be	AUX
ajst-32562	2	16	critical	critical	ADJ
ajst-32562	2	17	,	,	PUNCT
ajst-32562	2	18	understanding	understand	VERB
ajst-32562	2	19	gait	gait	ADJ
ajst-32562	2	20	performance	performance	NOUN
ajst-32562	2	21	becomes	become	VERB
ajst-32562	2	22	essential	essential	ADJ
ajst-32562	2	23	.	.	PUNCT
ajst-32562	3	1	this	this	DET
ajst-32562	3	2	paper	paper	NOUN
ajst-32562	3	3	discussed	discuss	VERB
ajst-32562	3	4	a	a	DET
ajst-32562	3	5	close	close	ADJ
ajst-32562	3	6	comparison	comparison	NOUN
ajst-32562	3	7	of	of	ADP
ajst-32562	3	8	the	the	DET
ajst-32562	3	9	similarities	similarity	NOUN
ajst-32562	3	10	and	and	CCONJ
ajst-32562	3	11	differences	difference	NOUN
ajst-32562	3	12	between	between	ADP
ajst-32562	3	13	two	two	NUM
ajst-32562	3	14	gaits	gait	NOUN
ajst-32562	3	15	of	of	ADP
ajst-32562	3	16	a	a	DET
ajst-32562	3	17	hexapod	hexapod	NOUN
ajst-32562	3	18	robot	robot	NOUN
ajst-32562	3	19	regarding	regard	VERB
ajst-32562	3	20	their	their	PRON
ajst-32562	3	21	efficiency	efficiency	NOUN
ajst-32562	3	22	and	and	CCONJ
ajst-32562	3	23	stability	stability	NOUN
ajst-32562	3	24	as	as	SCONJ
ajst-32562	3	25	reflected	reflect	VERB
ajst-32562	3	26	in	in	ADP
ajst-32562	3	27	the	the	DET
ajst-32562	3	28	acceleration	acceleration	NOUN
ajst-32562	3	29	data	datum	NOUN
ajst-32562	3	30	obtained	obtain	VERB
ajst-32562	3	31	from	from	ADP
ajst-32562	3	32	the	the	DET
ajst-32562	3	33	hexapod	hexapod	NOUN
ajst-32562	3	34	robot	robot	NOUN
ajst-32562	3	35	that	that	PRON
ajst-32562	3	36	we	we	PRON
ajst-32562	3	37	built	build	VERB
ajst-32562	3	38	.	.	PUNCT
ajst-32562	4	1	their	their	PRON
ajst-32562	4	2	applications	application	NOUN
ajst-32562	4	3	based	base	VERB
ajst-32562	4	4	on	on	ADP
ajst-32562	4	5	our	our	PRON
ajst-32562	4	6	research	research	NOUN
ajst-32562	4	7	and	and	CCONJ
ajst-32562	4	8	experiments	experiment	NOUN
ajst-32562	4	9	are	be	AUX
ajst-32562	4	10	discussed	discuss	VERB
ajst-32562	4	11	.	.	PUNCT
ajst-32562	5	1	our	our	PRON
ajst-32562	5	2	team	team	NOUN
ajst-32562	5	3	built	build	VERB
ajst-32562	5	4	one	one	NUM
ajst-32562	5	5	and	and	CCONJ
ajst-32562	5	6	compared	compare	VERB
ajst-32562	5	7	slow	slow	ADJ
ajst-32562	5	8	gait	gait	NOUN
ajst-32562	5	9	vs	vs	ADP
ajst-32562	5	10	tetrapod	tetrapod	ADJ
ajst-32562	5	11	gait	gait	NOUN
ajst-32562	5	12	in	in	ADP
ajst-32562	5	13	terms	term	NOUN
ajst-32562	5	14	of	of	ADP
ajst-32562	5	15	stability	stability	NOUN
ajst-32562	5	16	.	.	PUNCT
ajst-32562	6	1	the	the	DET
ajst-32562	6	2	data	datum	NOUN
ajst-32562	6	3	proved	prove	VERB
ajst-32562	6	4	that	that	SCONJ
ajst-32562	6	5	slow	slow	ADJ
ajst-32562	6	6	gait	gait	NOUN
ajst-32562	6	7	is	be	AUX
ajst-32562	6	8	more	more	ADV
ajst-32562	6	9	stable	stable	ADJ
ajst-32562	6	10	since	since	SCONJ
ajst-32562	6	11	five	five	NUM
ajst-32562	6	12	legs	leg	NOUN
ajst-32562	6	13	are	be	AUX
ajst-32562	6	14	grounded	ground	VERB
ajst-32562	6	15	sequentially	sequentially	ADV
ajst-32562	6	16	lifting	lifting	NOUN
ajst-32562	6	17	.	.	PUNCT
ajst-32562	7	1	the	the	DET
ajst-32562	7	2	tetrapod	tetrapod	PROPN
ajst-32562	7	3	gait	gait	PROPN
ajst-32562	7	4	leg	leg	NOUN
ajst-32562	7	5	movement	movement	NOUN
ajst-32562	7	6	can	can	AUX
ajst-32562	7	7	be	be	AUX
ajst-32562	7	8	wave	wave	NOUN
ajst-32562	7	9	-	-	PUNCT
ajst-32562	7	10	like	like	ADJ
ajst-32562	7	11	,	,	PUNCT
ajst-32562	7	12	and	and	CCONJ
ajst-32562	7	13	it	it	PRON
ajst-32562	7	14	is	be	AUX
ajst-32562	7	15	faster	fast	ADJ
ajst-32562	7	16	but	but	CCONJ
ajst-32562	7	17	less	less	ADV
ajst-32562	7	18	stable	stable	ADJ
ajst-32562	7	19	.	.	PUNCT
ajst-32562	8	1	their	their	PRON
ajst-32562	8	2	application	application	NOUN
ajst-32562	8	3	also	also	ADV
ajst-32562	8	4	be	be	AUX
ajst-32562	8	5	discussed	discuss	VERB
ajst-32562	8	6	at	at	ADP
ajst-32562	8	7	the	the	DET
ajst-32562	8	8	end	end	NOUN
ajst-32562	8	9	of	of	ADP
ajst-32562	8	10	the	the	DET
ajst-32562	8	11	essay	essay	NOUN
ajst-32562	8	12	,	,	PUNCT
ajst-32562	8	13	to	to	PART
ajst-32562	8	14	see	see	VERB
ajst-32562	8	15	how	how	SCONJ
ajst-32562	8	16	much	much	ADJ
ajst-32562	8	17	potential	potential	ADJ
ajst-32562	8	18	they	they	PRON
ajst-32562	8	19	have	have	VERB
ajst-32562	8	20	and	and	CCONJ
ajst-32562	8	21	how	how	SCONJ
ajst-32562	8	22	applicable	applicable	ADJ
ajst-32562	8	23	they	they	PRON
ajst-32562	8	24	are	be	AUX
ajst-32562	8	25	in	in	ADP
ajst-32562	8	26	real	real	ADJ
ajst-32562	8	27	-	-	PUNCT
ajst-32562	8	28	life	life	NOUN
ajst-32562	8	29	situations	situation	NOUN
ajst-32562	8	30	.	.	PUNCT
ajst-32562	9	1	more	more	ADJ
ajst-32562	9	2	features	feature	NOUN
ajst-32562	9	3	were	be	AUX
ajst-32562	9	4	added	add	VERB
ajst-32562	9	5	to	to	ADP
ajst-32562	9	6	the	the	DET
ajst-32562	9	7	hexapod	hexapod	NOUN
ajst-32562	9	8	robot	robot	NOUN
ajst-32562	9	9	model	model	NOUN
ajst-32562	9	10	,	,	PUNCT
ajst-32562	9	11	which	which	PRON
ajst-32562	9	12	now	now	ADV
ajst-32562	9	13	helps	help	VERB
ajst-32562	9	14	test	test	VERB
ajst-32562	9	15	many	many	ADJ
ajst-32562	9	16	different	different	ADJ
ajst-32562	9	17	abilities	ability	NOUN
ajst-32562	9	18	that	that	PRON
ajst-32562	9	19	a	a	DET
ajst-32562	9	20	robot	robot	NOUN
ajst-32562	9	21	can	can	AUX
ajst-32562	9	22	provide	provide	VERB
ajst-32562	9	23	in	in	ADP
ajst-32562	9	24	various	various	ADJ
ajst-32562	9	25	applications	application	NOUN
ajst-32562	9	26	.	.	PUNCT
ajst-32562	10	1	keywords	keyword	NOUN
ajst-32562	10	2	:	:	PUNCT
ajst-32562	10	3	hexapod	hexapod	NOUN
ajst-32562	10	4	robot	robot	NOUN
ajst-32562	10	5	;	;	PUNCT
ajst-32562	10	6	gait	gait	NOUN
ajst-32562	10	7	planning	planning	NOUN
ajst-32562	10	8	;	;	PUNCT
ajst-32562	10	9	inverse	inverse	NOUN
ajst-32562	10	10	kinematics	kinematic	NOUN
ajst-32562	10	11	.	.	PUNCT
ajst-32562	11	1	1	1	X
ajst-32562	11	2	.	.	X
ajst-32562	11	3	introduction	introduction	NOUN
ajst-32562	11	4	a	a	DET
ajst-32562	11	5	hexapod	hexapod	NOUN
ajst-32562	11	6	robot	robot	NOUN
ajst-32562	11	7	is	be	AUX
ajst-32562	11	8	a	a	DET
ajst-32562	11	9	walking	walk	VERB
ajst-32562	11	10	machine	machine	NOUN
ajst-32562	11	11	with	with	ADP
ajst-32562	11	12	six	six	NUM
ajst-32562	11	13	limbs	limb	NOUN
ajst-32562	11	14	inspired	inspire	VERB
ajst-32562	11	15	by	by	ADP
ajst-32562	11	16	insects	insect	NOUN
ajst-32562	11	17	and	and	CCONJ
ajst-32562	11	18	other	other	ADJ
ajst-32562	11	19	arthropods	arthropod	NOUN
ajst-32562	11	20	.	.	PUNCT
ajst-32562	12	1	its	its	PRON
ajst-32562	12	2	design	design	NOUN
ajst-32562	12	3	permits	permit	VERB
ajst-32562	12	4	dynamic	dynamic	ADJ
ajst-32562	12	5	,	,	PUNCT
ajst-32562	12	6	versatile	versatile	ADJ
ajst-32562	12	7	,	,	PUNCT
ajst-32562	12	8	and	and	CCONJ
ajst-32562	12	9	resilient	resilient	ADJ
ajst-32562	12	10	locomotion	locomotion	NOUN
ajst-32562	12	11	over	over	ADP
ajst-32562	12	12	unlevel	unlevel	ADJ
ajst-32562	12	13	ground	ground	NOUN
ajst-32562	12	14	.	.	PUNCT
ajst-32562	13	1	improvising	improvise	VERB
ajst-32562	13	2	on	on	ADP
ajst-32562	13	3	the	the	DET
ajst-32562	13	4	needs	need	NOUN
ajst-32562	13	5	of	of	ADP
ajst-32562	13	6	an	an	DET
ajst-32562	13	7	application	application	NOUN
ajst-32562	13	8	in	in	ADP
ajst-32562	13	9	exploration	exploration	NOUN
ajst-32562	13	10	as	as	ADV
ajst-32562	13	11	well	well	ADV
ajst-32562	13	12	as	as	ADP
ajst-32562	13	13	rescue	rescue	NOUN
ajst-32562	13	14	operations	operation	NOUN
ajst-32562	13	15	or	or	CCONJ
ajst-32562	13	16	challenging	challenging	ADJ
ajst-32562	13	17	environments	environment	NOUN
ajst-32562	13	18	,	,	PUNCT
ajst-32562	13	19	researchers	researcher	NOUN
ajst-32562	13	20	across	across	ADP
ajst-32562	13	21	the	the	DET
ajst-32562	13	22	globe	globe	NOUN
ajst-32562	13	23	have	have	AUX
ajst-32562	13	24	developed	develop	VERB
ajst-32562	13	25	different	different	ADJ
ajst-32562	13	26	gaits	gait	NOUN
ajst-32562	13	27	for	for	ADP
ajst-32562	13	28	hexapod	hexapod	NOUN
ajst-32562	13	29	robots	robot	NOUN
ajst-32562	13	30	in	in	ADP
ajst-32562	13	31	recent	recent	ADJ
ajst-32562	13	32	years	year	NOUN
ajst-32562	13	33	which	which	PRON
ajst-32562	13	34	differentiate	differentiate	VERB
ajst-32562	13	35	between	between	ADP
ajst-32562	13	36	aspects	aspect	NOUN
ajst-32562	13	37	focusing	focus	VERB
ajst-32562	13	38	on	on	ADP
ajst-32562	13	39	stability	stability	NOUN
ajst-32562	13	40	while	while	SCONJ
ajst-32562	13	41	others	other	NOUN
ajst-32562	13	42	emphasize	emphasize	VERB
ajst-32562	13	43	maximum	maximum	ADJ
ajst-32562	13	44	velocity	velocity	NOUN
ajst-32562	13	45	due	due	ADP
ajst-32562	13	46	to	to	ADP
ajst-32562	13	47	a	a	DET
ajst-32562	13	48	specific	specific	ADJ
ajst-32562	13	49	application	application	NOUN
ajst-32562	13	50	's	's	PART
ajst-32562	13	51	demand	demand	NOUN
ajst-32562	13	52	.	.	PUNCT
ajst-32562	14	1	a	a	DET
ajst-32562	14	2	general	general	ADJ
ajst-32562	14	3	trend	trend	NOUN
ajst-32562	14	4	emerged	emerge	VERB
ajst-32562	14	5	from	from	ADP
ajst-32562	14	6	research	research	NOUN
ajst-32562	14	7	shows	show	VERB
ajst-32562	14	8	that	that	SCONJ
ajst-32562	14	9	gaits	gait	NOUN
ajst-32562	14	10	with	with	ADP
ajst-32562	14	11	more	more	ADJ
ajst-32562	14	12	legs	leg	NOUN
ajst-32562	14	13	standing	stand	VERB
ajst-32562	14	14	on	on	ADP
ajst-32562	14	15	the	the	DET
ajst-32562	14	16	ground	ground	NOUN
ajst-32562	14	17	at	at	ADP
ajst-32562	14	18	the	the	DET
ajst-32562	14	19	same	same	ADJ
ajst-32562	14	20	time	time	NOUN
ajst-32562	14	21	are	be	AUX
ajst-32562	14	22	found	find	VERB
ajst-32562	14	23	to	to	PART
ajst-32562	14	24	be	be	AUX
ajst-32562	14	25	more	more	ADV
ajst-32562	14	26	stable	stable	ADJ
ajst-32562	14	27	among	among	ADP
ajst-32562	14	28	different	different	ADJ
ajst-32562	14	29	gaits	gait	NOUN
ajst-32562	14	30	of	of	ADP
ajst-32562	14	31	hexapod	hexapod	NOUN
ajst-32562	14	32	robots	robot	NOUN
ajst-32562	15	1	[	[	X
ajst-32562	15	2	2	2	NUM
ajst-32562	15	3	]	]	PUNCT
ajst-32562	15	4	.	.	PUNCT
ajst-32562	16	1	2	2	X
ajst-32562	16	2	.	.	X
ajst-32562	16	3	construction	construction	NOUN
ajst-32562	16	4	for	for	ADP
ajst-32562	16	5	the	the	DET
ajst-32562	16	6	experiment	experiment	NOUN
ajst-32562	16	7	,	,	PUNCT
ajst-32562	16	8	a	a	DET
ajst-32562	16	9	hexapod	hexapod	NOUN
ajst-32562	16	10	robot	robot	NOUN
ajst-32562	16	11	model	model	NOUN
ajst-32562	16	12	was	be	AUX
ajst-32562	16	13	developed	develop	VERB
ajst-32562	16	14	from	from	ADP
ajst-32562	16	15	scratch	scratch	NOUN
ajst-32562	16	16	on	on	ADP
ajst-32562	16	17	solidworks	solidworks	PROPN
ajst-32562	16	18	for	for	ADP
ajst-32562	16	19	3d	3d	NUM
ajst-32562	16	20	modeling	modeling	NOUN
ajst-32562	16	21	and	and	CCONJ
ajst-32562	16	22	easyeda	easyeda	NOUN
ajst-32562	16	23	for	for	ADP
ajst-32562	16	24	pcb	pcb	NOUN
ajst-32562	16	25	modeling	modeling	NOUN
ajst-32562	16	26	instead	instead	ADV
ajst-32562	16	27	of	of	ADP
ajst-32562	16	28	using	use	VERB
ajst-32562	16	29	available	available	ADJ
ajst-32562	16	30	solutions	solution	NOUN
ajst-32562	16	31	.	.	PUNCT
ajst-32562	17	1	it	it	PRON
ajst-32562	17	2	is	be	AUX
ajst-32562	17	3	with	with	ADP
ajst-32562	17	4	this	this	DET
ajst-32562	17	5	methodology	methodology	NOUN
ajst-32562	17	6	that	that	SCONJ
ajst-32562	17	7	we	we	PRON
ajst-32562	17	8	are	be	AUX
ajst-32562	17	9	able	able	ADJ
ajst-32562	17	10	to	to	PART
ajst-32562	17	11	shape	shape	VERB
ajst-32562	17	12	the	the	DET
ajst-32562	17	13	pcb	pcb	NOUN
ajst-32562	17	14	at	at	ADP
ajst-32562	17	15	will	will	AUX
ajst-32562	17	16	and	and	CCONJ
ajst-32562	17	17	find	find	VERB
ajst-32562	17	18	the	the	DET
ajst-32562	17	19	best	good	ADJ
ajst-32562	17	20	method	method	NOUN
ajst-32562	17	21	.	.	PUNCT
ajst-32562	18	1	the	the	DET
ajst-32562	18	2	electronic	electronic	ADJ
ajst-32562	18	3	system	system	NOUN
ajst-32562	18	4	is	be	AUX
ajst-32562	18	5	equipped	equip	VERB
ajst-32562	18	6	with	with	ADP
ajst-32562	18	7	an	an	DET
ajst-32562	18	8	esp32	esp32	ADV
ajst-32562	18	9	[	[	X
ajst-32562	18	10	7	7	NUM
ajst-32562	18	11	]	]	PUNCT
ajst-32562	18	12	,	,	PUNCT
ajst-32562	18	13	two	two	NUM
ajst-32562	18	14	pca9685	pca9685	NOUN
ajst-32562	18	15	[	[	X
ajst-32562	18	16	8	8	NUM
ajst-32562	18	17	]	]	SYM
ajst-32562	18	18	controllers	controller	NOUN
ajst-32562	18	19	and	and	CCONJ
ajst-32562	18	20	18	18	NUM
ajst-32562	18	21	servos	servo	NOUN
ajst-32562	18	22	giving	give	VERB
ajst-32562	18	23	three	three	NUM
ajst-32562	18	24	degrees	degree	NOUN
ajst-32562	18	25	of	of	ADP
ajst-32562	18	26	freedom	freedom	NOUN
ajst-32562	18	27	(	(	PUNCT
ajst-32562	18	28	dof	dof	NOUN
ajst-32562	18	29	)	)	PUNCT
ajst-32562	18	30	at	at	ADP
ajst-32562	18	31	the	the	DET
ajst-32562	18	32	end	end	NOUN
ajst-32562	18	33	-	-	PUNCT
ajst-32562	18	34	effector	effector	NOUN
ajst-32562	18	35	of	of	ADP
ajst-32562	18	36	each	each	DET
ajst-32562	18	37	leg	leg	NOUN
ajst-32562	18	38	.	.	PUNCT
ajst-32562	19	1	balloon	balloon	NOUN
ajst-32562	19	2	chips	chip	NOUN
ajst-32562	19	3	are	be	AUX
ajst-32562	19	4	used	use	VERB
ajst-32562	19	5	to	to	PART
ajst-32562	19	6	cover	cover	VERB
ajst-32562	19	7	the	the	DET
ajst-32562	19	8	feet	foot	NOUN
ajst-32562	19	9	in	in	ADP
ajst-32562	19	10	order	order	NOUN
ajst-32562	19	11	to	to	PART
ajst-32562	19	12	increase	increase	VERB
ajst-32562	19	13	the	the	DET
ajst-32562	19	14	friction	friction	NOUN
ajst-32562	19	15	between	between	ADP
ajst-32562	19	16	them	they	PRON
ajst-32562	19	17	and	and	CCONJ
ajst-32562	19	18	the	the	DET
ajst-32562	19	19	floor.t	floor.t	NOUN
ajst-32562	19	20	this	this	PRON
ajst-32562	19	21	prevent	prevent	VERB
ajst-32562	19	22	the	the	DET
ajst-32562	19	23	robot	robot	NOUN
ajst-32562	19	24	from	from	ADP
ajst-32562	19	25	sliding	slide	VERB
ajst-32562	19	26	on	on	ADP
ajst-32562	19	27	the	the	DET
ajst-32562	19	28	floor	floor	NOUN
ajst-32562	19	29	.	.	PUNCT
ajst-32562	20	1	its	its	PRON
ajst-32562	20	2	use	use	NOUN
ajst-32562	20	3	is	be	AUX
ajst-32562	20	4	for	for	ADP
ajst-32562	20	5	inverse	inverse	ADJ
ajst-32562	20	6	kinematics	kinematic	NOUN
ajst-32562	20	7	and	and	CCONJ
ajst-32562	20	8	multiplying	multiplying	NOUN
ajst-32562	20	9	matrices	matrix	NOUN
ajst-32562	20	10	.	.	PUNCT
ajst-32562	21	1	it	it	PRON
ajst-32562	21	2	was	be	AUX
ajst-32562	21	3	first	first	ADV
ajst-32562	21	4	implemented	implement	VERB
ajst-32562	21	5	in	in	ADP
ajst-32562	21	6	micropython	micropython	PROPN
ajst-32562	21	7	,	,	PUNCT
ajst-32562	21	8	but	but	CCONJ
ajst-32562	21	9	the	the	DET
ajst-32562	21	10	performance	performance	NOUN
ajst-32562	21	11	of	of	ADP
ajst-32562	21	12	the	the	DET
ajst-32562	21	13	esp32	esp32	NOUN
ajst-32562	21	14	is	be	AUX
ajst-32562	21	15	not	not	PART
ajst-32562	21	16	sufficient	sufficient	ADJ
ajst-32562	21	17	and	and	CCONJ
ajst-32562	21	18	the	the	DET
ajst-32562	21	19	resulting	result	VERB
ajst-32562	21	20	fluency	fluency	NOUN
ajst-32562	21	21	is	be	AUX
ajst-32562	21	22	too	too	ADV
ajst-32562	21	23	low	low	ADJ
ajst-32562	21	24	for	for	ADP
ajst-32562	21	25	gait	gait	NOUN
ajst-32562	21	26	planning	planning	NOUN
ajst-32562	21	27	and	and	CCONJ
ajst-32562	21	28	data	datum	NOUN
ajst-32562	21	29	acquisition	acquisition	NOUN
ajst-32562	21	30	.	.	PUNCT
ajst-32562	22	1	the	the	DET
ajst-32562	22	2	code	code	NOUN
ajst-32562	22	3	has	have	AUX
ajst-32562	22	4	therefore	therefore	ADV
ajst-32562	22	5	been	be	AUX
ajst-32562	22	6	completely	completely	ADV
ajst-32562	22	7	ported	port	VERB
ajst-32562	22	8	to	to	ADP
ajst-32562	22	9	c++	c++	VERB
ajst-32562	22	10	,	,	PUNCT
ajst-32562	22	11	with	with	ADP
ajst-32562	22	12	funds	fund	NOUN
ajst-32562	22	13	allocated	allocate	VERB
ajst-32562	22	14	to	to	PART
ajst-32562	22	15	ensure	ensure	VERB
ajst-32562	22	16	that	that	SCONJ
ajst-32562	22	17	it	it	PRON
ajst-32562	22	18	works	work	VERB
ajst-32562	22	19	with	with	ADP
ajst-32562	22	20	the	the	DET
ajst-32562	22	21	arduino	arduino	NOUN
ajst-32562	22	22	ide	ide	NOUN
ajst-32562	22	23	,	,	PUNCT
ajst-32562	22	24	meaning	mean	VERB
ajst-32562	22	25	the	the	DET
ajst-32562	22	26	code	code	NOUN
ajst-32562	22	27	can	can	AUX
ajst-32562	22	28	run	run	VERB
ajst-32562	22	29	exceptionally	exceptionally	ADV
ajst-32562	22	30	fast	fast	ADV
ajst-32562	22	31	,	,	PUNCT
ajst-32562	22	32	and	and	CCONJ
ajst-32562	22	33	legs	leg	NOUN
ajst-32562	22	34	will	will	AUX
ajst-32562	22	35	not	not	PART
ajst-32562	22	36	jerk	jerk	VERB
ajst-32562	22	37	between	between	ADP
ajst-32562	22	38	poses	pose	NOUN
ajst-32562	22	39	.	.	PUNCT
ajst-32562	23	1	a	a	DET
ajst-32562	23	2	case	case	NOUN
ajst-32562	23	3	designed	design	VERB
ajst-32562	23	4	to	to	PART
ajst-32562	23	5	hold	hold	VERB
ajst-32562	23	6	a	a	DET
ajst-32562	23	7	phone	phone	NOUN
ajst-32562	23	8	on	on	ADP
ajst-32562	23	9	the	the	DET
ajst-32562	23	10	top	top	NOUN
ajst-32562	23	11	of	of	ADP
ajst-32562	23	12	the	the	DET
ajst-32562	23	13	robot	robot	NOUN
ajst-32562	23	14	is	be	AUX
ajst-32562	23	15	used	use	VERB
ajst-32562	23	16	to	to	PART
ajst-32562	23	17	acquire	acquire	VERB
ajst-32562	23	18	the	the	DET
ajst-32562	23	19	required	require	VERB
ajst-32562	23	20	acceleration	acceleration	NOUN
ajst-32562	23	21	information	information	NOUN
ajst-32562	23	22	.	.	PUNCT
ajst-32562	24	1	the	the	DET
ajst-32562	24	2	phone	phone	NOUN
ajst-32562	24	3	's	's	PART
ajst-32562	24	4	accelerometer	accelerometer	NOUN
ajst-32562	24	5	is	be	AUX
ajst-32562	24	6	used	use	VERB
ajst-32562	24	7	in	in	ADP
ajst-32562	24	8	conjunction	conjunction	NOUN
ajst-32562	24	9	with	with	ADP
ajst-32562	24	10	phybox	phybox	PROPN
ajst-32562	24	11	,	,	PUNCT
ajst-32562	24	12	a	a	DET
ajst-32562	24	13	piece	piece	NOUN
ajst-32562	24	14	of	of	ADP
ajst-32562	24	15	software	software	NOUN
ajst-32562	24	16	which	which	PRON
ajst-32562	24	17	records	record	VERB
ajst-32562	24	18	data	datum	NOUN
ajst-32562	24	19	for	for	ADP
ajst-32562	24	20	slow	slow	ADJ
ajst-32562	24	21	gait	gait	NOUN
ajst-32562	24	22	and	and	CCONJ
ajst-32562	24	23	tetrapod	tetrapod	ADJ
ajst-32562	24	24	gait	gait	NOUN
ajst-32562	24	25	,	,	PUNCT
ajst-32562	24	26	generating	generate	VERB
ajst-32562	24	27	graphs	graph	NOUN
ajst-32562	24	28	of	of	ADP
ajst-32562	24	29	these	these	DET
ajst-32562	24	30	data	datum	NOUN
ajst-32562	24	31	on	on	ADP
ajst-32562	24	32	excel	excel	NOUN
ajst-32562	24	33	.	.	PUNCT
ajst-32562	25	1	by	by	ADP
ajst-32562	25	2	comparing	compare	VERB
ajst-32562	25	3	the	the	DET
ajst-32562	25	4	maximum	maximum	ADJ
ajst-32562	25	5	,	,	PUNCT
ajst-32562	25	6	average	average	ADJ
ajst-32562	25	7	,	,	PUNCT
ajst-32562	25	8	and	and	CCONJ
ajst-32562	25	9	variance	variance	NOUN
ajst-32562	25	10	of	of	ADP
ajst-32562	25	11	the	the	DET
ajst-32562	25	12	data	datum	NOUN
ajst-32562	25	13	,	,	PUNCT
ajst-32562	25	14	conclusions	conclusion	NOUN
ajst-32562	25	15	are	be	AUX
ajst-32562	25	16	made	make	VERB
ajst-32562	25	17	concerning	concern	VERB
ajst-32562	25	18	the	the	DET
ajst-32562	25	19	two	two	NUM
ajst-32562	25	20	gaits	gait	NOUN
ajst-32562	25	21	.	.	PUNCT
ajst-32562	26	1	180	180	NUM
ajst-32562	26	2	3	3	NUM
ajst-32562	26	3	.	.	PUNCT
ajst-32562	26	4	methodology	methodology	NOUN
ajst-32562	26	5	3.1	3.1	NUM
ajst-32562	26	6	inverse	inverse	NOUN
ajst-32562	26	7	kinetic	kinetic	NOUN
ajst-32562	26	8	the	the	DET
ajst-32562	26	9	location	location	NOUN
ajst-32562	26	10	of	of	ADP
ajst-32562	26	11	the	the	DET
ajst-32562	26	12	end	end	NOUN
ajst-32562	26	13	points	point	NOUN
ajst-32562	26	14	of	of	ADP
ajst-32562	26	15	the	the	DET
ajst-32562	26	16	six	six	NUM
ajst-32562	26	17	legs	leg	NOUN
ajst-32562	26	18	is	be	AUX
ajst-32562	26	19	important	important	ADJ
ajst-32562	26	20	in	in	ADP
ajst-32562	26	21	the	the	DET
ajst-32562	26	22	planning	planning	NOUN
ajst-32562	26	23	of	of	ADP
ajst-32562	26	24	gait	gait	NOUN
ajst-32562	26	25	.	.	PUNCT
ajst-32562	27	1	hence	hence	ADV
ajst-32562	27	2	,	,	PUNCT
ajst-32562	27	3	inverse	inverse	ADJ
ajst-32562	27	4	kinematics	kinematic	NOUN
ajst-32562	27	5	is	be	AUX
ajst-32562	27	6	used	use	VERB
ajst-32562	27	7	to	to	PART
ajst-32562	27	8	map	map	VERB
ajst-32562	27	9	the	the	DET
ajst-32562	27	10	coordinates	coordinate	NOUN
ajst-32562	27	11	where	where	SCONJ
ajst-32562	27	12	legs	leg	NOUN
ajst-32562	27	13	should	should	AUX
ajst-32562	27	14	press	press	VERB
ajst-32562	27	15	in	in	ADP
ajst-32562	27	16	3d	3d	NUM
ajst-32562	27	17	space	space	NOUN
ajst-32562	27	18	to	to	ADP
ajst-32562	27	19	the	the	DET
ajst-32562	27	20	angle	angle	NOUN
ajst-32562	27	21	of	of	ADP
ajst-32562	27	22	the	the	DET
ajst-32562	27	23	three	three	NUM
ajst-32562	27	24	servos	servo	NOUN
ajst-32562	27	25	.	.	PUNCT
ajst-32562	28	1	the	the	DET
ajst-32562	28	2	first	first	ADJ
ajst-32562	28	3	and	and	CCONJ
ajst-32562	28	4	foremost	foremost	ADJ
ajst-32562	28	5	task	task	NOUN
ajst-32562	28	6	is	be	AUX
ajst-32562	28	7	to	to	PART
ajst-32562	28	8	define	define	VERB
ajst-32562	28	9	the	the	DET
ajst-32562	28	10	coordinate	coordinate	NOUN
ajst-32562	28	11	system	system	NOUN
ajst-32562	28	12	of	of	ADP
ajst-32562	28	13	the	the	DET
ajst-32562	28	14	coordinates	coordinate	NOUN
ajst-32562	28	15	.	.	PUNCT
ajst-32562	29	1	arbitrarily	arbitrarily	ADV
ajst-32562	29	2	,	,	PUNCT
ajst-32562	29	3	for	for	ADP
ajst-32562	29	4	all	all	DET
ajst-32562	29	5	the	the	DET
ajst-32562	29	6	servos	servo	NOUN
ajst-32562	29	7	positioned	position	VERB
ajst-32562	29	8	at	at	ADP
ajst-32562	29	9	0	0	NUM
ajst-32562	29	10	degrees	degree	NOUN
ajst-32562	29	11	,	,	PUNCT
ajst-32562	29	12	(	(	PUNCT
ajst-32562	29	13	0	0	NUM
ajst-32562	29	14	,	,	PUNCT
ajst-32562	29	15	0	0	NUM
ajst-32562	29	16	,	,	PUNCT
ajst-32562	29	17	0	0	NUM
ajst-32562	29	18	)	)	PUNCT
ajst-32562	29	19	would	would	AUX
ajst-32562	29	20	be	be	AUX
ajst-32562	29	21	the	the	DET
ajst-32562	29	22	origin	origin	NOUN
ajst-32562	29	23	.	.	PUNCT
ajst-32562	30	1	the	the	DET
ajst-32562	30	2	x-	x-	PROPN
ajst-32562	30	3	,	,	PUNCT
ajst-32562	30	4	y-	y-	X
ajst-32562	30	5	,	,	PUNCT
ajst-32562	30	6	and	and	CCONJ
ajst-32562	30	7	z	z	NOUN
ajst-32562	30	8	-	-	PUNCT
ajst-32562	30	9	axis	axis	NOUN
ajst-32562	30	10	point	point	NOUN
ajst-32562	30	11	rightward	rightward	NOUN
ajst-32562	30	12	,	,	PUNCT
ajst-32562	30	13	forward	forward	ADV
ajst-32562	30	14	and	and	CCONJ
ajst-32562	30	15	upward	upward	ADV
ajst-32562	30	16	.	.	PUNCT
ajst-32562	31	1	the	the	DET
ajst-32562	31	2	distance	distance	NOUN
ajst-32562	31	3	from	from	ADP
ajst-32562	31	4	the	the	DET
ajst-32562	31	5	first	first	ADJ
ajst-32562	31	6	servo	servo	NOUN
ajst-32562	31	7	#	#	SYM
ajst-32562	31	8	0	0	NUM
ajst-32562	31	9	to	to	ADP
ajst-32562	31	10	the	the	DET
ajst-32562	31	11	second	second	ADJ
ajst-32562	31	12	servo	servo	NOUN
ajst-32562	31	13	#	#	SYM
ajst-32562	31	14	1	1	NUM
ajst-32562	31	15	,	,	PUNCT
ajst-32562	31	16	is	be	AUX
ajst-32562	31	17	a.	a.	NOUN
ajst-32562	31	18	the	the	DET
ajst-32562	31	19	distance	distance	NOUN
ajst-32562	31	20	between	between	ADP
ajst-32562	31	21	the	the	DET
ajst-32562	31	22	second	second	ADJ
ajst-32562	31	23	servo	servo	NOUN
ajst-32562	31	24	#	#	SYM
ajst-32562	31	25	1	1	NUM
ajst-32562	31	26	and	and	CCONJ
ajst-32562	31	27	the	the	DET
ajst-32562	31	28	third	third	ADJ
ajst-32562	31	29	servo	servo	NOUN
ajst-32562	31	30	#	#	SYM
ajst-32562	31	31	2	2	NUM
ajst-32562	31	32	is	be	AUX
ajst-32562	31	33	represented	represent	VERB
ajst-32562	31	34	by	by	ADP
ajst-32562	31	35	b	b	PROPN
ajst-32562	31	36	and	and	CCONJ
ajst-32562	31	37	the	the	DET
ajst-32562	31	38	distance	distance	NOUN
ajst-32562	31	39	between	between	ADP
ajst-32562	31	40	the	the	DET
ajst-32562	31	41	third	third	ADJ
ajst-32562	31	42	servo	servo	NOUN
ajst-32562	31	43	#	#	SYM
ajst-32562	31	44	2	2	NUM
ajst-32562	31	45	and	and	CCONJ
ajst-32562	31	46	end	end	NOUN
ajst-32562	31	47	point	point	NOUN
ajst-32562	31	48	is	be	AUX
ajst-32562	31	49	referred	refer	VERB
ajst-32562	31	50	as	as	ADP
ajst-32562	31	51	c	c	PROPN
ajst-32562	31	52	in	in	ADP
ajst-32562	31	53	figure	figure	NOUN
ajst-32562	31	54	1	1	NUM
ajst-32562	31	55	.	.	PUNCT
ajst-32562	31	56	figure	figure	NOUN
ajst-32562	31	57	1	1	NUM
ajst-32562	31	58	.	.	PUNCT
ajst-32562	31	59	illustration	illustration	NOUN
ajst-32562	31	60	of	of	ADP
ajst-32562	31	61	a	a	DET
ajst-32562	31	62	,	,	PUNCT
ajst-32562	31	63	b	b	NOUN
ajst-32562	31	64	,	,	PUNCT
ajst-32562	31	65	c	c	NOUN
ajst-32562	31	66	markings	marking	NOUN
ajst-32562	31	67	the	the	DET
ajst-32562	31	68	base	base	NOUN
ajst-32562	31	69	of	of	ADP
ajst-32562	31	70	the	the	DET
ajst-32562	31	71	leg	leg	NOUN
ajst-32562	31	72	,	,	PUNCT
ajst-32562	31	73	where	where	SCONJ
ajst-32562	31	74	it	it	PRON
ajst-32562	31	75	attaches	attach	VERB
ajst-32562	31	76	the	the	DET
ajst-32562	31	77	robot	robot	NOUN
ajst-32562	31	78	’s	’s	PART
ajst-32562	31	79	body	body	NOUN
ajst-32562	31	80	,	,	PUNCT
ajst-32562	31	81	is	be	AUX
ajst-32562	31	82	where	where	SCONJ
ajst-32562	31	83	servo	servo	NOUN
ajst-32562	31	84	#	#	SYM
ajst-32562	31	85	0	0	NUM
ajst-32562	31	86	is	be	AUX
ajst-32562	31	87	positioned	position	VERB
ajst-32562	31	88	.	.	PUNCT
ajst-32562	32	1	coordinate	coordinate	NOUN
ajst-32562	32	2	x	x	NOUN
ajst-32562	32	3	-	-	PUNCT
ajst-32562	32	4	y	y	ADJ
ajst-32562	32	5	plane	plane	NOUN
ajst-32562	32	6	is	be	AUX
ajst-32562	32	7	shown	show	VERB
ajst-32562	32	8	in	in	ADP
ajst-32562	32	9	figure	figure	NOUN
ajst-32562	32	10	2	2	NUM
ajst-32562	32	11	,	,	PUNCT
ajst-32562	32	12	illustrating	illustrate	VERB
ajst-32562	32	13	the	the	DET
ajst-32562	32	14	origin	origin	NOUN
ajst-32562	32	15	,	,	PUNCT
ajst-32562	32	16	the	the	DET
ajst-32562	32	17	target	target	NOUN
ajst-32562	32	18	point	point	NOUN
ajst-32562	32	19	,	,	PUNCT
ajst-32562	32	20	and	and	CCONJ
ajst-32562	32	21	the	the	DET
ajst-32562	32	22	position	position	NOUN
ajst-32562	32	23	of	of	ADP
ajst-32562	32	24	servo	servo	NOUN
ajst-32562	32	25	#	#	SYM
ajst-32562	32	26	0	0	NUM
ajst-32562	32	27	.	.	PUNCT
ajst-32562	33	1	the	the	DET
ajst-32562	33	2	pitch	pitch	PROPN
ajst-32562	33	3	angle	angle	NOUN
ajst-32562	33	4	(	(	PUNCT
ajst-32562	33	5	of	of	ADP
ajst-32562	33	6	the	the	DET
ajst-32562	33	7	line	line	NOUN
ajst-32562	33	8	between	between	ADP
ajst-32562	33	9	the	the	DET
ajst-32562	33	10	servo	servo	NOUN
ajst-32562	33	11	and	and	CCONJ
ajst-32562	33	12	the	the	DET
ajst-32562	33	13	target	target	NOUN
ajst-32562	33	14	point	point	NOUN
ajst-32562	33	15	)	)	PUNCT
ajst-32562	33	16	is	be	AUX
ajst-32562	33	17	subtracted	subtract	VERB
ajst-32562	33	18	from	from	ADP
ajst-32562	33	19	the	the	DET
ajst-32562	33	20	pitch	pitch	NOUN
ajst-32562	33	21	angle	angle	NOUN
ajst-32562	33	22	of	of	ADP
ajst-32562	33	23	#	#	SYM
ajst-32562	33	24	0	0	NUM
ajst-32562	33	25	when	when	SCONJ
ajst-32562	33	26	#	#	SYM
ajst-32562	33	27	0	0	NUM
ajst-32562	33	28	is	be	AUX
ajst-32562	33	29	in	in	ADP
ajst-32562	33	30	the	the	DET
ajst-32562	33	31	0	0	NUM
ajst-32562	33	32	-	-	PUNCT
ajst-32562	33	33	degree	degree	NOUN
ajst-32562	33	34	position	position	NOUN
ajst-32562	33	35	(	(	PUNCT
ajst-32562	33	36	original	original	ADJ
ajst-32562	33	37	position	position	NOUN
ajst-32562	33	38	)	)	PUNCT
ajst-32562	33	39	,	,	PUNCT
ajst-32562	33	40	this	this	PRON
ajst-32562	33	41	will	will	AUX
ajst-32562	33	42	be	be	AUX
ajst-32562	33	43	the	the	DET
ajst-32562	33	44	angle	angle	NOUN
ajst-32562	33	45	that	that	PRON
ajst-32562	33	46	servo	servo	VERB
ajst-32562	33	47	#	#	SYM
ajst-32562	33	48	0	0	NUM
ajst-32562	33	49	will	will	AUX
ajst-32562	33	50	turn	turn	VERB
ajst-32562	33	51	.	.	PUNCT
ajst-32562	34	1	a	a	DET
ajst-32562	34	2	plane	plane	NOUN
ajst-32562	34	3	is	be	AUX
ajst-32562	34	4	set	set	VERB
ajst-32562	34	5	to	to	PART
ajst-32562	34	6	observe	observe	VERB
ajst-32562	34	7	the	the	DET
ajst-32562	34	8	turn	turn	NOUN
ajst-32562	34	9	of	of	ADP
ajst-32562	34	10	the	the	DET
ajst-32562	34	11	second	second	ADJ
ajst-32562	34	12	servo	servo	NOUN
ajst-32562	34	13	#	#	SYM
ajst-32562	34	14	1	1	NUM
ajst-32562	34	15	and	and	CCONJ
ajst-32562	34	16	the	the	DET
ajst-32562	34	17	third	third	ADJ
ajst-32562	34	18	servo	servo	NOUN
ajst-32562	34	19	#	#	SYM
ajst-32562	34	20	2	2	NUM
ajst-32562	34	21	.	.	PUNCT
ajst-32562	35	1	the	the	DET
ajst-32562	35	2	y	y	NOUN
ajst-32562	35	3	-	-	PUNCT
ajst-32562	35	4	axis	axis	NOUN
ajst-32562	35	5	is	be	AUX
ajst-32562	35	6	the	the	DET
ajst-32562	35	7	same	same	ADJ
ajst-32562	35	8	as	as	ADP
ajst-32562	35	9	the	the	DET
ajst-32562	35	10	z	z	NOUN
ajst-32562	35	11	-	-	PUNCT
ajst-32562	35	12	axis	axis	NOUN
ajst-32562	35	13	in	in	ADP
ajst-32562	35	14	the	the	DET
ajst-32562	35	15	coordinate	coordinate	NOUN
ajst-32562	35	16	system	system	NOUN
ajst-32562	35	17	above	above	ADV
ajst-32562	35	18	,	,	PUNCT
ajst-32562	35	19	but	but	CCONJ
ajst-32562	35	20	the	the	DET
ajst-32562	35	21	x	x	ADJ
ajst-32562	35	22	-	-	ADJ
ajst-32562	35	23	axis	axis	ADJ
ajst-32562	35	24	measures	measure	NOUN
ajst-32562	35	25	how	how	SCONJ
ajst-32562	35	26	far	far	ADV
ajst-32562	35	27	off	off	ADV
ajst-32562	35	28	from	from	ADP
ajst-32562	35	29	the	the	DET
ajst-32562	35	30	target	target	NOUN
ajst-32562	35	31	point	point	NOUN
ajst-32562	35	32	of	of	ADP
ajst-32562	35	33	second	second	ADJ
ajst-32562	35	34	servo	servo	NOUN
ajst-32562	35	35	#	#	SYM
ajst-32562	35	36	1	1	NUM
ajst-32562	35	37	.	.	PUNCT
ajst-32562	36	1	for	for	ADP
ajst-32562	36	2	the	the	DET
ajst-32562	36	3	x	x	NOUN
ajst-32562	36	4	-	-	NOUN
ajst-32562	36	5	coordinate	coordinate	NOUN
ajst-32562	36	6	,	,	PUNCT
ajst-32562	36	7	the	the	DET
ajst-32562	36	8	difference	difference	NOUN
ajst-32562	36	9	between	between	ADP
ajst-32562	36	10	servo	servo	NOUN
ajst-32562	36	11	#	#	SYM
ajst-32562	36	12	0	0	NUM
ajst-32562	36	13	and	and	CCONJ
ajst-32562	36	14	the	the	DET
ajst-32562	36	15	target	target	NOUN
ajst-32562	36	16	point	point	NOUN
ajst-32562	36	17	(	(	PUNCT
ajst-32562	36	18	as	as	SCONJ
ajst-32562	36	19	shown	show	VERB
ajst-32562	36	20	in	in	ADP
ajst-32562	36	21	figure	figure	NOUN
ajst-32562	36	22	2	2	NUM
ajst-32562	36	23	)	)	PUNCT
ajst-32562	36	24	is	be	AUX
ajst-32562	36	25	reduced	reduce	VERB
ajst-32562	36	26	by	by	ADP
ajst-32562	36	27	a.	a.	NOUN
ajst-32562	36	28	eventually	eventually	ADV
ajst-32562	36	29	the	the	DET
ajst-32562	36	30	coordinate	coordinate	NOUN
ajst-32562	36	31	of	of	ADP
ajst-32562	36	32	the	the	DET
ajst-32562	36	33	end	end	NOUN
ajst-32562	36	34	point	point	NOUN
ajst-32562	36	35	on	on	ADP
ajst-32562	36	36	the	the	DET
ajst-32562	36	37	new	new	ADJ
ajst-32562	36	38	plane	plane	NOUN
ajst-32562	36	39	is	be	AUX
ajst-32562	36	40	found	find	VERB
ajst-32562	36	41	.	.	PUNCT
ajst-32562	37	1	figure	figure	VERB
ajst-32562	37	2	2	2	NUM
ajst-32562	37	3	.	.	PUNCT
ajst-32562	38	1	the	the	DET
ajst-32562	38	2	coordinates	coordinate	NOUN
ajst-32562	38	3	,	,	PUNCT
ajst-32562	38	4	origin	origin	NOUN
ajst-32562	38	5	,	,	PUNCT
ajst-32562	38	6	and	and	CCONJ
ajst-32562	38	7	other	other	ADJ
ajst-32562	38	8	positions	position	NOUN
ajst-32562	38	9	to	to	PART
ajst-32562	38	10	calculate	calculate	VERB
ajst-32562	38	11	how	how	SCONJ
ajst-32562	38	12	many	many	ADJ
ajst-32562	38	13	degrees	degree	NOUN
ajst-32562	38	14	servo	servo	VERB
ajst-32562	38	15	#	#	SYM
ajst-32562	38	16	1	1	NUM
ajst-32562	38	17	and	and	CCONJ
ajst-32562	38	18	servo	servo	VERB
ajst-32562	38	19	#	#	SYM
ajst-32562	38	20	2	2	NUM
ajst-32562	38	21	need	need	VERB
ajst-32562	38	22	to	to	PART
ajst-32562	38	23	rotate	rotate	VERB
ajst-32562	38	24	,	,	PUNCT
ajst-32562	38	25	a	a	DET
ajst-32562	38	26	line	line	NOUN
ajst-32562	38	27	is	be	AUX
ajst-32562	38	28	drawn	draw	VERB
ajst-32562	38	29	to	to	PART
ajst-32562	38	30	calculate	calculate	VERB
ajst-32562	38	31	the	the	DET
ajst-32562	38	32	required	require	VERB
ajst-32562	38	33	rotation	rotation	NOUN
ajst-32562	38	34	angles	angle	VERB
ajst-32562	38	35	for	for	ADP
ajst-32562	38	36	servo	servo	NOUN
ajst-32562	38	37	#	#	SYM
ajst-32562	38	38	1	1	NUM
ajst-32562	38	39	and	and	CCONJ
ajst-32562	38	40	servo	servo	VERB
ajst-32562	38	41	#	#	SYM
ajst-32562	38	42	2	2	NUM
ajst-32562	38	43	,	,	PUNCT
ajst-32562	38	44	a	a	DET
ajst-32562	38	45	line	line	NOUN
ajst-32562	38	46	is	be	AUX
ajst-32562	38	47	drawn	draw	VERB
ajst-32562	38	48	between	between	ADP
ajst-32562	38	49	the	the	DET
ajst-32562	38	50	origin	origin	NOUN
ajst-32562	38	51	and	and	CCONJ
ajst-32562	38	52	the	the	DET
ajst-32562	38	53	endpoint	endpoint	NOUN
ajst-32562	38	54	,	,	PUNCT
ajst-32562	38	55	as	as	SCONJ
ajst-32562	38	56	illustrated	illustrate	VERB
ajst-32562	38	57	in	in	ADP
ajst-32562	38	58	figure	figure	NOUN
ajst-32562	38	59	3	3	NUM
ajst-32562	38	60	.	.	PUNCT
ajst-32562	39	1	dealing	deal	VERB
ajst-32562	39	2	the	the	DET
ajst-32562	39	3	geometric	geometric	ADJ
ajst-32562	39	4	shape	shape	NOUN
ajst-32562	39	5	as	as	ADP
ajst-32562	39	6	a	a	DET
ajst-32562	39	7	triangle	triangle	NOUN
ajst-32562	39	8	,	,	PUNCT
ajst-32562	39	9	the	the	DET
ajst-32562	39	10	angle	angle	NOUN
ajst-32562	39	11	β	β	X
ajst-32562	39	12	can	can	AUX
ajst-32562	39	13	be	be	AUX
ajst-32562	39	14	calculated	calculate	VERB
ajst-32562	39	15	using	use	VERB
ajst-32562	39	16	the	the	DET
ajst-32562	39	17	law	law	NOUN
ajst-32562	39	18	of	of	ADP
ajst-32562	39	19	cosines	cosine	NOUN
ajst-32562	39	20	:	:	PUNCT
ajst-32562	39	21	.	.	PUNCT
ajst-32562	40	1	adding	add	VERB
ajst-32562	40	2	this	this	PRON
ajst-32562	40	3	to	to	ADP
ajst-32562	40	4	the	the	DET
ajst-32562	40	5	pitch	pitch	NOUN
ajst-32562	40	6	angle	angle	NOUN
ajst-32562	40	7	of	of	ADP
ajst-32562	40	8	the	the	DET
ajst-32562	40	9	line	line	NOUN
ajst-32562	40	10	between	between	ADP
ajst-32562	40	11	the	the	DET
ajst-32562	40	12	origin	origin	NOUN
ajst-32562	40	13	and	and	CCONJ
ajst-32562	40	14	the	the	DET
ajst-32562	40	15	endpoint	endpoint	NOUN
ajst-32562	40	16	(	(	PUNCT
ajst-32562	40	17	α	α	NOUN
ajst-32562	40	18	,	,	PUNCT
ajst-32562	40	19	a	a	DET
ajst-32562	40	20	negative	negative	ADJ
ajst-32562	40	21	value	value	NOUN
ajst-32562	40	22	in	in	ADP
ajst-32562	40	23	figure	figure	NOUN
ajst-32562	40	24	3	3	NUM
ajst-32562	40	25	)	)	PUNCT
ajst-32562	40	26	,	,	PUNCT
ajst-32562	40	27	the	the	DET
ajst-32562	40	28	angle	angle	NOUN
ajst-32562	40	29	θ1	θ1	NOUN
ajst-32562	40	30	is	be	AUX
ajst-32562	40	31	thus	thus	ADV
ajst-32562	40	32	determined	determine	VERB
ajst-32562	40	33	.	.	PUNCT
ajst-32562	41	1	similarly	similarly	ADV
ajst-32562	41	2	,	,	PUNCT
ajst-32562	41	3	181	181	NUM
ajst-32562	41	4	by	by	ADP
ajst-32562	41	5	applying	apply	VERB
ajst-32562	41	6	the	the	DET
ajst-32562	41	7	law	law	NOUN
ajst-32562	41	8	of	of	ADP
ajst-32562	41	9	cosines	cosine	NOUN
ajst-32562	41	10	,	,	PUNCT
ajst-32562	41	11	the	the	DET
ajst-32562	41	12	angle	angle	NOUN
ajst-32562	41	13	γ	γ	PROPN
ajst-32562	41	14	can	can	AUX
ajst-32562	41	15	be	be	AUX
ajst-32562	41	16	obtained	obtain	VERB
ajst-32562	41	17	using	use	VERB
ajst-32562	41	18	.	.	PUNCT
ajst-32562	42	1	by	by	ADP
ajst-32562	42	2	deducting	deduct	VERB
ajst-32562	42	3	90	90	NUM
ajst-32562	42	4	degrees	degree	NOUN
ajst-32562	42	5	,	,	PUNCT
ajst-32562	42	6	the	the	DET
ajst-32562	42	7	rotational	rotational	ADJ
ajst-32562	42	8	angle	angle	NOUN
ajst-32562	42	9	for	for	ADP
ajst-32562	42	10	servo	servo	NOUN
ajst-32562	42	11	#	#	SYM
ajst-32562	42	12	2	2	NUM
ajst-32562	42	13	is	be	AUX
ajst-32562	42	14	given	give	VERB
ajst-32562	42	15	by	by	ADP
ajst-32562	42	16	[	[	X
ajst-32562	42	17	1	1	NUM
ajst-32562	42	18	]	]	PUNCT
ajst-32562	42	19	.	.	PUNCT
ajst-32562	43	1	figure	figure	NOUN
ajst-32562	43	2	3	3	NUM
ajst-32562	43	3	.	.	PUNCT
ajst-32562	44	1	rotation	rotation	NOUN
ajst-32562	44	2	angle	angle	PROPN
ajst-32562	44	3	diagram	diagram	PROPN
ajst-32562	44	4	4	4	NUM
ajst-32562	44	5	.	.	PUNCT
ajst-32562	45	1	results	result	NOUN
ajst-32562	45	2	:	:	PUNCT
ajst-32562	45	3	normal	normal	ADJ
ajst-32562	45	4	gaits	gait	NOUN
ajst-32562	45	5	there	there	PRON
ajst-32562	45	6	are	be	VERB
ajst-32562	45	7	several	several	ADJ
ajst-32562	45	8	kinds	kind	NOUN
ajst-32562	45	9	of	of	ADP
ajst-32562	45	10	periodic	periodic	ADJ
ajst-32562	45	11	gaits	gait	NOUN
ajst-32562	45	12	for	for	ADP
ajst-32562	45	13	a	a	DET
ajst-32562	45	14	typical	typical	ADJ
ajst-32562	45	15	three	three	NUM
ajst-32562	45	16	-	-	PUNCT
ajst-32562	45	17	dof	dof	NOUN
ajst-32562	45	18	(	(	PUNCT
ajst-32562	45	19	degree	degree	NOUN
ajst-32562	45	20	of	of	ADP
ajst-32562	45	21	freedom	freedom	NOUN
ajst-32562	45	22	)	)	PUNCT
ajst-32562	45	23	hexapod	hexapod	NOUN
ajst-32562	45	24	robot	robot	NOUN
ajst-32562	45	25	.	.	PUNCT
ajst-32562	46	1	typically	typically	ADV
ajst-32562	46	2	,	,	PUNCT
ajst-32562	46	3	the	the	DET
ajst-32562	46	4	robot	robot	NOUN
ajst-32562	46	5	can	can	AUX
ajst-32562	46	6	walk	walk	VERB
ajst-32562	46	7	in	in	ADP
ajst-32562	46	8	a	a	DET
ajst-32562	46	9	few	few	ADJ
ajst-32562	46	10	kinds	kind	NOUN
ajst-32562	46	11	of	of	ADP
ajst-32562	46	12	gaits	gait	NOUN
ajst-32562	46	13	—	—	PUNCT
ajst-32562	46	14	a	a	DET
ajst-32562	46	15	tripod	tripod	NOUN
ajst-32562	46	16	(	(	PUNCT
ajst-32562	46	17	3	3	NUM
ajst-32562	46	18	+	+	NOUN
ajst-32562	46	19	3	3	NUM
ajst-32562	46	20	)	)	PUNCT
ajst-32562	46	21	gait	gait	NOUN
ajst-32562	46	22	,	,	PUNCT
ajst-32562	46	23	a	a	DET
ajst-32562	46	24	slow	slow	ADJ
ajst-32562	46	25	(	(	PUNCT
ajst-32562	46	26	5	5	NUM
ajst-32562	46	27	+	+	NOUN
ajst-32562	46	28	1	1	NUM
ajst-32562	46	29	)	)	PUNCT
ajst-32562	46	30	gait	gait	NOUN
ajst-32562	46	31	and	and	CCONJ
ajst-32562	46	32	a	a	DET
ajst-32562	46	33	tetrapod	tetrapod	NOUN
ajst-32562	46	34	(	(	PUNCT
ajst-32562	46	35	4	4	NUM
ajst-32562	46	36	+	+	NOUN
ajst-32562	46	37	2	2	NUM
ajst-32562	46	38	)	)	PUNCT
ajst-32562	46	39	gait	gait	NOUN
ajst-32562	46	40	.	.	PUNCT
ajst-32562	47	1	each	each	DET
ajst-32562	47	2	type	type	NOUN
ajst-32562	47	3	of	of	ADP
ajst-32562	47	4	gait	gait	NOUN
ajst-32562	47	5	has	have	VERB
ajst-32562	47	6	its	its	PRON
ajst-32562	47	7	own	own	ADJ
ajst-32562	47	8	running	running	NOUN
ajst-32562	47	9	method	method	NOUN
ajst-32562	47	10	and	and	CCONJ
ajst-32562	47	11	results	result	NOUN
ajst-32562	47	12	in	in	ADP
ajst-32562	47	13	different	different	ADJ
ajst-32562	47	14	speeds	speed	NOUN
ajst-32562	47	15	and	and	CCONJ
ajst-32562	47	16	stability	stability	NOUN
ajst-32562	47	17	.	.	PUNCT
ajst-32562	48	1	this	this	DET
ajst-32562	48	2	essay	essay	NOUN
ajst-32562	48	3	mainly	mainly	ADV
ajst-32562	48	4	focused	focus	VERB
ajst-32562	48	5	on	on	ADP
ajst-32562	48	6	slow	slow	ADJ
ajst-32562	48	7	gait	gait	NOUN
ajst-32562	48	8	and	and	CCONJ
ajst-32562	48	9	tetrapod	tetrapod	ADJ
ajst-32562	48	10	gait	gait	NOUN
ajst-32562	48	11	and	and	CCONJ
ajst-32562	48	12	tripod	tripod	NOUN
ajst-32562	48	13	gait	gait	NOUN
ajst-32562	48	14	will	will	AUX
ajst-32562	48	15	not	not	PART
ajst-32562	48	16	be	be	AUX
ajst-32562	48	17	further	far	ADV
ajst-32562	48	18	discussed	discuss	VERB
ajst-32562	48	19	[	[	PUNCT
ajst-32562	48	20	2	2	NUM
ajst-32562	48	21	]	]	PUNCT
ajst-32562	48	22	.	.	PUNCT
ajst-32562	49	1	4.1	4.1	NUM
ajst-32562	49	2	slow	slow	ADJ
ajst-32562	49	3	gait	gait	NOUN
ajst-32562	49	4	(	(	PUNCT
ajst-32562	49	5	5	5	NUM
ajst-32562	49	6	+	+	SYM
ajst-32562	49	7	1	1	NUM
ajst-32562	49	8	gait	gait	NOUN
ajst-32562	49	9	)	)	PUNCT
ajst-32562	49	10	slow	slow	ADJ
ajst-32562	49	11	gait	gait	NOUN
ajst-32562	49	12	is	be	AUX
ajst-32562	49	13	a	a	DET
ajst-32562	49	14	kind	kind	NOUN
ajst-32562	49	15	of	of	ADP
ajst-32562	49	16	gait	gait	NOUN
ajst-32562	49	17	that	that	PRON
ajst-32562	49	18	has	have	AUX
ajst-32562	49	19	been	be	AUX
ajst-32562	49	20	characterised	characterise	VERB
ajst-32562	49	21	as	as	ADP
ajst-32562	49	22	having	have	VERB
ajst-32562	49	23	five	five	NUM
ajst-32562	49	24	legs	leg	NOUN
ajst-32562	49	25	standing	stand	VERB
ajst-32562	49	26	on	on	ADP
ajst-32562	49	27	the	the	DET
ajst-32562	49	28	ground	ground	NOUN
ajst-32562	49	29	,	,	PUNCT
ajst-32562	49	30	supporting	support	VERB
ajst-32562	49	31	and	and	CCONJ
ajst-32562	49	32	pushing	push	VERB
ajst-32562	49	33	the	the	DET
ajst-32562	49	34	robot	robot	NOUN
ajst-32562	49	35	to	to	PART
ajst-32562	49	36	move	move	VERB
ajst-32562	49	37	at	at	ADP
ajst-32562	49	38	the	the	DET
ajst-32562	49	39	same	same	ADJ
ajst-32562	49	40	time	time	NOUN
ajst-32562	49	41	[	[	X
ajst-32562	49	42	2	2	NUM
ajst-32562	49	43	]	]	PUNCT
ajst-32562	49	44	.	.	PUNCT
ajst-32562	50	1	meanwhile	meanwhile	ADV
ajst-32562	50	2	,	,	PUNCT
ajst-32562	50	3	another	another	DET
ajst-32562	50	4	leg	leg	NOUN
ajst-32562	50	5	will	will	AUX
ajst-32562	50	6	lift	lift	VERB
ajst-32562	50	7	up	up	ADP
ajst-32562	50	8	and	and	CCONJ
ajst-32562	50	9	move	move	VERB
ajst-32562	50	10	forward	forward	ADV
ajst-32562	50	11	.	.	PUNCT
ajst-32562	51	1	in	in	ADP
ajst-32562	51	2	each	each	DET
ajst-32562	51	3	period	period	NOUN
ajst-32562	51	4	,	,	PUNCT
ajst-32562	51	5	the	the	DET
ajst-32562	51	6	body	body	NOUN
ajst-32562	51	7	moves	move	VERB
ajst-32562	51	8	6	6	NUM
ajst-32562	51	9	steps	step	NOUN
ajst-32562	51	10	.	.	PUNCT
ajst-32562	52	1	in	in	ADP
ajst-32562	52	2	this	this	DET
ajst-32562	52	3	case	case	NOUN
ajst-32562	52	4	,	,	PUNCT
ajst-32562	52	5	the	the	DET
ajst-32562	52	6	legs	leg	NOUN
ajst-32562	52	7	are	be	AUX
ajst-32562	52	8	considered	consider	VERB
ajst-32562	52	9	moving	move	VERB
ajst-32562	52	10	one	one	NUM
ajst-32562	52	11	by	by	ADP
ajst-32562	52	12	one	one	NUM
ajst-32562	52	13	,	,	PUNCT
ajst-32562	52	14	which	which	PRON
ajst-32562	52	15	is	be	AUX
ajst-32562	52	16	the	the	DET
ajst-32562	52	17	meaning	meaning	NOUN
ajst-32562	52	18	of	of	ADP
ajst-32562	52	19	a	a	DET
ajst-32562	52	20	5	5	NUM
ajst-32562	52	21	+	+	SYM
ajst-32562	52	22	1	1	NUM
ajst-32562	52	23	gait	gait	NOUN
ajst-32562	52	24	.	.	PUNCT
ajst-32562	53	1	in	in	ADP
ajst-32562	53	2	the	the	DET
ajst-32562	53	3	following	follow	VERB
ajst-32562	53	4	figures	figure	NOUN
ajst-32562	53	5	,	,	PUNCT
ajst-32562	53	6	each	each	DET
ajst-32562	53	7	leg	leg	NOUN
ajst-32562	53	8	has	have	AUX
ajst-32562	53	9	been	be	AUX
ajst-32562	53	10	labelled	label	VERB
ajst-32562	53	11	from	from	ADP
ajst-32562	53	12	0	0	NUM
ajst-32562	53	13	to	to	ADP
ajst-32562	53	14	5	5	NUM
ajst-32562	53	15	clockwise	clockwise	NOUN
ajst-32562	53	16	(	(	PUNCT
ajst-32562	53	17	figure	figure	NOUN
ajst-32562	53	18	4	4	NUM
ajst-32562	53	19	)	)	PUNCT
ajst-32562	53	20	.	.	PUNCT
ajst-32562	54	1	during	during	ADP
ajst-32562	54	2	the	the	DET
ajst-32562	54	3	steps	step	NOUN
ajst-32562	54	4	of	of	ADP
ajst-32562	54	5	the	the	DET
ajst-32562	54	6	gait	gait	NOUN
ajst-32562	54	7	,	,	PUNCT
ajst-32562	54	8	the	the	DET
ajst-32562	54	9	supporting	support	VERB
ajst-32562	54	10	legs	leg	NOUN
ajst-32562	54	11	can	can	AUX
ajst-32562	54	12	build	build	VERB
ajst-32562	54	13	up	up	ADP
ajst-32562	54	14	a	a	DET
ajst-32562	54	15	stable	stable	ADJ
ajst-32562	54	16	pentagon	pentagon	NOUN
ajst-32562	54	17	.	.	PUNCT
ajst-32562	55	1	(	(	PUNCT
ajst-32562	55	2	labelled	label	VERB
ajst-32562	55	3	in	in	ADP
ajst-32562	55	4	figure	figure	NOUN
ajst-32562	55	5	5	5	NUM
ajst-32562	55	6	)	)	PUNCT
ajst-32562	55	7	the	the	DET
ajst-32562	55	8	five	five	NUM
ajst-32562	55	9	standing	stand	VERB
ajst-32562	55	10	feet	foot	NOUN
ajst-32562	55	11	create	create	VERB
ajst-32562	55	12	a	a	DET
ajst-32562	55	13	large	large	ADJ
ajst-32562	55	14	supporting	support	VERB
ajst-32562	55	15	area	area	NOUN
ajst-32562	55	16	(	(	PUNCT
ajst-32562	55	17	the	the	DET
ajst-32562	55	18	orange	orange	PROPN
ajst-32562	55	19	area	area	NOUN
ajst-32562	55	20	labelled	label	VERB
ajst-32562	55	21	in	in	ADP
ajst-32562	55	22	the	the	DET
ajst-32562	55	23	figure	figure	NOUN
ajst-32562	55	24	)	)	PUNCT
ajst-32562	55	25	,	,	PUNCT
ajst-32562	55	26	which	which	PRON
ajst-32562	55	27	makes	make	VERB
ajst-32562	55	28	it	it	PRON
ajst-32562	55	29	the	the	DET
ajst-32562	55	30	most	most	ADV
ajst-32562	55	31	stable	stable	ADJ
ajst-32562	55	32	gait	gait	NOUN
ajst-32562	55	33	in	in	ADP
ajst-32562	55	34	all	all	PRON
ajst-32562	55	35	of	of	ADP
ajst-32562	55	36	the	the	DET
ajst-32562	55	37	gaits	gait	NOUN
ajst-32562	55	38	.	.	PUNCT
ajst-32562	56	1	however	however	ADV
ajst-32562	56	2	,	,	PUNCT
ajst-32562	56	3	it	it	PRON
ajst-32562	56	4	needs	need	VERB
ajst-32562	56	5	to	to	PART
ajst-32562	56	6	move	move	VERB
ajst-32562	56	7	6	6	NUM
ajst-32562	56	8	steps	step	NOUN
ajst-32562	56	9	in	in	ADP
ajst-32562	56	10	one	one	NUM
ajst-32562	56	11	period	period	NOUN
ajst-32562	56	12	.	.	PUNCT
ajst-32562	57	1	this	this	PRON
ajst-32562	57	2	means	mean	VERB
ajst-32562	57	3	its	its	PRON
ajst-32562	57	4	duty	duty	NOUN
ajst-32562	57	5	factor	factor	NOUN
ajst-32562	57	6	is	be	AUX
ajst-32562	57	7	only	only	ADV
ajst-32562	57	8	1/6	1/6	NUM
ajst-32562	57	9	,	,	PUNCT
ajst-32562	57	10	which	which	PRON
ajst-32562	57	11	makes	make	VERB
ajst-32562	57	12	it	it	PRON
ajst-32562	57	13	the	the	DET
ajst-32562	57	14	slowest	slow	ADJ
ajst-32562	57	15	gait	gait	NOUN
ajst-32562	57	16	.	.	PUNCT
ajst-32562	58	1	figure	figure	NOUN
ajst-32562	58	2	4	4	NUM
ajst-32562	58	3	.	.	PUNCT
ajst-32562	58	4	labelled	label	VERB
ajst-32562	58	5	legs	leg	NOUN
ajst-32562	58	6	;	;	PUNCT
ajst-32562	58	7	figure	figure	NOUN
ajst-32562	58	8	5	5	NUM
ajst-32562	58	9	.	.	PUNCT
ajst-32562	58	10	legs	leg	NOUN
ajst-32562	58	11	diagram	diagram	NOUN
ajst-32562	58	12	in	in	ADP
ajst-32562	58	13	the	the	DET
ajst-32562	58	14	step	step	NOUN
ajst-32562	58	15	one	one	NUM
ajst-32562	58	16	;	;	PUNCT
ajst-32562	58	17	figure	figure	NOUN
ajst-32562	58	18	6	6	NUM
ajst-32562	58	19	.	.	PUNCT
ajst-32562	58	20	legs	leg	NOUN
ajst-32562	58	21	diagram	diagram	NOUN
ajst-32562	58	22	in	in	ADP
ajst-32562	58	23	the	the	DET
ajst-32562	58	24	step	step	NOUN
ajst-32562	58	25	two	two	NUM
ajst-32562	58	26	182	182	NUM
ajst-32562	58	27	in	in	ADP
ajst-32562	58	28	each	each	DET
ajst-32562	58	29	step	step	NOUN
ajst-32562	58	30	,	,	PUNCT
ajst-32562	58	31	the	the	DET
ajst-32562	58	32	lift	lift	NOUN
ajst-32562	58	33	-	-	PUNCT
ajst-32562	58	34	up	up	ADP
ajst-32562	58	35	foot	foot	NOUN
ajst-32562	58	36	moves	move	VERB
ajst-32562	58	37	forward	forward	ADV
ajst-32562	58	38	a	a	DET
ajst-32562	58	39	distance	distance	NOUN
ajst-32562	58	40	‘	'	PUNCT
ajst-32562	58	41	a	a	PRON
ajst-32562	58	42	’	'	PUNCT
ajst-32562	58	43	,	,	PUNCT
ajst-32562	58	44	the	the	DET
ajst-32562	58	45	other	other	ADJ
ajst-32562	58	46	five	five	NUM
ajst-32562	58	47	standing	stand	VERB
ajst-32562	58	48	feet	foot	NOUN
ajst-32562	58	49	move	move	VERB
ajst-32562	58	50	backwards	backwards	ADV
ajst-32562	58	51	a	a	DET
ajst-32562	58	52	distance	distance	NOUN
ajst-32562	58	53	‘	'	PUNCT
ajst-32562	58	54	b	b	NOUN
ajst-32562	58	55	’	'	PUNCT
ajst-32562	58	56	,	,	PUNCT
ajst-32562	58	57	labelled	label	VERB
ajst-32562	58	58	in	in	ADP
ajst-32562	58	59	figure	figure	NOUN
ajst-32562	58	60	5	5	NUM
ajst-32562	58	61	.	.	PUNCT
ajst-32562	59	1	the	the	DET
ajst-32562	59	2	standing	stand	VERB
ajst-32562	59	3	pentagon	pentagon	PROPN
ajst-32562	59	4	will	will	AUX
ajst-32562	59	5	move	move	VERB
ajst-32562	59	6	backwards	backwards	ADV
ajst-32562	59	7	to	to	PART
ajst-32562	59	8	push	push	VERB
ajst-32562	59	9	the	the	DET
ajst-32562	59	10	main	main	ADJ
ajst-32562	59	11	body	body	NOUN
ajst-32562	59	12	forward	forward	ADV
ajst-32562	59	13	.	.	PUNCT
ajst-32562	60	1	in	in	ADP
ajst-32562	60	2	this	this	DET
ajst-32562	60	3	case	case	NOUN
ajst-32562	60	4	,	,	PUNCT
ajst-32562	60	5	a	a	DET
ajst-32562	60	6	5b	5b	NOUN
ajst-32562	60	7	.	.	PUNCT
ajst-32562	61	1	because	because	SCONJ
ajst-32562	61	2	in	in	ADP
ajst-32562	61	3	the	the	DET
ajst-32562	61	4	six	six	NUM
ajst-32562	61	5	-	-	PUNCT
ajst-32562	61	6	step	step	NOUN
ajst-32562	61	7	period	period	NOUN
ajst-32562	61	8	,	,	PUNCT
ajst-32562	61	9	each	each	DET
ajst-32562	61	10	foot	foot	NOUN
ajst-32562	61	11	only	only	ADV
ajst-32562	61	12	moves	move	VERB
ajst-32562	61	13	forward	forward	ADV
ajst-32562	61	14	for	for	ADP
ajst-32562	61	15	one	one	NUM
ajst-32562	61	16	step	step	NOUN
ajst-32562	61	17	,	,	PUNCT
ajst-32562	61	18	in	in	ADP
ajst-32562	61	19	the	the	DET
ajst-32562	61	20	other	other	ADJ
ajst-32562	61	21	5	5	NUM
ajst-32562	61	22	steps	step	NOUN
ajst-32562	61	23	they	they	PRON
ajst-32562	61	24	move	move	VERB
ajst-32562	61	25	backwards	backwards	ADV
ajst-32562	61	26	,	,	PUNCT
ajst-32562	61	27	so	so	SCONJ
ajst-32562	61	28	it	it	PRON
ajst-32562	61	29	needs	need	VERB
ajst-32562	61	30	to	to	PART
ajst-32562	61	31	move	move	VERB
ajst-32562	61	32	five	five	NUM
ajst-32562	61	33	times	time	NOUN
ajst-32562	61	34	more	more	ADJ
ajst-32562	61	35	forwards	forward	NOUN
ajst-32562	61	36	to	to	PART
ajst-32562	61	37	enable	enable	VERB
ajst-32562	61	38	it	it	PRON
ajst-32562	61	39	can	can	AUX
ajst-32562	61	40	reach	reach	VERB
ajst-32562	61	41	the	the	DET
ajst-32562	61	42	same	same	ADJ
ajst-32562	61	43	place	place	NOUN
ajst-32562	61	44	each	each	DET
ajst-32562	61	45	time	time	NOUN
ajst-32562	61	46	.	.	PUNCT
ajst-32562	62	1	when	when	SCONJ
ajst-32562	62	2	the	the	DET
ajst-32562	62	3	foot	foot	NOUN
ajst-32562	62	4	reaches	reach	VERB
ajst-32562	62	5	the	the	DET
ajst-32562	62	6	farthest	farth	ADJ
ajst-32562	62	7	point	point	NOUN
ajst-32562	62	8	,	,	PUNCT
ajst-32562	62	9	it	it	PRON
ajst-32562	62	10	drops	drop	VERB
ajst-32562	62	11	down	down	ADP
ajst-32562	62	12	to	to	ADP
ajst-32562	62	13	the	the	DET
ajst-32562	62	14	same	same	ADJ
ajst-32562	62	15	height	height	NOUN
ajst-32562	62	16	as	as	ADP
ajst-32562	62	17	the	the	DET
ajst-32562	62	18	other	other	ADJ
ajst-32562	62	19	foot	foot	NOUN
ajst-32562	62	20	,	,	PUNCT
ajst-32562	62	21	and	and	CCONJ
ajst-32562	62	22	the	the	DET
ajst-32562	62	23	next	next	ADJ
ajst-32562	62	24	foot	foot	NOUN
ajst-32562	62	25	will	will	AUX
ajst-32562	62	26	be	be	AUX
ajst-32562	62	27	lifted	lift	VERB
ajst-32562	62	28	up	up	ADP
ajst-32562	62	29	and	and	CCONJ
ajst-32562	62	30	repeat	repeat	VERB
ajst-32562	62	31	the	the	DET
ajst-32562	62	32	step	step	NOUN
ajst-32562	62	33	six	six	NUM
ajst-32562	62	34	times	time	NOUN
ajst-32562	62	35	.	.	PUNCT
ajst-32562	63	1	(	(	PUNCT
ajst-32562	63	2	show	show	VERB
ajst-32562	63	3	in	in	ADP
ajst-32562	63	4	figure	figure	NOUN
ajst-32562	63	5	6	6	NUM
ajst-32562	63	6	)	)	PUNCT
ajst-32562	63	7	the	the	DET
ajst-32562	63	8	foot	foot	NOUN
ajst-32562	63	9	will	will	AUX
ajst-32562	63	10	run	run	VERB
ajst-32562	63	11	in	in	ADP
ajst-32562	63	12	a	a	DET
ajst-32562	63	13	specific	specific	ADJ
ajst-32562	63	14	sequence	sequence	NOUN
ajst-32562	63	15	.	.	PUNCT
ajst-32562	64	1	there	there	PRON
ajst-32562	64	2	are	be	VERB
ajst-32562	64	3	two	two	NUM
ajst-32562	64	4	main	main	ADJ
ajst-32562	64	5	kinds	kind	NOUN
ajst-32562	64	6	of	of	ADP
ajst-32562	64	7	sequences	sequence	NOUN
ajst-32562	64	8	for	for	ADP
ajst-32562	64	9	a	a	DET
ajst-32562	64	10	normal	normal	ADJ
ajst-32562	64	11	hexapod	hexapod	NOUN
ajst-32562	64	12	robot	robot	NOUN
ajst-32562	64	13	which	which	PRON
ajst-32562	64	14	runs	run	VERB
ajst-32562	64	15	in	in	ADP
ajst-32562	64	16	a	a	DET
ajst-32562	64	17	slow	slow	ADJ
ajst-32562	64	18	gait	gait	NOUN
ajst-32562	64	19	.	.	PUNCT
ajst-32562	65	1	one	one	NUM
ajst-32562	65	2	is	be	AUX
ajst-32562	65	3	{	{	PUNCT
ajst-32562	65	4	0	0	NUM
ajst-32562	65	5	3	3	NUM
ajst-32562	65	6	1	1	NUM
ajst-32562	65	7	5	5	NUM
ajst-32562	65	8	2	2	NUM
ajst-32562	65	9	4	4	NUM
ajst-32562	65	10	}	}	PUNCT
ajst-32562	65	11	another	another	PRON
ajst-32562	65	12	is	be	AUX
ajst-32562	65	13	{	{	PUNCT
ajst-32562	65	14	0	0	NUM
ajst-32562	65	15	5	5	NUM
ajst-32562	65	16	1	1	NUM
ajst-32562	65	17	4	4	NUM
ajst-32562	65	18	2	2	NUM
ajst-32562	65	19	3	3	NUM
ajst-32562	65	20	}	}	PUNCT
ajst-32562	65	21	.	.	PUNCT
ajst-32562	66	1	our	our	PRON
ajst-32562	66	2	robot	robot	NOUN
ajst-32562	66	3	runs	run	VERB
ajst-32562	66	4	in	in	ADP
ajst-32562	66	5	the	the	DET
ajst-32562	66	6	first	first	ADJ
ajst-32562	66	7	one	one	NUM
ajst-32562	66	8	,	,	PUNCT
ajst-32562	66	9	where	where	SCONJ
ajst-32562	66	10	the	the	DET
ajst-32562	66	11	legs	leg	NOUN
ajst-32562	66	12	run	run	VERB
ajst-32562	66	13	the	the	DET
ajst-32562	66	14	sequence	sequence	NOUN
ajst-32562	66	15	in	in	ADP
ajst-32562	66	16	a	a	DET
ajst-32562	66	17	diagonal	diagonal	ADJ
ajst-32562	66	18	order	order	NOUN
ajst-32562	66	19	.	.	PUNCT
ajst-32562	67	1	the	the	DET
ajst-32562	67	2	second	second	ADJ
ajst-32562	67	3	one	one	NOUN
ajst-32562	67	4	runs	run	VERB
ajst-32562	67	5	the	the	DET
ajst-32562	67	6	sequence	sequence	NOUN
ajst-32562	67	7	in	in	ADP
ajst-32562	67	8	symmetry	symmetry	NOUN
ajst-32562	67	9	of	of	ADP
ajst-32562	67	10	the	the	DET
ajst-32562	67	11	central	central	ADJ
ajst-32562	67	12	line	line	NOUN
ajst-32562	67	13	.	.	PUNCT
ajst-32562	68	1	there	there	PRON
ajst-32562	68	2	are	be	VERB
ajst-32562	68	3	also	also	ADV
ajst-32562	68	4	other	other	ADJ
ajst-32562	68	5	kinds	kind	NOUN
ajst-32562	68	6	of	of	ADP
ajst-32562	68	7	5	5	NUM
ajst-32562	68	8	+	+	SYM
ajst-32562	68	9	1	1	NUM
ajst-32562	68	10	gaits	gait	NOUN
ajst-32562	68	11	,	,	PUNCT
ajst-32562	68	12	called	call	VERB
ajst-32562	68	13	the	the	DET
ajst-32562	68	14	ripple	ripple	ADJ
ajst-32562	68	15	gait	gait	NOUN
ajst-32562	68	16	and	and	CCONJ
ajst-32562	68	17	the	the	DET
ajst-32562	68	18	wave	wave	NOUN
ajst-32562	68	19	gait	gait	PROPN
ajst-32562	68	20	.	.	PUNCT
ajst-32562	69	1	ripple	ripple	PROPN
ajst-32562	69	2	gait	gait	PROPN
ajst-32562	69	3	has	have	VERB
ajst-32562	69	4	a	a	DET
ajst-32562	69	5	sequence	sequence	NOUN
ajst-32562	69	6	of	of	ADP
ajst-32562	69	7	{	{	PUNCT
ajst-32562	69	8	0	0	NUM
ajst-32562	69	9	4	4	NUM
ajst-32562	69	10	2	2	NUM
ajst-32562	69	11	5	5	NUM
ajst-32562	69	12	1	1	NUM
ajst-32562	69	13	3	3	NUM
ajst-32562	69	14	}	}	PUNCT
ajst-32562	69	15	.	.	PUNCT
ajst-32562	70	1	this	this	DET
ajst-32562	70	2	kind	kind	NOUN
ajst-32562	70	3	of	of	ADP
ajst-32562	70	4	gait	gait	NOUN
ajst-32562	70	5	also	also	ADV
ajst-32562	70	6	runs	run	VERB
ajst-32562	70	7	in	in	ADP
ajst-32562	70	8	a	a	DET
ajst-32562	70	9	diagonal	diagonal	ADJ
ajst-32562	70	10	order	order	NOUN
ajst-32562	70	11	,	,	PUNCT
ajst-32562	70	12	only	only	ADV
ajst-32562	70	13	has	have	VERB
ajst-32562	70	14	a	a	DET
ajst-32562	70	15	different	different	ADJ
ajst-32562	70	16	sequence	sequence	NOUN
ajst-32562	70	17	of	of	ADP
ajst-32562	70	18	running	run	VERB
ajst-32562	70	19	,	,	PUNCT
ajst-32562	70	20	with	with	ADP
ajst-32562	70	21	no	no	DET
ajst-32562	70	22	further	further	ADJ
ajst-32562	70	23	difference	difference	NOUN
ajst-32562	70	24	from	from	ADP
ajst-32562	70	25	the	the	DET
ajst-32562	70	26	slow	slow	ADJ
ajst-32562	70	27	gait	gait	NOUN
ajst-32562	70	28	.	.	PUNCT
ajst-32562	71	1	besides	besides	SCONJ
ajst-32562	71	2	,	,	PUNCT
ajst-32562	71	3	the	the	DET
ajst-32562	71	4	wave	wave	NOUN
ajst-32562	71	5	gait	gait	PROPN
ajst-32562	71	6	uses	use	VERB
ajst-32562	71	7	a	a	DET
ajst-32562	71	8	sequence	sequence	NOUN
ajst-32562	71	9	of	of	ADP
ajst-32562	71	10	{	{	PUNCT
ajst-32562	71	11	0	0	NUM
ajst-32562	71	12	1	1	NUM
ajst-32562	71	13	2	2	NUM
ajst-32562	71	14	3	3	NUM
ajst-32562	71	15	4	4	NUM
ajst-32562	71	16	5	5	NUM
ajst-32562	71	17	}	}	PUNCT
ajst-32562	71	18	,	,	PUNCT
ajst-32562	71	19	which	which	PRON
ajst-32562	71	20	chooses	choose	VERB
ajst-32562	71	21	to	to	PART
ajst-32562	71	22	move	move	VERB
ajst-32562	71	23	the	the	DET
ajst-32562	71	24	legs	leg	NOUN
ajst-32562	71	25	on	on	ADP
ajst-32562	71	26	one	one	NUM
ajst-32562	71	27	side	side	NOUN
ajst-32562	71	28	first	first	ADV
ajst-32562	71	29	,	,	PUNCT
ajst-32562	71	30	then	then	ADV
ajst-32562	71	31	the	the	DET
ajst-32562	71	32	other	other	ADJ
ajst-32562	71	33	side	side	NOUN
ajst-32562	71	34	.	.	PUNCT
ajst-32562	72	1	this	this	PRON
ajst-32562	72	2	will	will	AUX
ajst-32562	72	3	make	make	VERB
ajst-32562	72	4	the	the	DET
ajst-32562	72	5	robot	robot	NOUN
ajst-32562	72	6	less	less	ADV
ajst-32562	72	7	stable	stable	ADJ
ajst-32562	72	8	due	due	ADP
ajst-32562	72	9	to	to	ADP
ajst-32562	72	10	this	this	DET
ajst-32562	72	11	one	one	NUM
ajst-32562	72	12	-	-	PUNCT
ajst-32562	72	13	sided	sided	ADJ
ajst-32562	72	14	movement	movement	NOUN
ajst-32562	72	15	,	,	PUNCT
ajst-32562	72	16	the	the	DET
ajst-32562	72	17	inertia	inertia	NOUN
ajst-32562	72	18	of	of	ADP
ajst-32562	72	19	the	the	DET
ajst-32562	72	20	legs	leg	NOUN
ajst-32562	72	21	’	'	PUNCT
ajst-32562	72	22	movement	movement	NOUN
ajst-32562	72	23	will	will	AUX
ajst-32562	72	24	not	not	PART
ajst-32562	72	25	be	be	AUX
ajst-32562	72	26	able	able	ADJ
ajst-32562	72	27	to	to	PART
ajst-32562	72	28	counteract	counteract	VERB
ajst-32562	72	29	the	the	DET
ajst-32562	72	30	other	other	ADJ
ajst-32562	72	31	order	order	NOUN
ajst-32562	72	32	,	,	PUNCT
ajst-32562	72	33	but	but	CCONJ
ajst-32562	72	34	to	to	PART
ajst-32562	72	35	converge	converge	VERB
ajst-32562	72	36	,	,	PUNCT
ajst-32562	72	37	causing	cause	VERB
ajst-32562	72	38	the	the	DET
ajst-32562	72	39	robot	robot	NOUN
ajst-32562	72	40	to	to	PART
ajst-32562	72	41	rock	rock	VERB
ajst-32562	72	42	.	.	PUNCT
ajst-32562	73	1	4.2	4.2	NUM
ajst-32562	73	2	tetrapod	tetrapod	ADJ
ajst-32562	73	3	gait	gait	NOUN
ajst-32562	73	4	(	(	PUNCT
ajst-32562	73	5	4	4	NUM
ajst-32562	73	6	+	+	SYM
ajst-32562	73	7	2	2	NUM
ajst-32562	73	8	gait	gait	ADJ
ajst-32562	73	9	)	)	PUNCT
ajst-32562	73	10	tetrapod	tetrapod	NOUN
ajst-32562	73	11	gait	gait	NOUN
ajst-32562	73	12	is	be	AUX
ajst-32562	73	13	a	a	DET
ajst-32562	73	14	kind	kind	NOUN
ajst-32562	73	15	of	of	ADP
ajst-32562	73	16	gait	gait	NOUN
ajst-32562	73	17	that	that	PRON
ajst-32562	73	18	has	have	AUX
ajst-32562	73	19	been	be	AUX
ajst-32562	73	20	characterized	characterize	VERB
ajst-32562	73	21	as	as	ADP
ajst-32562	73	22	having	have	VERB
ajst-32562	73	23	four	four	NUM
ajst-32562	73	24	legs	leg	NOUN
ajst-32562	73	25	standing	stand	VERB
ajst-32562	73	26	on	on	ADP
ajst-32562	73	27	the	the	DET
ajst-32562	73	28	ground	ground	NOUN
ajst-32562	73	29	,	,	PUNCT
ajst-32562	73	30	supporting	support	VERB
ajst-32562	73	31	and	and	CCONJ
ajst-32562	73	32	pushing	push	VERB
ajst-32562	73	33	the	the	DET
ajst-32562	73	34	robot	robot	NOUN
ajst-32562	73	35	to	to	PART
ajst-32562	73	36	move	move	VERB
ajst-32562	73	37	at	at	ADP
ajst-32562	73	38	the	the	DET
ajst-32562	73	39	same	same	ADJ
ajst-32562	73	40	time	time	NOUN
ajst-32562	73	41	[	[	X
ajst-32562	73	42	2	2	NUM
ajst-32562	73	43	]	]	PUNCT
ajst-32562	73	44	.	.	PUNCT
ajst-32562	74	1	meanwhile	meanwhile	ADV
ajst-32562	74	2	,	,	PUNCT
ajst-32562	74	3	the	the	DET
ajst-32562	74	4	other	other	ADJ
ajst-32562	74	5	two	two	NUM
ajst-32562	74	6	legs	leg	NOUN
ajst-32562	74	7	will	will	AUX
ajst-32562	74	8	lift	lift	VERB
ajst-32562	74	9	up	up	ADP
ajst-32562	74	10	and	and	CCONJ
ajst-32562	74	11	move	move	VERB
ajst-32562	74	12	forward	forward	ADV
ajst-32562	74	13	.	.	PUNCT
ajst-32562	75	1	in	in	ADP
ajst-32562	75	2	each	each	DET
ajst-32562	75	3	period	period	NOUN
ajst-32562	75	4	,	,	PUNCT
ajst-32562	75	5	the	the	DET
ajst-32562	75	6	robot	robot	NOUN
ajst-32562	75	7	moves	move	VERB
ajst-32562	75	8	3	3	NUM
ajst-32562	75	9	steps	step	NOUN
ajst-32562	75	10	.	.	PUNCT
ajst-32562	76	1	in	in	ADP
ajst-32562	76	2	this	this	DET
ajst-32562	76	3	case	case	NOUN
ajst-32562	76	4	,	,	PUNCT
ajst-32562	76	5	the	the	DET
ajst-32562	76	6	legs	leg	NOUN
ajst-32562	76	7	of	of	ADP
ajst-32562	76	8	the	the	DET
ajst-32562	76	9	robot	robot	NOUN
ajst-32562	76	10	are	be	AUX
ajst-32562	76	11	divided	divide	VERB
ajst-32562	76	12	into	into	ADP
ajst-32562	76	13	3	3	NUM
ajst-32562	76	14	parts	part	NOUN
ajst-32562	76	15	,	,	PUNCT
ajst-32562	76	16	each	each	DET
ajst-32562	76	17	part	part	NOUN
ajst-32562	76	18	has	have	VERB
ajst-32562	76	19	2	2	NUM
ajst-32562	76	20	legs	leg	NOUN
ajst-32562	76	21	.	.	PUNCT
ajst-32562	77	1	the	the	DET
ajst-32562	77	2	legs	leg	NOUN
ajst-32562	77	3	are	be	AUX
ajst-32562	77	4	considered	consider	VERB
ajst-32562	77	5	as	as	ADP
ajst-32562	77	6	moving	move	VERB
ajst-32562	77	7	2	2	NUM
ajst-32562	77	8	by	by	ADP
ajst-32562	77	9	2	2	NUM
ajst-32562	77	10	.	.	PUNCT
ajst-32562	77	11	in	in	ADP
ajst-32562	77	12	tetrapod	tetrapod	PROPN
ajst-32562	77	13	gait	gait	NOUN
ajst-32562	77	14	,	,	PUNCT
ajst-32562	77	15	the	the	DET
ajst-32562	77	16	four	four	NUM
ajst-32562	77	17	supporting	support	VERB
ajst-32562	77	18	legs	leg	NOUN
ajst-32562	77	19	will	will	AUX
ajst-32562	77	20	form	form	VERB
ajst-32562	77	21	a	a	DET
ajst-32562	77	22	quadrangle	quadrangle	NOUN
ajst-32562	77	23	(	(	PUNCT
ajst-32562	77	24	labelled	label	VERB
ajst-32562	77	25	in	in	ADP
ajst-32562	77	26	figure	figure	NOUN
ajst-32562	77	27	7	7	NUM
ajst-32562	77	28	)	)	PUNCT
ajst-32562	77	29	.	.	PUNCT
ajst-32562	78	1	the	the	DET
ajst-32562	78	2	supporting	support	VERB
ajst-32562	78	3	area	area	NOUN
ajst-32562	78	4	is	be	AUX
ajst-32562	78	5	smaller	small	ADJ
ajst-32562	78	6	than	than	ADP
ajst-32562	78	7	the	the	DET
ajst-32562	78	8	5	5	NUM
ajst-32562	78	9	+	+	SYM
ajst-32562	78	10	1	1	NUM
ajst-32562	78	11	gait	gait	NOUN
ajst-32562	78	12	.	.	PUNCT
ajst-32562	79	1	which	which	PRON
ajst-32562	79	2	makes	make	VERB
ajst-32562	79	3	it	it	PRON
ajst-32562	79	4	less	less	ADV
ajst-32562	79	5	stable	stable	ADJ
ajst-32562	79	6	than	than	ADP
ajst-32562	79	7	the	the	DET
ajst-32562	79	8	5	5	NUM
ajst-32562	79	9	+	+	SYM
ajst-32562	79	10	1	1	NUM
ajst-32562	79	11	gait	gait	NOUN
ajst-32562	79	12	.	.	PUNCT
ajst-32562	80	1	however	however	ADV
ajst-32562	80	2	,	,	PUNCT
ajst-32562	80	3	it	it	PRON
ajst-32562	80	4	moves	move	VERB
ajst-32562	80	5	two	two	NUM
ajst-32562	80	6	legs	leg	NOUN
ajst-32562	80	7	at	at	ADP
ajst-32562	80	8	a	a	DET
ajst-32562	80	9	time	time	NOUN
ajst-32562	80	10	,	,	PUNCT
ajst-32562	80	11	meaning	mean	VERB
ajst-32562	80	12	it	it	PRON
ajst-32562	80	13	only	only	ADV
ajst-32562	80	14	needs	need	VERB
ajst-32562	80	15	3	3	NUM
ajst-32562	80	16	steps	step	NOUN
ajst-32562	80	17	to	to	PART
ajst-32562	80	18	complete	complete	VERB
ajst-32562	80	19	a	a	DET
ajst-32562	80	20	whole	whole	ADJ
ajst-32562	80	21	period	period	NOUN
ajst-32562	80	22	.	.	PUNCT
ajst-32562	81	1	its	its	PRON
ajst-32562	81	2	duty	duty	NOUN
ajst-32562	81	3	factor	factor	NOUN
ajst-32562	81	4	is	be	AUX
ajst-32562	81	5	1/3	1/3	NUM
ajst-32562	81	6	,	,	PUNCT
ajst-32562	81	7	which	which	PRON
ajst-32562	81	8	is	be	AUX
ajst-32562	81	9	twice	twice	ADV
ajst-32562	81	10	as	as	ADV
ajst-32562	81	11	much	much	ADJ
ajst-32562	81	12	as	as	ADP
ajst-32562	81	13	the	the	DET
ajst-32562	81	14	5	5	NUM
ajst-32562	81	15	+	+	SYM
ajst-32562	81	16	1	1	NUM
ajst-32562	81	17	gait	gait	NOUN
ajst-32562	81	18	.	.	PUNCT
ajst-32562	82	1	theoretically	theoretically	ADV
ajst-32562	82	2	,	,	PUNCT
ajst-32562	82	3	it	it	PRON
ajst-32562	82	4	can	can	AUX
ajst-32562	82	5	run	run	VERB
ajst-32562	82	6	twice	twice	ADV
ajst-32562	82	7	as	as	ADV
ajst-32562	82	8	fast	fast	ADV
ajst-32562	82	9	as	as	ADP
ajst-32562	82	10	the	the	DET
ajst-32562	82	11	slow	slow	ADJ
ajst-32562	82	12	gait	gait	NOUN
ajst-32562	82	13	,	,	PUNCT
ajst-32562	82	14	but	but	CCONJ
ajst-32562	82	15	due	due	ADP
ajst-32562	82	16	to	to	ADP
ajst-32562	82	17	servo	servo	NOUN
ajst-32562	82	18	and	and	CCONJ
ajst-32562	82	19	friction	friction	NOUN
ajst-32562	82	20	issues	issue	NOUN
ajst-32562	82	21	,	,	PUNCT
ajst-32562	82	22	it	it	PRON
ajst-32562	82	23	could	could	AUX
ajst-32562	82	24	not	not	PART
ajst-32562	82	25	reach	reach	VERB
ajst-32562	82	26	this	this	DET
ajst-32562	82	27	maximum	maximum	ADJ
ajst-32562	82	28	speed	speed	NOUN
ajst-32562	82	29	.	.	PUNCT
ajst-32562	83	1	this	this	DET
ajst-32562	83	2	comparison	comparison	NOUN
ajst-32562	83	3	is	be	AUX
ajst-32562	83	4	further	far	ADV
ajst-32562	83	5	discussed	discuss	VERB
ajst-32562	83	6	later	later	ADV
ajst-32562	83	7	in	in	ADP
ajst-32562	83	8	the	the	DET
ajst-32562	83	9	essay	essay	NOUN
ajst-32562	83	10	[	[	X
ajst-32562	83	11	5	5	NUM
ajst-32562	83	12	]	]	PUNCT
ajst-32562	83	13	.	.	PUNCT
ajst-32562	84	1	figure	figure	NOUN
ajst-32562	84	2	7	7	NUM
ajst-32562	84	3	.	.	PUNCT
ajst-32562	85	1	the	the	DET
ajst-32562	85	2	four	four	NUM
ajst-32562	85	3	supporting	support	VERB
ajst-32562	85	4	legs	leg	NOUN
ajst-32562	85	5	form	form	VERB
ajst-32562	85	6	a	a	DET
ajst-32562	85	7	quadrangle	quadrangle	NOUN
ajst-32562	85	8	;	;	PUNCT
ajst-32562	85	9	figure	figure	VERB
ajst-32562	85	10	8	8	NUM
ajst-32562	85	11	.	.	PUNCT
ajst-32562	86	1	the	the	DET
ajst-32562	86	2	movement	movement	NOUN
ajst-32562	86	3	from	from	ADP
ajst-32562	86	4	step	step	NOUN
ajst-32562	86	5	one	one	NUM
ajst-32562	86	6	to	to	PART
ajst-32562	86	7	step	step	VERB
ajst-32562	86	8	two	two	NUM
ajst-32562	86	9	during	during	ADP
ajst-32562	86	10	each	each	DET
ajst-32562	86	11	step	step	NOUN
ajst-32562	86	12	,	,	PUNCT
ajst-32562	86	13	the	the	DET
ajst-32562	86	14	forward	forward	ADJ
ajst-32562	86	15	movement	movement	NOUN
ajst-32562	86	16	of	of	ADP
ajst-32562	86	17	the	the	DET
ajst-32562	86	18	lift	lift	NOUN
ajst-32562	86	19	-	-	PUNCT
ajst-32562	86	20	up	up	ADP
ajst-32562	86	21	feet	foot	NOUN
ajst-32562	86	22	is	be	AUX
ajst-32562	86	23	labelled	label	VERB
ajst-32562	86	24	as	as	ADP
ajst-32562	86	25	‘	'	PUNCT
ajst-32562	86	26	a	a	PRON
ajst-32562	86	27	’	'	PUNCT
ajst-32562	86	28	,	,	PUNCT
ajst-32562	86	29	the	the	DET
ajst-32562	86	30	backwards	backwards	ADJ
ajst-32562	86	31	movement	movement	NOUN
ajst-32562	86	32	of	of	ADP
ajst-32562	86	33	the	the	DET
ajst-32562	86	34	supporting	support	VERB
ajst-32562	86	35	feet	foot	NOUN
ajst-32562	86	36	is	be	AUX
ajst-32562	86	37	labelled	label	VERB
ajst-32562	86	38	as	as	ADP
ajst-32562	86	39	‘	'	PUNCT
ajst-32562	86	40	b	b	NOUN
ajst-32562	86	41	’	'	PUNCT
ajst-32562	86	42	.	.	PUNCT
ajst-32562	87	1	in	in	ADP
ajst-32562	87	2	this	this	DET
ajst-32562	87	3	case	case	NOUN
ajst-32562	87	4	a	a	DET
ajst-32562	87	5	2b	2b	NOUN
ajst-32562	87	6	.	.	PUNCT
ajst-32562	88	1	in	in	ADP
ajst-32562	88	2	the	the	DET
ajst-32562	88	3	three	three	NUM
ajst-32562	88	4	-	-	PUNCT
ajst-32562	88	5	step	step	NOUN
ajst-32562	88	6	period	period	NOUN
ajst-32562	88	7	,	,	PUNCT
ajst-32562	88	8	each	each	DET
ajst-32562	88	9	foot	foot	NOUN
ajst-32562	88	10	moves	move	VERB
ajst-32562	88	11	forwards	forwards	ADV
ajst-32562	88	12	once	once	ADV
ajst-32562	88	13	,	,	PUNCT
ajst-32562	88	14	while	while	SCONJ
ajst-32562	88	15	it	it	PRON
ajst-32562	88	16	moves	move	VERB
ajst-32562	88	17	backwards	backwards	ADV
ajst-32562	88	18	for	for	ADP
ajst-32562	88	19	2	2	NUM
ajst-32562	88	20	times	time	NOUN
ajst-32562	88	21	,	,	PUNCT
ajst-32562	88	22	so	so	SCONJ
ajst-32562	88	23	it	it	PRON
ajst-32562	88	24	should	should	AUX
ajst-32562	88	25	move	move	VERB
ajst-32562	88	26	forward	forward	ADV
ajst-32562	88	27	twice	twice	ADV
ajst-32562	88	28	as	as	ADV
ajst-32562	88	29	much	much	ADJ
ajst-32562	88	30	as	as	SCONJ
ajst-32562	88	31	it	it	PRON
ajst-32562	88	32	moves	move	VERB
ajst-32562	88	33	backwards	backwards	ADV
ajst-32562	88	34	.	.	PUNCT
ajst-32562	89	1	the	the	DET
ajst-32562	89	2	feet	foot	NOUN
ajst-32562	89	3	are	be	AUX
ajst-32562	89	4	divided	divide	VERB
ajst-32562	89	5	into	into	ADP
ajst-32562	89	6	three	three	NUM
ajst-32562	89	7	groups	group	NOUN
ajst-32562	89	8	.	.	PUNCT
ajst-32562	90	1	feet	foot	NOUN
ajst-32562	90	2	{	{	PUNCT
ajst-32562	90	3	0,4	0,4	NOUN
ajst-32562	90	4	}	}	PUNCT
ajst-32562	90	5	is	be	AUX
ajst-32562	90	6	group	group	NOUN
ajst-32562	90	7	1	1	NUM
ajst-32562	90	8	;	;	PUNCT
ajst-32562	90	9	feet	foot	NOUN
ajst-32562	90	10	{	{	PUNCT
ajst-32562	90	11	1,3	1,3	NUM
ajst-32562	90	12	}	}	PUNCT
ajst-32562	90	13	is	be	AUX
ajst-32562	90	14	group	group	NOUN
ajst-32562	90	15	2	2	NUM
ajst-32562	90	16	;	;	PUNCT
ajst-32562	90	17	feet	foot	NOUN
ajst-32562	90	18	{	{	PUNCT
ajst-32562	90	19	2,5	2,5	NUM
ajst-32562	90	20	}	}	PUNCT
ajst-32562	90	21	is	be	AUX
ajst-32562	90	22	group	group	NOUN
ajst-32562	90	23	3	3	NUM
ajst-32562	90	24	.	.	PUNCT
ajst-32562	90	25	during	during	ADP
ajst-32562	90	26	the	the	DET
ajst-32562	90	27	period	period	NOUN
ajst-32562	90	28	,	,	PUNCT
ajst-32562	90	29	group	group	NOUN
ajst-32562	90	30	1	1	NUM
ajst-32562	90	31	moves	move	VERB
ajst-32562	90	32	forward	forward	ADV
ajst-32562	90	33	first	first	ADV
ajst-32562	90	34	,	,	PUNCT
ajst-32562	90	35	then	then	ADV
ajst-32562	90	36	group	group	NOUN
ajst-32562	90	37	2	2	NUM
ajst-32562	90	38	,	,	PUNCT
ajst-32562	90	39	followed	follow	VERB
ajst-32562	90	40	by	by	ADP
ajst-32562	90	41	group	group	NOUN
ajst-32562	90	42	3	3	NUM
ajst-32562	90	43	.	.	PUNCT
ajst-32562	91	1	(	(	PUNCT
ajst-32562	91	2	the	the	DET
ajst-32562	91	3	movement	movement	NOUN
ajst-32562	91	4	from	from	ADP
ajst-32562	91	5	step	step	NOUN
ajst-32562	91	6	one	one	NUM
ajst-32562	91	7	to	to	PART
ajst-32562	91	8	step	step	VERB
ajst-32562	91	9	two	two	NUM
ajst-32562	91	10	is	be	AUX
ajst-32562	91	11	shown	show	VERB
ajst-32562	91	12	in	in	ADP
ajst-32562	91	13	figure	figure	NOUN
ajst-32562	91	14	8)	8)	NUM
ajst-32562	91	15	this	this	PRON
ajst-32562	91	16	is	be	AUX
ajst-32562	91	17	a	a	DET
ajst-32562	91	18	kind	kind	NOUN
ajst-32562	91	19	of	of	ADP
ajst-32562	91	20	gait	gait	NOUN
ajst-32562	91	21	that	that	PRON
ajst-32562	91	22	imitates	imitate	VERB
ajst-32562	91	23	the	the	DET
ajst-32562	91	24	way	way	NOUN
ajst-32562	91	25	a	a	DET
ajst-32562	91	26	tetrapod	tetrapod	ADJ
ajst-32562	91	27	walks	walk	NOUN
ajst-32562	91	28	.	.	PUNCT
ajst-32562	92	1	there	there	PRON
ajst-32562	92	2	is	be	VERB
ajst-32562	92	3	another	another	DET
ajst-32562	92	4	typical	typical	ADJ
ajst-32562	92	5	type	type	NOUN
ajst-32562	92	6	of	of	ADP
ajst-32562	92	7	4	4	NUM
ajst-32562	92	8	+	+	SYM
ajst-32562	92	9	2	2	NUM
ajst-32562	92	10	gait	gait	NOUN
ajst-32562	92	11	,	,	PUNCT
ajst-32562	92	12	which	which	PRON
ajst-32562	92	13	has	have	VERB
ajst-32562	92	14	a	a	DET
ajst-32562	92	15	183	183	NUM
ajst-32562	92	16	different	different	ADJ
ajst-32562	92	17	type	type	NOUN
ajst-32562	92	18	of	of	ADP
ajst-32562	92	19	grouping	grouping	NOUN
ajst-32562	92	20	.	.	PUNCT
ajst-32562	93	1	it	it	PRON
ajst-32562	93	2	’s	’s	AUX
ajst-32562	93	3	called	call	VERB
ajst-32562	93	4	the	the	DET
ajst-32562	93	5	metachronal	metachronal	ADJ
ajst-32562	93	6	gait	gait	NOUN
ajst-32562	93	7	,	,	PUNCT
ajst-32562	93	8	grouping	group	VERB
ajst-32562	93	9	up	up	ADP
ajst-32562	93	10	by	by	ADP
ajst-32562	93	11	{	{	PUNCT
ajst-32562	93	12	0,5	0,5	NUM
ajst-32562	93	13	}	}	PUNCT
ajst-32562	93	14	;	;	PUNCT
ajst-32562	93	15	{	{	PUNCT
ajst-32562	93	16	1,4	1,4	NUM
ajst-32562	93	17	}	}	PUNCT
ajst-32562	93	18	;	;	PUNCT
ajst-32562	93	19	{	{	PUNCT
ajst-32562	93	20	2,3	2,3	NUM
ajst-32562	93	21	}	}	PUNCT
ajst-32562	93	22	.	.	PUNCT
ajst-32562	94	1	this	this	DET
ajst-32562	94	2	kind	kind	NOUN
ajst-32562	94	3	of	of	ADP
ajst-32562	94	4	gait	gait	NOUN
ajst-32562	94	5	moves	move	VERB
ajst-32562	94	6	legs	leg	NOUN
ajst-32562	94	7	that	that	PRON
ajst-32562	94	8	are	be	AUX
ajst-32562	94	9	on	on	ADP
ajst-32562	94	10	the	the	DET
ajst-32562	94	11	same	same	ADJ
ajst-32562	94	12	y	y	PROPN
ajst-32562	94	13	coordinate	coordinate	NOUN
ajst-32562	94	14	(	(	PUNCT
ajst-32562	94	15	directions	direction	NOUN
ajst-32562	94	16	of	of	ADP
ajst-32562	94	17	x	x	NOUN
ajst-32562	94	18	-	-	ADJ
ajst-32562	94	19	y	y	PROPN
ajst-32562	94	20	coordinates	coordinate	NOUN
ajst-32562	94	21	are	be	AUX
ajst-32562	94	22	labelled	label	VERB
ajst-32562	94	23	in	in	ADP
ajst-32562	94	24	figure	figure	NOUN
ajst-32562	94	25	7	7	NUM
ajst-32562	94	26	)	)	PUNCT
ajst-32562	94	27	.	.	PUNCT
ajst-32562	95	1	this	this	PRON
ajst-32562	95	2	can	can	AUX
ajst-32562	95	3	help	help	VERB
ajst-32562	95	4	the	the	DET
ajst-32562	95	5	robot	robot	NOUN
ajst-32562	95	6	overcome	overcome	VERB
ajst-32562	95	7	rugged	rugged	ADJ
ajst-32562	95	8	areas	area	NOUN
ajst-32562	95	9	,	,	PUNCT
ajst-32562	95	10	while	while	SCONJ
ajst-32562	95	11	the	the	DET
ajst-32562	95	12	tetrapod	tetrapod	NOUN
ajst-32562	95	13	gait	gait	NOUN
ajst-32562	95	14	is	be	AUX
ajst-32562	95	15	more	more	ADV
ajst-32562	95	16	suitable	suitable	ADJ
ajst-32562	95	17	on	on	ADP
ajst-32562	95	18	a	a	DET
ajst-32562	95	19	flat	flat	ADJ
ajst-32562	95	20	surface	surface	NOUN
ajst-32562	96	1	[	[	X
ajst-32562	96	2	4][6	4][6	X
ajst-32562	96	3	]	]	X
ajst-32562	96	4	.	.	PUNCT
ajst-32562	97	1	4.3	4.3	NUM
ajst-32562	97	2	comparison	comparison	NOUN
ajst-32562	97	3	between	between	ADP
ajst-32562	97	4	slow	slow	ADJ
ajst-32562	97	5	gait	gait	NOUN
ajst-32562	97	6	and	and	CCONJ
ajst-32562	97	7	tetrapod	tetrapod	ADJ
ajst-32562	97	8	gait	gait	NOUN
ajst-32562	97	9	based	base	VERB
ajst-32562	97	10	on	on	ADP
ajst-32562	97	11	acceleration	acceleration	NOUN
ajst-32562	97	12	the	the	DET
ajst-32562	97	13	following	follow	VERB
ajst-32562	97	14	figure	figure	NOUN
ajst-32562	97	15	9,10	9,10	NUM
ajst-32562	97	16	show	show	VERB
ajst-32562	97	17	the	the	DET
ajst-32562	97	18	linear	linear	ADJ
ajst-32562	97	19	acceleration	acceleration	NOUN
ajst-32562	97	20	in	in	ADP
ajst-32562	97	21	x	x	PROPN
ajst-32562	97	22	,	,	PUNCT
ajst-32562	97	23	y	y	PROPN
ajst-32562	97	24	and	and	CCONJ
ajst-32562	97	25	z	z	NOUN
ajst-32562	97	26	-	-	PUNCT
ajst-32562	97	27	coordinates	coordinate	NOUN
ajst-32562	97	28	of	of	ADP
ajst-32562	97	29	the	the	DET
ajst-32562	97	30	main	main	ADJ
ajst-32562	97	31	body	body	NOUN
ajst-32562	97	32	of	of	ADP
ajst-32562	97	33	the	the	DET
ajst-32562	97	34	robot	robot	NOUN
ajst-32562	97	35	during	during	ADP
ajst-32562	97	36	a	a	DET
ajst-32562	97	37	three	three	NUM
ajst-32562	97	38	-	-	PUNCT
ajst-32562	97	39	second	second	NOUN
ajst-32562	97	40	period	period	NOUN
ajst-32562	97	41	while	while	SCONJ
ajst-32562	97	42	running	run	VERB
ajst-32562	97	43	slow	slow	ADJ
ajst-32562	97	44	gait	gait	NOUN
ajst-32562	97	45	and	and	CCONJ
ajst-32562	97	46	tetrapod	tetrapod	ADJ
ajst-32562	97	47	gait	gait	NOUN
ajst-32562	97	48	.	.	PUNCT
ajst-32562	98	1	the	the	DET
ajst-32562	98	2	acceleration	acceleration	NOUN
ajst-32562	98	3	rate	rate	NOUN
ajst-32562	98	4	can	can	AUX
ajst-32562	98	5	illustrate	illustrate	VERB
ajst-32562	98	6	the	the	DET
ajst-32562	98	7	shaking	shake	VERB
ajst-32562	98	8	range	range	NOUN
ajst-32562	98	9	of	of	ADP
ajst-32562	98	10	the	the	DET
ajst-32562	98	11	main	main	ADJ
ajst-32562	98	12	body	body	NOUN
ajst-32562	98	13	[	[	X
ajst-32562	98	14	10	10	NUM
ajst-32562	98	15	]	]	PUNCT
ajst-32562	98	16	,	,	PUNCT
ajst-32562	98	17	which	which	PRON
ajst-32562	98	18	can	can	AUX
ajst-32562	98	19	represent	represent	VERB
ajst-32562	98	20	the	the	DET
ajst-32562	98	21	stability	stability	NOUN
ajst-32562	98	22	of	of	ADP
ajst-32562	98	23	the	the	DET
ajst-32562	98	24	body	body	NOUN
ajst-32562	98	25	.	.	PUNCT
ajst-32562	99	1	the	the	PRON
ajst-32562	99	2	greater	great	ADJ
ajst-32562	99	3	the	the	DET
ajst-32562	99	4	acceleration	acceleration	NOUN
ajst-32562	99	5	,	,	PUNCT
ajst-32562	99	6	the	the	PRON
ajst-32562	99	7	less	less	ADV
ajst-32562	99	8	stable	stable	ADJ
ajst-32562	99	9	the	the	DET
ajst-32562	99	10	body	body	NOUN
ajst-32562	99	11	is	be	AUX
ajst-32562	99	12	.	.	PUNCT
ajst-32562	100	1	an	an	DET
ajst-32562	100	2	application	application	NOUN
ajst-32562	100	3	called	call	VERB
ajst-32562	100	4	the	the	DET
ajst-32562	100	5	phybox	phybox	NOUN
ajst-32562	100	6	,	,	PUNCT
ajst-32562	100	7	installed	instal	VERB
ajst-32562	100	8	on	on	ADP
ajst-32562	100	9	a	a	DET
ajst-32562	100	10	phone	phone	NOUN
ajst-32562	100	11	located	locate	VERB
ajst-32562	100	12	on	on	ADP
ajst-32562	100	13	the	the	DET
ajst-32562	100	14	main	main	ADJ
ajst-32562	100	15	body	body	NOUN
ajst-32562	100	16	of	of	ADP
ajst-32562	100	17	the	the	DET
ajst-32562	100	18	robot	robot	NOUN
ajst-32562	100	19	,	,	PUNCT
ajst-32562	100	20	has	have	AUX
ajst-32562	100	21	been	be	AUX
ajst-32562	100	22	used	use	VERB
ajst-32562	100	23	to	to	PART
ajst-32562	100	24	read	read	VERB
ajst-32562	100	25	the	the	DET
ajst-32562	100	26	data	datum	NOUN
ajst-32562	100	27	from	from	ADP
ajst-32562	100	28	the	the	DET
ajst-32562	100	29	accelerometer	accelerometer	NOUN
ajst-32562	100	30	on	on	ADP
ajst-32562	100	31	the	the	DET
ajst-32562	100	32	phone	phone	NOUN
ajst-32562	100	33	to	to	PART
ajst-32562	100	34	detect	detect	VERB
ajst-32562	100	35	the	the	DET
ajst-32562	100	36	acceleration	acceleration	NOUN
ajst-32562	100	37	rate	rate	NOUN
ajst-32562	100	38	.	.	PUNCT
ajst-32562	101	1	all	all	DET
ajst-32562	101	2	the	the	DET
ajst-32562	101	3	gait	gait	NOUN
ajst-32562	101	4	is	be	AUX
ajst-32562	101	5	set	set	VERB
ajst-32562	101	6	to	to	PART
ajst-32562	101	7	run	run	VERB
ajst-32562	101	8	in	in	ADP
ajst-32562	101	9	the	the	DET
ajst-32562	101	10	same	same	ADJ
ajst-32562	101	11	speed	speed	NOUN
ajst-32562	101	12	.	.	PUNCT
ajst-32562	102	1	figure	figure	NOUN
ajst-32562	102	2	9	9	NUM
ajst-32562	102	3	.	.	PUNCT
ajst-32562	103	1	the	the	DET
ajst-32562	103	2	acceleration	acceleration	NOUN
ajst-32562	103	3	of	of	ADP
ajst-32562	103	4	the	the	DET
ajst-32562	103	5	body	body	NOUN
ajst-32562	103	6	when	when	SCONJ
ajst-32562	103	7	running	run	VERB
ajst-32562	103	8	slow	slow	ADJ
ajst-32562	103	9	gait	gait	ADJ
ajst-32562	103	10	figure	figure	NOUN
ajst-32562	103	11	10	10	NUM
ajst-32562	103	12	.	.	PUNCT
ajst-32562	104	1	the	the	DET
ajst-32562	104	2	acceleration	acceleration	NOUN
ajst-32562	104	3	of	of	ADP
ajst-32562	104	4	the	the	DET
ajst-32562	104	5	body	body	NOUN
ajst-32562	104	6	when	when	SCONJ
ajst-32562	104	7	running	run	VERB
ajst-32562	104	8	a	a	DET
ajst-32562	104	9	tetrapod	tetrapod	ADJ
ajst-32562	104	10	gait	gait	NOUN
ajst-32562	104	11	figure	figure	NOUN
ajst-32562	104	12	11	11	NUM
ajst-32562	104	13	.	.	PUNCT
ajst-32562	105	1	the	the	DET
ajst-32562	105	2	absolute	absolute	ADJ
ajst-32562	105	3	acceleration	acceleration	NOUN
ajst-32562	105	4	in	in	ADP
ajst-32562	105	5	all	all	DET
ajst-32562	105	6	directions	direction	NOUN
ajst-32562	105	7	for	for	ADP
ajst-32562	105	8	both	both	PRON
ajst-32562	105	9	tetrapod	tetrapod	ADJ
ajst-32562	105	10	gait	gait	NOUN
ajst-32562	105	11	and	and	CCONJ
ajst-32562	105	12	slow	slow	ADJ
ajst-32562	105	13	gait	gait	ADJ
ajst-32562	105	14	figure	figure	NOUN
ajst-32562	105	15	9	9	NUM
ajst-32562	105	16	and	and	CCONJ
ajst-32562	105	17	figure	figure	VERB
ajst-32562	105	18	10	10	NUM
ajst-32562	105	19	show	show	VERB
ajst-32562	105	20	that	that	SCONJ
ajst-32562	105	21	in	in	ADP
ajst-32562	105	22	both	both	CCONJ
ajst-32562	105	23	slow	slow	ADJ
ajst-32562	105	24	gait	gait	NOUN
ajst-32562	105	25	and	and	CCONJ
ajst-32562	105	26	tetrapod	tetrapod	ADJ
ajst-32562	105	27	gait	gait	NOUN
ajst-32562	105	28	,	,	PUNCT
ajst-32562	105	29	there	there	PRON
ajst-32562	105	30	is	be	VERB
ajst-32562	105	31	a	a	DET
ajst-32562	105	32	large	large	ADJ
ajst-32562	105	33	shake	shake	NOUN
ajst-32562	105	34	in	in	ADP
ajst-32562	105	35	all	all	DET
ajst-32562	105	36	directions	direction	NOUN
ajst-32562	105	37	of	of	ADP
ajst-32562	105	38	the	the	DET
ajst-32562	105	39	system	system	NOUN
ajst-32562	105	40	every	every	DET
ajst-32562	105	41	0.2	0.2	NUM
ajst-32562	105	42	seconds	second	NOUN
ajst-32562	105	43	in	in	ADP
ajst-32562	105	44	the	the	DET
ajst-32562	105	45	slow	slow	ADJ
ajst-32562	105	46	gait	gait	NOUN
ajst-32562	105	47	.	.	PUNCT
ajst-32562	106	1	and	and	CCONJ
ajst-32562	106	2	in	in	ADP
ajst-32562	106	3	tetrapod	tetrapod	PROPN
ajst-32562	106	4	gait	gait	NOUN
ajst-32562	106	5	,	,	PUNCT
ajst-32562	106	6	this	this	PRON
ajst-32562	106	7	happens	happen	VERB
ajst-32562	106	8	every	every	DET
ajst-32562	106	9	0.4s	0.4s	PROPN
ajst-32562	106	10	.	.	PUNCT
ajst-32562	107	1	the	the	DET
ajst-32562	107	2	inertia	inertia	NOUN
ajst-32562	107	3	and	and	CCONJ
ajst-32562	107	4	the	the	DET
ajst-32562	107	5	inaccurate	inaccurate	NOUN
ajst-32562	107	6	of	of	ADP
ajst-32562	107	7	the	the	DET
ajst-32562	107	8	servo	servo	NOUN
ajst-32562	107	9	when	when	SCONJ
ajst-32562	107	10	changing	change	VERB
ajst-32562	107	11	feet	foot	NOUN
ajst-32562	107	12	will	will	AUX
ajst-32562	107	13	cause	cause	VERB
ajst-32562	107	14	the	the	DET
ajst-32562	107	15	support	support	NOUN
ajst-32562	107	16	of	of	ADP
ajst-32562	107	17	the	the	DET
ajst-32562	107	18	body	body	NOUN
ajst-32562	107	19	to	to	PART
ajst-32562	107	20	be	be	AUX
ajst-32562	107	21	unequal	unequal	ADJ
ajst-32562	107	22	,	,	PUNCT
ajst-32562	107	23	and	and	CCONJ
ajst-32562	107	24	cause	cause	VERB
ajst-32562	107	25	the	the	DET
ajst-32562	107	26	body	body	NOUN
ajst-32562	107	27	to	to	PART
ajst-32562	107	28	shake	shake	VERB
ajst-32562	107	29	.	.	PUNCT
ajst-32562	108	1	this	this	PRON
ajst-32562	108	2	happens	happen	VERB
ajst-32562	108	3	when	when	SCONJ
ajst-32562	108	4	the	the	DET
ajst-32562	108	5	last	last	ADJ
ajst-32562	108	6	feet	foot	NOUN
ajst-32562	108	7	in	in	ADP
ajst-32562	108	8	the	the	DET
ajst-32562	108	9	sequence	sequence	NOUN
ajst-32562	108	10	are	be	AUX
ajst-32562	108	11	put	put	VERB
ajst-32562	108	12	down	down	ADP
ajst-32562	108	13	and	and	CCONJ
ajst-32562	108	14	switch	switch	VERB
ajst-32562	108	15	to	to	PART
ajst-32562	108	16	lift	lift	VERB
ajst-32562	108	17	up	up	ADP
ajst-32562	108	18	the	the	DET
ajst-32562	108	19	next	next	ADJ
ajst-32562	108	20	feet	foot	NOUN
ajst-32562	108	21	.	.	PUNCT
ajst-32562	109	1	the	the	DET
ajst-32562	109	2	shake	shake	NOUN
ajst-32562	109	3	could	could	AUX
ajst-32562	109	4	indicate	indicate	VERB
ajst-32562	109	5	a	a	DET
ajst-32562	109	6	change	change	NOUN
ajst-32562	109	7	of	of	ADP
ajst-32562	109	8	step	step	NOUN
ajst-32562	109	9	.	.	PUNCT
ajst-32562	110	1	so	so	ADV
ajst-32562	110	2	based	base	VERB
ajst-32562	110	3	on	on	ADP
ajst-32562	110	4	the	the	DET
ajst-32562	110	5	acceleration	acceleration	NOUN
ajst-32562	110	6	of	of	ADP
ajst-32562	110	7	the	the	DET
ajst-32562	110	8	body	body	NOUN
ajst-32562	110	9	,	,	PUNCT
ajst-32562	110	10	we	we	PRON
ajst-32562	110	11	can	can	AUX
ajst-32562	110	12	identify	identify	VERB
ajst-32562	110	13	the	the	DET
ajst-32562	110	14	time	time	NOUN
ajst-32562	110	15	when	when	SCONJ
ajst-32562	110	16	the	the	DET
ajst-32562	110	17	system	system	NOUN
ajst-32562	110	18	changes	change	VERB
ajst-32562	110	19	step	step	VERB
ajst-32562	110	20	and	and	CCONJ
ajst-32562	110	21	the	the	DET
ajst-32562	110	22	difference	difference	NOUN
ajst-32562	110	23	in	in	ADP
ajst-32562	110	24	the	the	DET
ajst-32562	110	25	period	period	NOUN
ajst-32562	110	26	of	of	ADP
ajst-32562	110	27	the	the	DET
ajst-32562	110	28	two	two	NUM
ajst-32562	110	29	gaits	gait	NOUN
ajst-32562	110	30	.	.	PUNCT
ajst-32562	111	1	the	the	DET
ajst-32562	111	2	data	data	NOUN
ajst-32562	111	3	shows	show	VERB
ajst-32562	111	4	that	that	SCONJ
ajst-32562	111	5	when	when	SCONJ
ajst-32562	111	6	the	the	DET
ajst-32562	111	7	two	two	NUM
ajst-32562	111	8	gaits	gait	NOUN
ajst-32562	111	9	are	be	AUX
ajst-32562	111	10	running	run	VERB
ajst-32562	111	11	at	at	ADP
ajst-32562	111	12	the	the	DET
ajst-32562	111	13	same	same	ADJ
ajst-32562	111	14	speed	speed	NOUN
ajst-32562	111	15	,	,	PUNCT
ajst-32562	111	16	a	a	DET
ajst-32562	111	17	step	step	NOUN
ajst-32562	111	18	of	of	ADP
ajst-32562	111	19	the	the	DET
ajst-32562	111	20	tetrapod	tetrapod	ADJ
ajst-32562	111	21	gait	gait	NOUN
ajst-32562	111	22	will	will	AUX
ajst-32562	111	23	take	take	VERB
ajst-32562	111	24	twice	twice	ADJ
ajst-32562	111	25	time	time	NOUN
ajst-32562	111	26	as	as	ADP
ajst-32562	111	27	a	a	DET
ajst-32562	111	28	step	step	NOUN
ajst-32562	111	29	of	of	ADP
ajst-32562	111	30	a	a	DET
ajst-32562	111	31	slow	slow	ADJ
ajst-32562	111	32	gait	gait	NOUN
ajst-32562	111	33	,	,	PUNCT
ajst-32562	111	34	and	and	CCONJ
ajst-32562	111	35	3	3	NUM
ajst-32562	111	36	of	of	ADP
ajst-32562	111	37	these	these	DET
ajst-32562	111	38	steps	step	NOUN
ajst-32562	111	39	build	build	VERB
ajst-32562	111	40	up	up	ADP
ajst-32562	111	41	a	a	DET
ajst-32562	111	42	complete	complete	ADJ
ajst-32562	111	43	tetrapod	tetrapod	ADJ
ajst-32562	111	44	sequence	sequence	NOUN
ajst-32562	111	45	(	(	PUNCT
ajst-32562	111	46	around	around	ADP
ajst-32562	111	47	1.2s	1.2s	NUM
ajst-32562	111	48	)	)	PUNCT
ajst-32562	111	49	.	.	PUNCT
ajst-32562	112	1	meanwhile	meanwhile	ADV
ajst-32562	112	2	,	,	PUNCT
ajst-32562	112	3	in	in	ADP
ajst-32562	112	4	slow	slow	ADJ
ajst-32562	112	5	gait	gait	NOUN
ajst-32562	112	6	,	,	PUNCT
ajst-32562	112	7	it	it	PRON
ajst-32562	112	8	takes	take	VERB
ajst-32562	112	9	6	6	NUM
ajst-32562	112	10	steps	step	NOUN
ajst-32562	112	11	to	to	PART
ajst-32562	112	12	complete	complete	VERB
ajst-32562	112	13	a	a	DET
ajst-32562	112	14	184	184	NUM
ajst-32562	112	15	complete	complete	ADJ
ajst-32562	112	16	sequence	sequence	NOUN
ajst-32562	112	17	.	.	PUNCT
ajst-32562	113	1	(	(	PUNCT
ajst-32562	113	2	also	also	ADV
ajst-32562	113	3	around	around	ADV
ajst-32562	113	4	1.2s	1.2s	NUM
ajst-32562	113	5	as	as	SCONJ
ajst-32562	113	6	each	each	DET
ajst-32562	113	7	step	step	NOUN
ajst-32562	113	8	runs	run	VERB
ajst-32562	113	9	faster	fast	ADV
ajst-32562	113	10	)	)	PUNCT
ajst-32562	113	11	this	this	PRON
ajst-32562	113	12	indicates	indicate	VERB
ajst-32562	113	13	that	that	SCONJ
ajst-32562	113	14	tetrapod	tetrapod	NOUN
ajst-32562	113	15	gait	gait	NOUN
ajst-32562	113	16	has	have	VERB
ajst-32562	113	17	the	the	DET
ajst-32562	113	18	potential	potential	NOUN
ajst-32562	113	19	to	to	PART
ajst-32562	113	20	run	run	VERB
ajst-32562	113	21	twice	twice	ADV
ajst-32562	113	22	as	as	ADV
ajst-32562	113	23	fast	fast	ADV
ajst-32562	113	24	as	as	SCONJ
ajst-32562	113	25	the	the	DET
ajst-32562	113	26	maximum	maximum	ADJ
ajst-32562	113	27	speed	speed	NOUN
ajst-32562	113	28	of	of	ADP
ajst-32562	113	29	a	a	DET
ajst-32562	113	30	slow	slow	ADJ
ajst-32562	113	31	gait	gait	NOUN
ajst-32562	113	32	could	could	AUX
ajst-32562	113	33	do	do	VERB
ajst-32562	113	34	in	in	ADP
ajst-32562	113	35	perfect	perfect	ADJ
ajst-32562	113	36	condition	condition	NOUN
ajst-32562	113	37	,	,	PUNCT
ajst-32562	113	38	as	as	ADP
ajst-32562	113	39	in	in	ADP
ajst-32562	113	40	tetrapod	tetrapod	ADJ
ajst-32562	113	41	gait	gait	NOUN
ajst-32562	113	42	,	,	PUNCT
ajst-32562	113	43	each	each	DET
ajst-32562	113	44	step	step	NOUN
ajst-32562	113	45	could	could	AUX
ajst-32562	113	46	run	run	VERB
ajst-32562	113	47	as	as	ADV
ajst-32562	113	48	fast	fast	ADV
ajst-32562	113	49	as	as	ADP
ajst-32562	113	50	the	the	DET
ajst-32562	113	51	steps	step	NOUN
ajst-32562	113	52	in	in	ADP
ajst-32562	113	53	a	a	DET
ajst-32562	113	54	slow	slow	ADJ
ajst-32562	113	55	gait	gait	NOUN
ajst-32562	113	56	and	and	CCONJ
ajst-32562	113	57	complete	complete	VERB
ajst-32562	113	58	the	the	DET
ajst-32562	113	59	period	period	NOUN
ajst-32562	113	60	in	in	ADP
ajst-32562	113	61	0.6	0.6	NUM
ajst-32562	113	62	seconds	second	NOUN
ajst-32562	113	63	.	.	PUNCT
ajst-32562	114	1	figure	figure	NOUN
ajst-32562	114	2	11	11	NUM
ajst-32562	114	3	compares	compare	VERB
ajst-32562	114	4	the	the	DET
ajst-32562	114	5	absolute	absolute	ADJ
ajst-32562	114	6	acceleration	acceleration	NOUN
ajst-32562	114	7	value	value	NOUN
ajst-32562	114	8	of	of	ADP
ajst-32562	114	9	the	the	DET
ajst-32562	114	10	two	two	NUM
ajst-32562	114	11	gaits	gait	NOUN
ajst-32562	114	12	.	.	PUNCT
ajst-32562	115	1	this	this	PRON
ajst-32562	115	2	can	can	AUX
ajst-32562	115	3	be	be	AUX
ajst-32562	115	4	used	use	VERB
ajst-32562	115	5	to	to	PART
ajst-32562	115	6	indicate	indicate	VERB
ajst-32562	115	7	the	the	DET
ajst-32562	115	8	stability	stability	NOUN
ajst-32562	115	9	of	of	ADP
ajst-32562	115	10	the	the	DET
ajst-32562	115	11	two	two	NUM
ajst-32562	115	12	different	different	ADJ
ajst-32562	115	13	gaits	gait	NOUN
ajst-32562	115	14	.	.	PUNCT
ajst-32562	116	1	according	accord	VERB
ajst-32562	116	2	to	to	ADP
ajst-32562	116	3	the	the	DET
ajst-32562	116	4	data	datum	NOUN
ajst-32562	116	5	,	,	PUNCT
ajst-32562	116	6	the	the	DET
ajst-32562	116	7	highest	high	ADJ
ajst-32562	116	8	absolute	absolute	ADJ
ajst-32562	116	9	acceleration	acceleration	NOUN
ajst-32562	116	10	rate	rate	NOUN
ajst-32562	116	11	for	for	ADP
ajst-32562	116	12	slow	slow	ADJ
ajst-32562	116	13	gait	gait	NOUN
ajst-32562	116	14	is	be	AUX
ajst-32562	116	15	6.16	6.16	NUM
ajst-32562	116	16	m	m	PROPN
ajst-32562	116	17	/	/	SYM
ajst-32562	116	18	s2	s2	NOUN
ajst-32562	116	19	at	at	ADP
ajst-32562	116	20	0.5s	0.5s	NUM
ajst-32562	116	21	,	,	PUNCT
ajst-32562	116	22	while	while	SCONJ
ajst-32562	116	23	the	the	DET
ajst-32562	116	24	highest	high	ADJ
ajst-32562	116	25	value	value	NOUN
ajst-32562	116	26	for	for	ADP
ajst-32562	116	27	tetrapod	tetrapod	ADJ
ajst-32562	116	28	gait	gait	NOUN
ajst-32562	116	29	is	be	AUX
ajst-32562	116	30	about	about	ADV
ajst-32562	116	31	five	five	NUM
ajst-32562	116	32	times	time	NOUN
ajst-32562	116	33	higher	high	ADJ
ajst-32562	116	34	than	than	ADP
ajst-32562	116	35	the	the	DET
ajst-32562	116	36	value	value	NOUN
ajst-32562	116	37	for	for	ADP
ajst-32562	116	38	slow	slow	ADJ
ajst-32562	116	39	gait	gait	NOUN
ajst-32562	116	40	,	,	PUNCT
ajst-32562	116	41	at	at	ADP
ajst-32562	116	42	29.17	29.17	NUM
ajst-32562	116	43	m	m	PROPN
ajst-32562	116	44	/	/	SYM
ajst-32562	116	45	s2	s2	PROPN
ajst-32562	116	46	,	,	PUNCT
ajst-32562	116	47	which	which	PRON
ajst-32562	116	48	also	also	ADV
ajst-32562	116	49	happened	happen	VERB
ajst-32562	116	50	at	at	ADP
ajst-32562	116	51	0.5s	0.5s	PROPN
ajst-32562	116	52	.	.	PUNCT
ajst-32562	117	1	this	this	PRON
ajst-32562	117	2	means	mean	VERB
ajst-32562	117	3	in	in	ADP
ajst-32562	117	4	slow	slow	ADJ
ajst-32562	117	5	gait	gait	NOUN
ajst-32562	117	6	,	,	PUNCT
ajst-32562	117	7	the	the	DET
ajst-32562	117	8	main	main	ADJ
ajst-32562	117	9	body	body	NOUN
ajst-32562	117	10	is	be	AUX
ajst-32562	117	11	much	much	ADV
ajst-32562	117	12	more	more	ADV
ajst-32562	117	13	stable	stable	ADJ
ajst-32562	117	14	than	than	ADP
ajst-32562	117	15	in	in	ADP
ajst-32562	117	16	tetrapod	tetrapod	ADJ
ajst-32562	117	17	gait	gait	NOUN
ajst-32562	117	18	.	.	PUNCT
ajst-32562	118	1	the	the	DET
ajst-32562	118	2	average	average	ADJ
ajst-32562	118	3	absolute	absolute	ADJ
ajst-32562	118	4	acceleration	acceleration	NOUN
ajst-32562	118	5	also	also	ADV
ajst-32562	118	6	supports	support	VERB
ajst-32562	118	7	this	this	DET
ajst-32562	118	8	conclusion	conclusion	NOUN
ajst-32562	118	9	.	.	PUNCT
ajst-32562	119	1	the	the	DET
ajst-32562	119	2	average	average	ADJ
ajst-32562	119	3	value	value	NOUN
ajst-32562	119	4	for	for	ADP
ajst-32562	119	5	slow	slow	ADJ
ajst-32562	119	6	gait	gait	NOUN
ajst-32562	119	7	is	be	AUX
ajst-32562	119	8	1.57	1.57	NUM
ajst-32562	119	9	m	m	PROPN
ajst-32562	119	10	/	/	SYM
ajst-32562	119	11	s2	s2	PROPN
ajst-32562	119	12	,	,	PUNCT
ajst-32562	119	13	while	while	SCONJ
ajst-32562	119	14	for	for	ADP
ajst-32562	119	15	tetrapod	tetrapod	ADJ
ajst-32562	119	16	gait	gait	NOUN
ajst-32562	119	17	,	,	PUNCT
ajst-32562	119	18	this	this	DET
ajst-32562	119	19	value	value	NOUN
ajst-32562	119	20	has	have	AUX
ajst-32562	119	21	almost	almost	ADV
ajst-32562	119	22	doubled	double	VERB
ajst-32562	119	23	,	,	PUNCT
ajst-32562	119	24	at	at	ADP
ajst-32562	119	25	2.85	2.85	NUM
ajst-32562	119	26	m	m	NOUN
ajst-32562	119	27	/	/	SYM
ajst-32562	119	28	s2	s2	PROPN
ajst-32562	119	29	,	,	PUNCT
ajst-32562	119	30	showing	show	VERB
ajst-32562	119	31	that	that	SCONJ
ajst-32562	119	32	the	the	DET
ajst-32562	119	33	robot	robot	NOUN
ajst-32562	119	34	has	have	VERB
ajst-32562	119	35	much	much	ADV
ajst-32562	119	36	more	more	ADV
ajst-32562	119	37	random	random	ADJ
ajst-32562	119	38	movement	movement	NOUN
ajst-32562	119	39	in	in	ADP
ajst-32562	119	40	the	the	DET
ajst-32562	119	41	tetrapod	tetrapod	ADJ
ajst-32562	119	42	gait	gait	NOUN
ajst-32562	119	43	.	.	PUNCT
ajst-32562	120	1	the	the	DET
ajst-32562	120	2	variance	variance	NOUN
ajst-32562	120	3	of	of	ADP
ajst-32562	120	4	the	the	DET
ajst-32562	120	5	data	datum	NOUN
ajst-32562	120	6	also	also	ADV
ajst-32562	120	7	varies	vary	VERB
ajst-32562	120	8	.	.	PUNCT
ajst-32562	121	1	for	for	ADP
ajst-32562	121	2	tetrapod	tetrapod	ADJ
ajst-32562	121	3	gait	gait	NOUN
ajst-32562	121	4	,	,	PUNCT
ajst-32562	121	5	during	during	ADP
ajst-32562	121	6	the	the	DET
ajst-32562	121	7	3	3	NUM
ajst-32562	121	8	-	-	PUNCT
ajst-32562	121	9	second	second	ADJ
ajst-32562	121	10	period	period	NOUN
ajst-32562	121	11	,	,	PUNCT
ajst-32562	121	12	the	the	DET
ajst-32562	121	13	variance	variance	NOUN
ajst-32562	121	14	for	for	ADP
ajst-32562	121	15	its	its	PRON
ajst-32562	121	16	absolute	absolute	ADJ
ajst-32562	121	17	acceleration	acceleration	NOUN
ajst-32562	121	18	is	be	AUX
ajst-32562	121	19	10.52	10.52	NUM
ajst-32562	121	20	m2	m2	PROPN
ajst-32562	121	21	/	/	SYM
ajst-32562	121	22	s4	s4	PROPN
ajst-32562	121	23	,	,	PUNCT
ajst-32562	121	24	which	which	PRON
ajst-32562	121	25	is	be	AUX
ajst-32562	121	26	about	about	ADV
ajst-32562	121	27	10	10	NUM
ajst-32562	121	28	times	time	NOUN
ajst-32562	121	29	higher	high	ADJ
ajst-32562	121	30	than	than	ADP
ajst-32562	121	31	the	the	DET
ajst-32562	121	32	variance	variance	NOUN
ajst-32562	121	33	of	of	ADP
ajst-32562	121	34	the	the	DET
ajst-32562	121	35	data	datum	NOUN
ajst-32562	121	36	in	in	ADP
ajst-32562	121	37	slow	slow	ADJ
ajst-32562	121	38	gait	gait	NOUN
ajst-32562	121	39	(	(	PUNCT
ajst-32562	121	40	at	at	ADP
ajst-32562	121	41	1.049	1.049	NUM
ajst-32562	121	42	m2	m2	PROPN
ajst-32562	121	43	/	/	SYM
ajst-32562	121	44	s4	s4	PROPN
ajst-32562	121	45	)	)	PUNCT
ajst-32562	121	46	.	.	PUNCT
ajst-32562	122	1	this	this	PRON
ajst-32562	122	2	shows	show	VERB
ajst-32562	122	3	that	that	SCONJ
ajst-32562	122	4	the	the	DET
ajst-32562	122	5	largest	large	ADJ
ajst-32562	122	6	shakes	shake	NOUN
ajst-32562	122	7	in	in	ADP
ajst-32562	122	8	the	the	DET
ajst-32562	122	9	tetrapod	tetrapod	ADJ
ajst-32562	122	10	gait	gait	NOUN
ajst-32562	122	11	are	be	AUX
ajst-32562	122	12	much	much	ADV
ajst-32562	122	13	more	more	ADV
ajst-32562	122	14	significant	significant	ADJ
ajst-32562	122	15	than	than	ADP
ajst-32562	122	16	the	the	DET
ajst-32562	122	17	largest	large	ADJ
ajst-32562	122	18	shakes	shake	NOUN
ajst-32562	122	19	that	that	PRON
ajst-32562	122	20	happened	happen	VERB
ajst-32562	122	21	in	in	ADP
ajst-32562	122	22	the	the	DET
ajst-32562	122	23	slow	slow	ADJ
ajst-32562	122	24	gait	gait	NOUN
ajst-32562	122	25	.	.	PUNCT
ajst-32562	123	1	this	this	PRON
ajst-32562	123	2	is	be	AUX
ajst-32562	123	3	caused	cause	VERB
ajst-32562	123	4	by	by	ADP
ajst-32562	123	5	the	the	DET
ajst-32562	123	6	less	less	ADV
ajst-32562	123	7	stable	stable	ADJ
ajst-32562	123	8	quadrangle	quadrangle	NOUN
ajst-32562	123	9	-	-	PUNCT
ajst-32562	123	10	shaped	shape	VERB
ajst-32562	123	11	supporting	support	VERB
ajst-32562	123	12	area	area	NOUN
ajst-32562	123	13	,	,	PUNCT
ajst-32562	123	14	compared	compare	VERB
ajst-32562	123	15	to	to	ADP
ajst-32562	123	16	the	the	DET
ajst-32562	123	17	stable	stable	ADJ
ajst-32562	123	18	pentagon	pentagon	PROPN
ajst-32562	123	19	supporting	support	VERB
ajst-32562	123	20	area	area	NOUN
ajst-32562	123	21	in	in	ADP
ajst-32562	123	22	the	the	DET
ajst-32562	123	23	slow	slow	ADJ
ajst-32562	123	24	gait	gait	NOUN
ajst-32562	123	25	.	.	PUNCT
ajst-32562	124	1	also	also	ADV
ajst-32562	124	2	,	,	PUNCT
ajst-32562	124	3	when	when	SCONJ
ajst-32562	124	4	the	the	DET
ajst-32562	124	5	two	two	NUM
ajst-32562	124	6	legs	leg	NOUN
ajst-32562	124	7	drop	drop	VERB
ajst-32562	124	8	down	down	ADP
ajst-32562	124	9	at	at	ADP
ajst-32562	124	10	the	the	DET
ajst-32562	124	11	same	same	ADJ
ajst-32562	124	12	time	time	NOUN
ajst-32562	124	13	,	,	PUNCT
ajst-32562	124	14	the	the	DET
ajst-32562	124	15	inertance	inertance	NOUN
ajst-32562	124	16	of	of	ADP
ajst-32562	124	17	the	the	DET
ajst-32562	124	18	legs	leg	NOUN
ajst-32562	124	19	is	be	AUX
ajst-32562	124	20	larger	large	ADJ
ajst-32562	124	21	than	than	ADP
ajst-32562	124	22	in	in	ADP
ajst-32562	124	23	slow	slow	ADJ
ajst-32562	124	24	gait	gait	NOUN
ajst-32562	124	25	,	,	PUNCT
ajst-32562	124	26	which	which	PRON
ajst-32562	124	27	means	mean	VERB
ajst-32562	124	28	there	there	PRON
ajst-32562	124	29	will	will	AUX
ajst-32562	124	30	be	be	AUX
ajst-32562	124	31	a	a	DET
ajst-32562	124	32	larger	large	ADJ
ajst-32562	124	33	force	force	NOUN
ajst-32562	124	34	pulling	pull	VERB
ajst-32562	124	35	the	the	DET
ajst-32562	124	36	legs	leg	NOUN
ajst-32562	124	37	down	down	ADP
ajst-32562	124	38	when	when	SCONJ
ajst-32562	124	39	it	it	PRON
ajst-32562	124	40	touch	touch	VERB
ajst-32562	124	41	ground	ground	NOUN
ajst-32562	124	42	.	.	PUNCT
ajst-32562	125	1	due	due	ADP
ajst-32562	125	2	to	to	ADP
ajst-32562	125	3	this	this	PRON
ajst-32562	125	4	,	,	PUNCT
ajst-32562	125	5	the	the	DET
ajst-32562	125	6	supporting	support	VERB
ajst-32562	125	7	force	force	NOUN
ajst-32562	125	8	has	have	AUX
ajst-32562	125	9	been	be	AUX
ajst-32562	125	10	distributed	distribute	VERB
ajst-32562	125	11	unequally	unequally	ADV
ajst-32562	125	12	,	,	PUNCT
ajst-32562	125	13	which	which	PRON
ajst-32562	125	14	causes	cause	VERB
ajst-32562	125	15	the	the	DET
ajst-32562	125	16	body	body	NOUN
ajst-32562	125	17	to	to	PART
ajst-32562	125	18	shake	shake	VERB
ajst-32562	125	19	and	and	CCONJ
ajst-32562	125	20	be	be	AUX
ajst-32562	125	21	detected	detect	VERB
ajst-32562	125	22	by	by	ADP
ajst-32562	125	23	the	the	DET
ajst-32562	125	24	accelerometer	accelerometer	NOUN
ajst-32562	125	25	.	.	PUNCT
ajst-32562	126	1	the	the	DET
ajst-32562	126	2	problem	problem	NOUN
ajst-32562	126	3	requires	require	VERB
ajst-32562	126	4	the	the	DET
ajst-32562	126	5	servo	servo	NOUN
ajst-32562	126	6	to	to	PART
ajst-32562	126	7	be	be	AUX
ajst-32562	126	8	more	more	ADV
ajst-32562	126	9	accurate	accurate	ADJ
ajst-32562	126	10	and	and	CCONJ
ajst-32562	126	11	powerful	powerful	ADJ
ajst-32562	126	12	to	to	PART
ajst-32562	126	13	overcome	overcome	VERB
ajst-32562	126	14	this	this	DET
ajst-32562	126	15	problem	problem	NOUN
ajst-32562	126	16	.	.	PUNCT
ajst-32562	127	1	5	5	X
ajst-32562	127	2	.	.	X
ajst-32562	127	3	discussion	discussion	NOUN
ajst-32562	127	4	5.1	5.1	NUM
ajst-32562	127	5	pose	pose	NOUN
ajst-32562	127	6	and	and	CCONJ
ajst-32562	127	7	position	position	NOUN
ajst-32562	127	8	linear	linear	PROPN
ajst-32562	127	9	algebra	algebra	PROPN
ajst-32562	127	10	allows	allow	VERB
ajst-32562	127	11	to	to	PART
ajst-32562	127	12	manipulate	manipulate	VERB
ajst-32562	127	13	the	the	DET
ajst-32562	127	14	posture	posture	NOUN
ajst-32562	127	15	and	and	CCONJ
ajst-32562	127	16	position	position	NOUN
ajst-32562	127	17	of	of	ADP
ajst-32562	127	18	the	the	DET
ajst-32562	127	19	robot	robot	NOUN
ajst-32562	127	20	body	body	NOUN
ajst-32562	127	21	using	use	VERB
ajst-32562	127	22	homogeneous	homogeneous	ADJ
ajst-32562	127	23	transformation	transformation	NOUN
ajst-32562	127	24	matrices	matrix	NOUN
ajst-32562	127	25	.	.	PUNCT
ajst-32562	128	1	the	the	DET
ajst-32562	128	2	orientation	orientation	NOUN
ajst-32562	128	3	and	and	CCONJ
ajst-32562	128	4	position	position	NOUN
ajst-32562	128	5	of	of	ADP
ajst-32562	128	6	the	the	DET
ajst-32562	128	7	robot	robot	NOUN
ajst-32562	128	8	is	be	AUX
ajst-32562	128	9	represented	represent	VERB
ajst-32562	128	10	by	by	ADP
ajst-32562	128	11	a	a	DET
ajst-32562	128	12	4×4	4×4	NUM
ajst-32562	128	13	homogeneous	homogeneous	ADJ
ajst-32562	128	14	transformation	transformation	NOUN
ajst-32562	128	15	matrix	matrix	NOUN
ajst-32562	128	16	t	t	NOUN
ajst-32562	128	17	where	where	SCONJ
ajst-32562	128	18	rotation	rotation	NOUN
ajst-32562	128	19	r	r	NOUN
ajst-32562	128	20	and	and	CCONJ
ajst-32562	128	21	translation	translation	NOUN
ajst-32562	128	22	d	d	NOUN
ajst-32562	128	23	is	be	AUX
ajst-32562	128	24	internally	internally	ADV
ajst-32562	128	25	stored	store	VERB
ajst-32562	128	26	.	.	PUNCT
ajst-32562	129	1	the	the	DET
ajst-32562	129	2	inverse	inverse	NOUN
ajst-32562	129	3	of	of	ADP
ajst-32562	129	4	the	the	DET
ajst-32562	129	5	homogeneous	homogeneous	ADJ
ajst-32562	129	6	transformation	transformation	NOUN
ajst-32562	129	7	matrix	matrix	NOUN
ajst-32562	129	8	t-1	t-1	PROPN
ajst-32562	129	9	is	be	AUX
ajst-32562	129	10	then	then	ADV
ajst-32562	129	11	used	use	VERB
ajst-32562	129	12	to	to	PART
ajst-32562	129	13	transform	transform	VERB
ajst-32562	129	14	the	the	DET
ajst-32562	129	15	positions	position	NOUN
ajst-32562	129	16	of	of	ADP
ajst-32562	129	17	the	the	DET
ajst-32562	129	18	end	end	NOUN
ajst-32562	129	19	points	point	NOUN
ajst-32562	129	20	.	.	PUNCT
ajst-32562	130	1	5.2	5.2	NUM
ajst-32562	130	2	visual	visual	ADJ
ajst-32562	130	3	system	system	NOUN
ajst-32562	130	4	other	other	ADJ
ajst-32562	130	5	features	feature	NOUN
ajst-32562	130	6	have	have	AUX
ajst-32562	130	7	been	be	AUX
ajst-32562	130	8	incorporated	incorporate	VERB
ajst-32562	130	9	into	into	ADP
ajst-32562	130	10	the	the	DET
ajst-32562	130	11	hexapod	hexapod	NOUN
ajst-32562	130	12	robot	robot	NOUN
ajst-32562	130	13	other	other	ADJ
ajst-32562	130	14	than	than	ADP
ajst-32562	130	15	what	what	PRON
ajst-32562	130	16	has	have	AUX
ajst-32562	130	17	been	be	AUX
ajst-32562	130	18	compared	compare	VERB
ajst-32562	130	19	to	to	PART
ajst-32562	130	20	study	study	VERB
ajst-32562	130	21	the	the	DET
ajst-32562	130	22	application	application	NOUN
ajst-32562	130	23	of	of	ADP
ajst-32562	130	24	it	it	PRON
ajst-32562	130	25	in	in	ADP
ajst-32562	130	26	various	various	ADJ
ajst-32562	130	27	fields	field	NOUN
ajst-32562	130	28	.	.	PUNCT
ajst-32562	131	1	an	an	DET
ajst-32562	131	2	ai	ai	NOUN
ajst-32562	131	3	method	method	NOUN
ajst-32562	131	4	for	for	ADP
ajst-32562	131	5	human	human	ADJ
ajst-32562	131	6	facial	facial	ADJ
ajst-32562	131	7	recognition	recognition	NOUN
ajst-32562	131	8	has	have	AUX
ajst-32562	131	9	already	already	ADV
ajst-32562	131	10	been	be	AUX
ajst-32562	131	11	developed.[3	developed.[3	NOUN
ajst-32562	131	12	]	]	X
ajst-32562	131	13	the	the	DET
ajst-32562	131	14	ai	ai	PROPN
ajst-32562	131	15	system	system	NOUN
ajst-32562	131	16	chip	chip	NOUN
ajst-32562	131	17	is	be	AUX
ajst-32562	131	18	linked	link	VERB
ajst-32562	131	19	to	to	ADP
ajst-32562	131	20	a	a	DET
ajst-32562	131	21	servo	servo	NOUN
ajst-32562	131	22	mechanism	mechanism	NOUN
ajst-32562	131	23	that	that	PRON
ajst-32562	131	24	changes	change	VERB
ajst-32562	131	25	the	the	DET
ajst-32562	131	26	pitch	pitch	NOUN
ajst-32562	131	27	angle	angle	NOUN
ajst-32562	131	28	of	of	ADP
ajst-32562	131	29	the	the	DET
ajst-32562	131	30	camera	camera	NOUN
ajst-32562	131	31	and	and	CCONJ
ajst-32562	131	32	allows	allow	VERB
ajst-32562	131	33	the	the	DET
ajst-32562	131	34	object	object	NOUN
ajst-32562	131	35	's	's	PART
ajst-32562	131	36	face	face	NOUN
ajst-32562	131	37	to	to	PART
ajst-32562	131	38	be	be	AUX
ajst-32562	131	39	centered	center	VERB
ajst-32562	131	40	continuously	continuously	ADV
ajst-32562	131	41	once	once	ADV
ajst-32562	131	42	detected	detect	VERB
ajst-32562	131	43	.	.	PUNCT
ajst-32562	132	1	the	the	DET
ajst-32562	132	2	use	use	NOUN
ajst-32562	132	3	of	of	ADP
ajst-32562	132	4	deep	deep	ADJ
ajst-32562	132	5	learning	learning	NOUN
ajst-32562	132	6	and	and	CCONJ
ajst-32562	132	7	pid	pid	NOUN
ajst-32562	132	8	(	(	PUNCT
ajst-32562	132	9	proportional	proportional	ADJ
ajst-32562	132	10	-	-	PUNCT
ajst-32562	132	11	integral	integral	ADJ
ajst-32562	132	12	-	-	PUNCT
ajst-32562	132	13	derivative	derivative	NOUN
ajst-32562	132	14	)	)	PUNCT
ajst-32562	133	1	[	[	X
ajst-32562	133	2	9]is	9]is	NUM
ajst-32562	133	3	employed	employ	VERB
ajst-32562	133	4	in	in	ADP
ajst-32562	133	5	the	the	DET
ajst-32562	133	6	visual	visual	ADJ
ajst-32562	133	7	system	system	NOUN
ajst-32562	133	8	.	.	PUNCT
ajst-32562	134	1	in	in	ADP
ajst-32562	134	2	addition	addition	NOUN
ajst-32562	134	3	,	,	PUNCT
ajst-32562	134	4	we	we	PRON
ajst-32562	134	5	have	have	AUX
ajst-32562	134	6	applied	apply	VERB
ajst-32562	134	7	the	the	DET
ajst-32562	134	8	gesture	gesture	NOUN
ajst-32562	134	9	recognition	recognition	NOUN
ajst-32562	134	10	,	,	PUNCT
ajst-32562	134	11	enabling	enable	VERB
ajst-32562	134	12	the	the	DET
ajst-32562	134	13	robot	robot	NOUN
ajst-32562	134	14	to	to	PART
ajst-32562	134	15	be	be	AUX
ajst-32562	134	16	gesture	gesture	NOUN
ajst-32562	134	17	driven	drive	VERB
ajst-32562	134	18	.	.	PUNCT
ajst-32562	135	1	we	we	PRON
ajst-32562	135	2	also	also	ADV
ajst-32562	135	3	implemented	implement	VERB
ajst-32562	135	4	an	an	DET
ajst-32562	135	5	asr	asr	NOUN
ajst-32562	135	6	(	(	PUNCT
ajst-32562	135	7	automatic	automatic	ADJ
ajst-32562	135	8	speech	speech	NOUN
ajst-32562	135	9	recognition	recognition	NOUN
ajst-32562	135	10	)	)	PUNCT
ajst-32562	135	11	system	system	NOUN
ajst-32562	135	12	to	to	PART
ajst-32562	135	13	recognize	recognize	VERB
ajst-32562	135	14	the	the	DET
ajst-32562	135	15	audio	audio	NOUN
ajst-32562	135	16	command.[3	command.[3	NOUN
ajst-32562	135	17	]	]	PUNCT
ajst-32562	135	18	as	as	SCONJ
ajst-32562	135	19	such	such	DET
ajst-32562	135	20	the	the	DET
ajst-32562	135	21	robot	robot	NOUN
ajst-32562	135	22	can	can	AUX
ajst-32562	135	23	pick	pick	VERB
ajst-32562	135	24	out	out	ADP
ajst-32562	135	25	several	several	ADJ
ajst-32562	135	26	cue	cue	NOUN
ajst-32562	135	27	words	word	NOUN
ajst-32562	135	28	and	and	CCONJ
ajst-32562	135	29	respond	respond	VERB
ajst-32562	135	30	to	to	ADP
ajst-32562	135	31	them	they	PRON
ajst-32562	135	32	with	with	ADP
ajst-32562	135	33	certain	certain	ADJ
ajst-32562	135	34	actions	action	NOUN
ajst-32562	135	35	.	.	PUNCT
ajst-32562	136	1	the	the	DET
ajst-32562	136	2	visual	visual	ADJ
ajst-32562	136	3	system	system	NOUN
ajst-32562	136	4	and	and	CCONJ
ajst-32562	136	5	the	the	DET
ajst-32562	136	6	robotic	robotic	ADJ
ajst-32562	136	7	system	system	NOUN
ajst-32562	136	8	are	be	AUX
ajst-32562	136	9	connected	connect	VERB
ajst-32562	136	10	with	with	ADP
ajst-32562	136	11	2	2	NUM
ajst-32562	136	12	power	power	NOUN
ajst-32562	136	13	lines	line	NOUN
ajst-32562	136	14	and	and	CCONJ
ajst-32562	136	15	1	1	NUM
ajst-32562	136	16	signal	signal	NOUN
ajst-32562	136	17	line	line	NOUN
ajst-32562	136	18	,	,	PUNCT
ajst-32562	136	19	which	which	PRON
ajst-32562	136	20	can	can	AUX
ajst-32562	136	21	supply	supply	VERB
ajst-32562	136	22	power	power	NOUN
ajst-32562	136	23	and	and	CCONJ
ajst-32562	136	24	transmit	transmit	NOUN
ajst-32562	136	25	data	datum	NOUN
ajst-32562	136	26	(	(	PUNCT
ajst-32562	136	27	using	use	VERB
ajst-32562	136	28	uart	uart	PROPN
ajst-32562	136	29	)	)	PUNCT
ajst-32562	136	30	.	.	PUNCT
ajst-32562	137	1	the	the	DET
ajst-32562	137	2	power	power	NOUN
ajst-32562	137	3	cable	cable	NOUN
ajst-32562	137	4	is	be	AUX
ajst-32562	137	5	used	use	VERB
ajst-32562	137	6	to	to	PART
ajst-32562	137	7	provide	provide	VERB
ajst-32562	137	8	the	the	DET
ajst-32562	137	9	electrical	electrical	ADJ
ajst-32562	137	10	power	power	NOUN
ajst-32562	137	11	while	while	SCONJ
ajst-32562	137	12	the	the	DET
ajst-32562	137	13	signal	signal	ADJ
ajst-32562	137	14	cable	cable	NOUN
ajst-32562	137	15	is	be	AUX
ajst-32562	137	16	used	use	VERB
ajst-32562	137	17	for	for	ADP
ajst-32562	137	18	communication	communication	NOUN
ajst-32562	137	19	,	,	PUNCT
ajst-32562	137	20	to	to	PART
ajst-32562	137	21	enable	enable	VERB
ajst-32562	137	22	the	the	DET
ajst-32562	137	23	robot	robot	NOUN
ajst-32562	137	24	system	system	NOUN
ajst-32562	137	25	to	to	PART
ajst-32562	137	26	obtain	obtain	VERB
ajst-32562	137	27	and	and	CCONJ
ajst-32562	137	28	process	process	VERB
ajst-32562	137	29	the	the	DET
ajst-32562	137	30	visual	visual	ADJ
ajst-32562	137	31	information	information	NOUN
ajst-32562	137	32	.	.	PUNCT
ajst-32562	138	1	furthermore	furthermore	ADV
ajst-32562	138	2	,	,	PUNCT
ajst-32562	138	3	a	a	DET
ajst-32562	138	4	quick	quick	ADJ
ajst-32562	138	5	-	-	PUNCT
ajst-32562	138	6	lock	lock	NOUN
ajst-32562	138	7	mechanism	mechanism	NOUN
ajst-32562	138	8	allows	allow	VERB
ajst-32562	138	9	fast	fast	ADJ
ajst-32562	138	10	and	and	CCONJ
ajst-32562	138	11	easy	easy	ADJ
ajst-32562	138	12	swapping	swapping	NOUN
ajst-32562	138	13	of	of	ADP
ajst-32562	138	14	the	the	DET
ajst-32562	138	15	visual	visual	ADJ
ajst-32562	138	16	system	system	NOUN
ajst-32562	138	17	.	.	PUNCT
ajst-32562	139	1	the	the	DET
ajst-32562	139	2	modularity	modularity	NOUN
ajst-32562	139	3	makes	make	VERB
ajst-32562	139	4	the	the	DET
ajst-32562	139	5	whole	whole	ADJ
ajst-32562	139	6	system	system	NOUN
ajst-32562	139	7	flexible	flexible	ADJ
ajst-32562	139	8	and	and	CCONJ
ajst-32562	139	9	maintainable	maintainable	ADJ
ajst-32562	139	10	,	,	PUNCT
ajst-32562	139	11	and	and	CCONJ
ajst-32562	139	12	easy	easy	ADJ
ajst-32562	139	13	to	to	PART
ajst-32562	139	14	integrate	integrate	VERB
ajst-32562	139	15	and	and	CCONJ
ajst-32562	139	16	run	run	VERB
ajst-32562	139	17	in	in	ADP
ajst-32562	139	18	dynamic	dynamic	ADJ
ajst-32562	139	19	environments	environment	NOUN
ajst-32562	139	20	.	.	PUNCT
ajst-32562	140	1	the	the	DET
ajst-32562	140	2	combination	combination	NOUN
ajst-32562	140	3	of	of	ADP
ajst-32562	140	4	reliable	reliable	ADJ
ajst-32562	140	5	power	power	NOUN
ajst-32562	140	6	delivery	delivery	NOUN
ajst-32562	140	7	,	,	PUNCT
ajst-32562	140	8	real	real	ADJ
ajst-32562	140	9	-	-	PUNCT
ajst-32562	140	10	time	time	NOUN
ajst-32562	140	11	signal	signal	NOUN
ajst-32562	140	12	transmission	transmission	NOUN
ajst-32562	140	13	,	,	PUNCT
ajst-32562	140	14	and	and	CCONJ
ajst-32562	140	15	easy	easy	ADJ
ajst-32562	140	16	interchangeability	interchangeability	NOUN
ajst-32562	140	17	optimizes	optimize	VERB
ajst-32562	140	18	the	the	DET
ajst-32562	140	19	performance	performance	NOUN
ajst-32562	140	20	and	and	CCONJ
ajst-32562	140	21	adaptability	adaptability	NOUN
ajst-32562	140	22	of	of	ADP
ajst-32562	140	23	the	the	DET
ajst-32562	140	24	overall	overall	ADJ
ajst-32562	140	25	system	system	NOUN
ajst-32562	140	26	.	.	PUNCT
ajst-32562	141	1	185	185	NUM
ajst-32562	141	2	6	6	NUM
ajst-32562	141	3	.	.	PUNCT
ajst-32562	141	4	conclusion	conclusion	NOUN
ajst-32562	141	5	and	and	CCONJ
ajst-32562	141	6	applications	application	NOUN
ajst-32562	141	7	from	from	ADP
ajst-32562	141	8	our	our	PRON
ajst-32562	141	9	research	research	NOUN
ajst-32562	141	10	,	,	PUNCT
ajst-32562	141	11	slow	slow	ADJ
ajst-32562	141	12	gait	gait	NOUN
ajst-32562	141	13	and	and	CCONJ
ajst-32562	141	14	tetrapod	tetrapod	ADJ
ajst-32562	141	15	gait	gait	NOUN
ajst-32562	141	16	of	of	ADP
ajst-32562	141	17	hexapod	hexapod	NOUN
ajst-32562	141	18	robots	robot	NOUN
ajst-32562	141	19	can	can	AUX
ajst-32562	141	20	be	be	AUX
ajst-32562	141	21	employed	employ	VERB
ajst-32562	141	22	successfully	successfully	ADV
ajst-32562	141	23	in	in	ADP
ajst-32562	141	24	a	a	DET
ajst-32562	141	25	range	range	NOUN
ajst-32562	141	26	of	of	ADP
ajst-32562	141	27	real	real	ADJ
ajst-32562	141	28	-	-	PUNCT
ajst-32562	141	29	world	world	NOUN
ajst-32562	141	30	tasks	task	NOUN
ajst-32562	141	31	with	with	ADP
ajst-32562	141	32	requirements	requirement	NOUN
ajst-32562	141	33	for	for	ADP
ajst-32562	141	34	flexibility	flexibility	NOUN
ajst-32562	141	35	,	,	PUNCT
ajst-32562	141	36	stability	stability	NOUN
ajst-32562	141	37	,	,	PUNCT
ajst-32562	141	38	and	and	CCONJ
ajst-32562	141	39	balance	balance	NOUN
ajst-32562	141	40	.	.	PUNCT
ajst-32562	142	1	for	for	ADP
ajst-32562	142	2	instance	instance	NOUN
ajst-32562	142	3	,	,	PUNCT
ajst-32562	142	4	under	under	ADP
ajst-32562	142	5	search	search	NOUN
ajst-32562	142	6	-	-	PUNCT
ajst-32562	142	7	and	and	CCONJ
ajst-32562	142	8	-	-	PUNCT
ajst-32562	142	9	rescue	rescue	NOUN
ajst-32562	142	10	missions	mission	NOUN
ajst-32562	142	11	,	,	PUNCT
ajst-32562	142	12	the	the	DET
ajst-32562	142	13	slow	slow	ADJ
ajst-32562	142	14	gait	gait	NOUN
ajst-32562	142	15	is	be	AUX
ajst-32562	142	16	very	very	ADV
ajst-32562	142	17	beneficial	beneficial	ADJ
ajst-32562	142	18	as	as	SCONJ
ajst-32562	142	19	the	the	DET
ajst-32562	142	20	robot	robot	NOUN
ajst-32562	142	21	is	be	AUX
ajst-32562	142	22	able	able	ADJ
ajst-32562	142	23	to	to	PART
ajst-32562	142	24	traverse	traverse	VERB
ajst-32562	142	25	uneven	uneven	ADJ
ajst-32562	142	26	or	or	CCONJ
ajst-32562	142	27	rubble	rubble	NOUN
ajst-32562	142	28	-	-	PUNCT
ajst-32562	142	29	filled	fill	VERB
ajst-32562	142	30	terrain	terrain	NOUN
ajst-32562	142	31	without	without	ADP
ajst-32562	142	32	much	much	ADJ
ajst-32562	142	33	likelihood	likelihood	NOUN
ajst-32562	142	34	of	of	ADP
ajst-32562	142	35	slipping	slip	VERB
ajst-32562	142	36	or	or	CCONJ
ajst-32562	142	37	losing	lose	VERB
ajst-32562	142	38	stability	stability	NOUN
ajst-32562	142	39	.	.	PUNCT
ajst-32562	143	1	similarly	similarly	ADV
ajst-32562	143	2	,	,	PUNCT
ajst-32562	143	3	the	the	DET
ajst-32562	143	4	tetrapod	tetrapod	ADJ
ajst-32562	143	5	gait	gait	NOUN
ajst-32562	143	6	that	that	PRON
ajst-32562	143	7	maintains	maintain	VERB
ajst-32562	143	8	four	four	NUM
ajst-32562	143	9	legs	leg	NOUN
ajst-32562	143	10	on	on	ADP
ajst-32562	143	11	the	the	DET
ajst-32562	143	12	ground	ground	NOUN
ajst-32562	143	13	at	at	ADP
ajst-32562	143	14	every	every	DET
ajst-32562	143	15	point	point	NOUN
ajst-32562	143	16	provides	provide	VERB
ajst-32562	143	17	better	well	ADJ
ajst-32562	143	18	mobility	mobility	NOUN
ajst-32562	143	19	and	and	CCONJ
ajst-32562	143	20	can	can	AUX
ajst-32562	143	21	be	be	AUX
ajst-32562	143	22	adapted	adapt	VERB
ajst-32562	143	23	for	for	ADP
ajst-32562	143	24	precision	precision	NOUN
ajst-32562	143	25	agricultural	agricultural	ADJ
ajst-32562	143	26	tasks	task	NOUN
ajst-32562	143	27	.	.	PUNCT
ajst-32562	144	1	such	such	ADJ
ajst-32562	144	2	robots	robot	NOUN
ajst-32562	144	3	might	might	AUX
ajst-32562	144	4	be	be	AUX
ajst-32562	144	5	employed	employ	VERB
ajst-32562	144	6	by	by	ADP
ajst-32562	144	7	farmers	farmer	NOUN
ajst-32562	144	8	to	to	PART
ajst-32562	144	9	scout	scout	VERB
ajst-32562	144	10	for	for	ADP
ajst-32562	144	11	crops	crop	NOUN
ajst-32562	144	12	or	or	CCONJ
ajst-32562	144	13	apply	apply	VERB
ajst-32562	144	14	treatment	treatment	NOUN
ajst-32562	144	15	to	to	ADP
ajst-32562	144	16	them	they	PRON
ajst-32562	144	17	since	since	SCONJ
ajst-32562	144	18	this	this	DET
ajst-32562	144	19	gait	gait	NOUN
ajst-32562	144	20	provides	provide	VERB
ajst-32562	144	21	a	a	DET
ajst-32562	144	22	minimum	minimum	ADJ
ajst-32562	144	23	soil	soil	NOUN
ajst-32562	144	24	compaction	compaction	NOUN
ajst-32562	144	25	and	and	CCONJ
ajst-32562	144	26	no	no	DET
ajst-32562	144	27	damage	damage	NOUN
ajst-32562	144	28	to	to	ADP
ajst-32562	144	29	sensitive	sensitive	ADJ
ajst-32562	144	30	plants	plant	NOUN
ajst-32562	144	31	.	.	PUNCT
ajst-32562	145	1	apart	apart	ADV
ajst-32562	145	2	from	from	ADP
ajst-32562	145	3	agriculture	agriculture	NOUN
ajst-32562	145	4	and	and	CCONJ
ajst-32562	145	5	rescue	rescue	NOUN
ajst-32562	145	6	,	,	PUNCT
ajst-32562	145	7	these	these	DET
ajst-32562	145	8	gaits	gait	NOUN
ajst-32562	145	9	are	be	AUX
ajst-32562	145	10	also	also	ADV
ajst-32562	145	11	advantageous	advantageous	ADJ
ajst-32562	145	12	in	in	ADP
ajst-32562	145	13	the	the	DET
ajst-32562	145	14	context	context	NOUN
ajst-32562	145	15	of	of	ADP
ajst-32562	145	16	industrial	industrial	ADJ
ajst-32562	145	17	inspections	inspection	NOUN
ajst-32562	145	18	where	where	SCONJ
ajst-32562	145	19	confined	confine	VERB
ajst-32562	145	20	and	and	CCONJ
ajst-32562	145	21	inhospitable	inhospitable	ADJ
ajst-32562	145	22	environment	environment	NOUN
ajst-32562	145	23	can	can	AUX
ajst-32562	145	24	be	be	AUX
ajst-32562	145	25	faced	face	VERB
ajst-32562	145	26	.	.	PUNCT
ajst-32562	146	1	the	the	DET
ajst-32562	146	2	slow	slow	ADJ
ajst-32562	146	3	gait	gait	NOUN
ajst-32562	146	4	allows	allow	VERB
ajst-32562	146	5	for	for	ADP
ajst-32562	146	6	methodical	methodical	ADJ
ajst-32562	146	7	,	,	PUNCT
ajst-32562	146	8	stable	stable	ADJ
ajst-32562	146	9	movement	movement	NOUN
ajst-32562	146	10	for	for	ADP
ajst-32562	146	11	a	a	DET
ajst-32562	146	12	more	more	ADV
ajst-32562	146	13	comprehensive	comprehensive	ADJ
ajst-32562	146	14	examination	examination	NOUN
ajst-32562	146	15	and	and	CCONJ
ajst-32562	146	16	the	the	DET
ajst-32562	146	17	tetrapod	tetrapod	ADJ
ajst-32562	146	18	gait	gait	NOUN
ajst-32562	146	19	allows	allow	VERB
ajst-32562	146	20	fast	fast	ADJ
ajst-32562	146	21	repositioning	repositioning	NOUN
ajst-32562	146	22	when	when	SCONJ
ajst-32562	146	23	it	it	PRON
ajst-32562	146	24	is	be	AUX
ajst-32562	146	25	so	so	ADV
ajst-32562	146	26	required	require	VERB
ajst-32562	146	27	.	.	PUNCT
ajst-32562	147	1	and	and	CCONJ
ajst-32562	147	2	in	in	ADP
ajst-32562	147	3	areas	area	NOUN
ajst-32562	147	4	of	of	ADP
ajst-32562	147	5	a	a	DET
ajst-32562	147	6	disaster	disaster	NOUN
ajst-32562	147	7	where	where	SCONJ
ajst-32562	147	8	it	it	PRON
ajst-32562	147	9	's	be	AUX
ajst-32562	147	10	either	either	CCONJ
ajst-32562	147	11	unsafe	unsafe	ADJ
ajst-32562	147	12	or	or	CCONJ
ajst-32562	147	13	physically	physically	ADV
ajst-32562	147	14	inaccessible	inaccessible	ADJ
ajst-32562	147	15	to	to	ADP
ajst-32562	147	16	humans	human	NOUN
ajst-32562	147	17	,	,	PUNCT
ajst-32562	147	18	hexapod	hexapod	NOUN
ajst-32562	147	19	robots	robot	NOUN
ajst-32562	147	20	may	may	AUX
ajst-32562	147	21	use	use	VERB
ajst-32562	147	22	these	these	DET
ajst-32562	147	23	gaits	gait	NOUN
ajst-32562	147	24	to	to	PART
ajst-32562	147	25	deliver	deliver	VERB
ajst-32562	147	26	supplies	supply	NOUN
ajst-32562	147	27	or	or	CCONJ
ajst-32562	147	28	inspect	inspect	VERB
ajst-32562	147	29	structural	structural	ADJ
ajst-32562	147	30	damage	damage	NOUN
ajst-32562	147	31	.	.	PUNCT
ajst-32562	148	1	future	future	ADJ
ajst-32562	148	2	research	research	NOUN
ajst-32562	148	3	could	could	AUX
ajst-32562	148	4	investigate	investigate	VERB
ajst-32562	148	5	adaptive	adaptive	ADJ
ajst-32562	148	6	gait	gait	NOUN
ajst-32562	148	7	-	-	PUNCT
ajst-32562	148	8	switching	switch	VERB
ajst-32562	148	9	algorithms	algorithm	NOUN
ajst-32562	148	10	,	,	PUNCT
ajst-32562	148	11	allowing	allow	VERB
ajst-32562	148	12	robots	robot	NOUN
ajst-32562	148	13	to	to	PART
ajst-32562	148	14	transition	transition	VERB
ajst-32562	148	15	seamlessly	seamlessly	ADV
ajst-32562	148	16	between	between	ADP
ajst-32562	148	17	gaits	gait	NOUN
ajst-32562	148	18	based	base	VERB
ajst-32562	148	19	on	on	ADP
ajst-32562	148	20	terrain	terrain	NOUN
ajst-32562	148	21	requirements	requirement	NOUN
ajst-32562	148	22	,	,	PUNCT
ajst-32562	148	23	thereby	thereby	ADV
ajst-32562	148	24	further	far	ADV
ajst-32562	148	25	enhancing	enhance	VERB
ajst-32562	148	26	their	their	PRON
ajst-32562	148	27	versatility	versatility	NOUN
ajst-32562	148	28	and	and	CCONJ
ajst-32562	148	29	efficiency	efficiency	NOUN
ajst-32562	148	30	in	in	ADP
ajst-32562	148	31	dynamic	dynamic	ADJ
ajst-32562	148	32	environments	environment	NOUN
ajst-32562	148	33	.	.	PUNCT
ajst-32562	149	1	finally	finally	ADV
ajst-32562	149	2	,	,	PUNCT
ajst-32562	149	3	through	through	ADP
ajst-32562	149	4	the	the	DET
ajst-32562	149	5	experiments	experiment	NOUN
ajst-32562	149	6	(	(	PUNCT
ajst-32562	149	7	as	as	ADV
ajst-32562	149	8	well	well	ADV
ajst-32562	149	9	as	as	ADP
ajst-32562	149	10	researches	research	NOUN
ajst-32562	149	11	carried	carry	VERB
ajst-32562	149	12	out	out	ADP
ajst-32562	149	13	by	by	ADP
ajst-32562	149	14	others	other	NOUN
ajst-32562	149	15	around	around	ADP
ajst-32562	149	16	the	the	DET
ajst-32562	149	17	world	world	NOUN
ajst-32562	149	18	)	)	PUNCT
ajst-32562	149	19	,	,	PUNCT
ajst-32562	149	20	we	we	PRON
ajst-32562	149	21	find	find	VERB
ajst-32562	149	22	that	that	SCONJ
ajst-32562	149	23	the	the	DET
ajst-32562	149	24	stability	stability	NOUN
ajst-32562	149	25	of	of	ADP
ajst-32562	149	26	slow	slow	ADJ
ajst-32562	149	27	gait	gait	NOUN
ajst-32562	149	28	exceeds	exceed	VERB
ajst-32562	149	29	that	that	PRON
ajst-32562	149	30	of	of	ADP
ajst-32562	149	31	the	the	DET
ajst-32562	149	32	others	other	NOUN
ajst-32562	149	33	,	,	PUNCT
ajst-32562	149	34	which	which	PRON
ajst-32562	149	35	also	also	ADV
ajst-32562	149	36	in	in	ADP
ajst-32562	149	37	turns	turn	NOUN
ajst-32562	149	38	lead	lead	VERB
ajst-32562	149	39	to	to	ADP
ajst-32562	149	40	a	a	DET
ajst-32562	149	41	smoother	smooth	ADJ
ajst-32562	149	42	transition	transition	NOUN
ajst-32562	149	43	of	of	ADP
ajst-32562	149	44	the	the	DET
ajst-32562	149	45	robot	robot	NOUN
ajst-32562	149	46	body	body	NOUN
ajst-32562	149	47	.	.	PUNCT
ajst-32562	150	1	the	the	DET
ajst-32562	150	2	nature	nature	NOUN
ajst-32562	150	3	of	of	ADP
ajst-32562	150	4	this	this	DET
ajst-32562	150	5	gait	gait	NOUN
ajst-32562	150	6	pattern	pattern	NOUN
ajst-32562	150	7	gives	give	VERB
ajst-32562	150	8	wide	wide	ADJ
ajst-32562	150	9	range	range	NOUN
ajst-32562	150	10	of	of	ADP
ajst-32562	150	11	applications	application	NOUN
ajst-32562	150	12	in	in	ADP
ajst-32562	150	13	different	different	ADJ
ajst-32562	150	14	aspects	aspect	NOUN
ajst-32562	150	15	of	of	ADP
ajst-32562	150	16	life	life	NOUN
ajst-32562	150	17	.	.	PUNCT
ajst-32562	151	1	however	however	ADV
ajst-32562	151	2	,	,	PUNCT
ajst-32562	151	3	there	there	PRON
ajst-32562	151	4	is	be	VERB
ajst-32562	151	5	still	still	ADV
ajst-32562	151	6	somewhere	somewhere	ADV
ajst-32562	151	7	for	for	ADP
ajst-32562	151	8	improvement	improvement	NOUN
ajst-32562	151	9	in	in	ADP
ajst-32562	151	10	the	the	DET
ajst-32562	151	11	subject	subject	NOUN
ajst-32562	151	12	and	and	CCONJ
ajst-32562	151	13	methodology	methodology	NOUN
ajst-32562	151	14	of	of	ADP
ajst-32562	151	15	the	the	DET
ajst-32562	151	16	experiment	experiment	NOUN
ajst-32562	151	17	.	.	PUNCT
ajst-32562	152	1	instead	instead	ADV
ajst-32562	152	2	of	of	ADP
ajst-32562	152	3	a	a	DET
ajst-32562	152	4	smartphone	smartphone	NOUN
ajst-32562	152	5	,	,	PUNCT
ajst-32562	152	6	a	a	DET
ajst-32562	152	7	more	more	ADV
ajst-32562	152	8	dedicated	dedicated	ADJ
ajst-32562	152	9	sensor	sensor	NOUN
ajst-32562	152	10	could	could	AUX
ajst-32562	152	11	be	be	AUX
ajst-32562	152	12	used	use	VERB
ajst-32562	152	13	for	for	ADP
ajst-32562	152	14	gathering	gather	VERB
ajst-32562	152	15	data	datum	NOUN
ajst-32562	152	16	.	.	PUNCT
ajst-32562	153	1	furthermore	furthermore	ADV
ajst-32562	153	2	,	,	PUNCT
ajst-32562	153	3	experiments	experiment	NOUN
ajst-32562	153	4	comparing	compare	VERB
ajst-32562	153	5	to	to	ADP
ajst-32562	153	6	other	other	ADJ
ajst-32562	153	7	gaits	gait	NOUN
ajst-32562	153	8	,	,	PUNCT
ajst-32562	153	9	such	such	ADJ
ajst-32562	153	10	as	as	ADP
ajst-32562	153	11	tripod	tripod	NOUN
ajst-32562	153	12	gaits	gait	NOUN
ajst-32562	153	13	,	,	PUNCT
ajst-32562	153	14	can	can	AUX
ajst-32562	153	15	also	also	ADV
ajst-32562	153	16	be	be	AUX
ajst-32562	153	17	explored	explore	VERB
ajst-32562	153	18	.	.	PUNCT
ajst-32562	154	1	references	reference	NOUN
ajst-32562	154	2	[	[	X
ajst-32562	154	3	1	1	NUM
ajst-32562	154	4	]	]	PUNCT
ajst-32562	154	5	lizarraga	lizarraga	NOUN
ajst-32562	154	6	,	,	PUNCT
ajst-32562	154	7	j.a	j.a	PROPN
ajst-32562	154	8	.	.	PROPN
ajst-32562	154	9	;	;	PUNCT
ajst-32562	154	10	garnica	garnica	PROPN
ajst-32562	154	11	,	,	PUNCT
ajst-32562	154	12	j.a	j.a	PROPN
ajst-32562	154	13	.	.	PROPN
ajst-32562	154	14	;	;	PUNCT
ajst-32562	154	15	ruiz	ruiz	NOUN
ajst-32562	154	16	-	-	PUNCT
ajst-32562	154	17	leon	leon	PROPN
ajst-32562	154	18	,	,	PUNCT
ajst-32562	154	19	j.	j.	PROPN
ajst-32562	154	20	;	;	PUNCT
ajst-32562	154	21	munoz	munoz	PROPN
ajst-32562	154	22	-	-	PUNCT
ajst-32562	154	23	gomez	gomez	PROPN
ajst-32562	154	24	,	,	PUNCT
ajst-32562	154	25	g.	g.	PROPN
ajst-32562	154	26	;	;	PUNCT
ajst-32562	154	27	alanis	alanis	PROPN
ajst-32562	154	28	,	,	PUNCT
ajst-32562	154	29	a.y	a.y	PROPN
ajst-32562	154	30	.	.	PROPN
ajst-32562	154	31	advances	advance	NOUN
ajst-32562	154	32	in	in	ADP
ajst-32562	154	33	the	the	DET
ajst-32562	154	34	kinematics	kinematic	NOUN
ajst-32562	154	35	of	of	ADP
ajst-32562	154	36	hexapod	hexapod	NOUN
ajst-32562	154	37	robots	robot	NOUN
ajst-32562	154	38	:	:	PUNCT
ajst-32562	154	39	an	an	DET
ajst-32562	154	40	innovative	innovative	ADJ
ajst-32562	154	41	approach	approach	NOUN
ajst-32562	154	42	to	to	ADP
ajst-32562	154	43	inverse	inverse	NOUN
ajst-32562	154	44	kinematics	kinematic	NOUN
ajst-32562	154	45	and	and	CCONJ
ajst-32562	154	46	omnidirectional	omnidirectional	ADJ
ajst-32562	154	47	movement	movement	NOUN
ajst-32562	154	48	.	.	PUNCT
ajst-32562	155	1	appl	appl	PROPN
ajst-32562	155	2	.	.	PUNCT
ajst-32562	156	1	sci	sci	PROPN
ajst-32562	156	2	.	.	PROPN
ajst-32562	156	3	2024	2024	NUM
ajst-32562	156	4	,	,	PUNCT
ajst-32562	156	5	14	14	NUM
ajst-32562	156	6	,	,	PUNCT
ajst-32562	156	7	8171	8171	NUM
ajst-32562	156	8	.	.	PUNCT
ajst-32562	157	1	https://doi.org/10.3390/app14188171	https://doi.org/10.3390/app14188171	NOUN
ajst-32562	157	2	.	.	PUNCT
ajst-32562	158	1	[	[	X
ajst-32562	158	2	2	2	X
ajst-32562	158	3	]	]	PUNCT
ajst-32562	158	4	wang	wang	PROPN
ajst-32562	158	5	z	z	PROPN
ajst-32562	158	6	-	-	PROPN
ajst-32562	158	7	y	y	PROPN
ajst-32562	158	8	,	,	PUNCT
ajst-32562	158	9	ding	de	VERB
ajst-32562	158	10	x	x	NOUN
ajst-32562	158	11	-	-	NOUN
ajst-32562	158	12	l	l	NOUN
ajst-32562	158	13	,	,	PUNCT
ajst-32562	158	14	rovetta	rovetta	ADJ
ajst-32562	158	15	a.	a.	NOUN
ajst-32562	158	16	analysis	analysis	NOUN
ajst-32562	158	17	of	of	ADP
ajst-32562	158	18	typical	typical	ADJ
ajst-32562	158	19	locomotion	locomotion	NOUN
ajst-32562	158	20	of	of	ADP
ajst-32562	158	21	a	a	DET
ajst-32562	158	22	symmetric	symmetric	ADJ
ajst-32562	158	23	hexapod	hexapod	NOUN
ajst-32562	158	24	robot	robot	NOUN
ajst-32562	158	25	.	.	PUNCT
ajst-32562	159	1	robotica	robotica	PROPN
ajst-32562	159	2	.	.	PUNCT
ajst-32562	160	1	2010;28(6):893	2010;28(6):893	NUM
ajst-32562	160	2	-	-	SYM
ajst-32562	160	3	907	907	NUM
ajst-32562	160	4	.	.	PUNCT
ajst-32562	161	1	doi:10.1017	doi:10.1017	NOUN
ajst-32562	161	2	/	/	SYM
ajst-32562	161	3	s0263574709990725	s0263574709990725	PROPN
ajst-32562	161	4	[	[	X
ajst-32562	161	5	3	3	NUM
ajst-32562	161	6	]	]	X
ajst-32562	161	7	zhang2023dive	zhang2023dive	NOUN
ajst-32562	161	8	,	,	PUNCT
ajst-32562	161	9	dive	dive	VERB
ajst-32562	161	10	into	into	ADP
ajst-32562	161	11	deep	deep	ADJ
ajst-32562	161	12	learning	learning	NOUN
ajst-32562	161	13	,	,	PUNCT
ajst-32562	161	14	zhang	zhang	PROPN
ajst-32562	161	15	,	,	PUNCT
ajst-32562	161	16	aston	aston	PROPN
ajst-32562	161	17	and	and	CCONJ
ajst-32562	161	18	lipton	lipton	PROPN
ajst-32562	161	19	,	,	PUNCT
ajst-32562	161	20	zachary	zachary	PROPN
ajst-32562	161	21	c.	c.	PROPN
ajst-32562	161	22	and	and	CCONJ
ajst-32562	161	23	li	li	PROPN
ajst-32562	161	24	,	,	PUNCT
ajst-32562	161	25	mu	mu	PROPN
ajst-32562	161	26	and	and	CCONJ
ajst-32562	161	27	smola	smola	PROPN
ajst-32562	161	28	,	,	PUNCT
ajst-32562	161	29	alexander	alexander	PROPN
ajst-32562	161	30	j.	j.	PROPN
ajst-32562	161	31	cambridge	cambridge	PROPN
ajst-32562	161	32	university	university	PROPN
ajst-32562	161	33	press	press	NOUN
ajst-32562	161	34	,	,	PUNCT
ajst-32562	161	35	https://d2l.ai	https://d2l.ai	NOUN
ajst-32562	161	36	,	,	PUNCT
ajst-32562	161	37	2023	2023	NUM
ajst-32562	161	38	[	[	X
ajst-32562	161	39	4	4	X
ajst-32562	161	40	]	]	X
ajst-32562	161	41	ding	ding	NOUN
ajst-32562	161	42	,	,	PUNCT
ajst-32562	161	43	x.	x.	PROPN
ajst-32562	161	44	,	,	PUNCT
ajst-32562	161	45	wang	wang	PROPN
ajst-32562	161	46	,	,	PUNCT
ajst-32562	161	47	z.	z.	PROPN
ajst-32562	161	48	,	,	PUNCT
ajst-32562	161	49	rovetta	rovetta	ADJ
ajst-32562	161	50	,	,	PUNCT
ajst-32562	161	51	a.	a.	NOUN
ajst-32562	161	52	,	,	PUNCT
ajst-32562	161	53	&	&	CCONJ
ajst-32562	161	54	zhu	zhu	PROPN
ajst-32562	161	55	,	,	PUNCT
ajst-32562	161	56	j.	j.	PROPN
ajst-32562	161	57	m.	m.	PROPN
ajst-32562	161	58	(	(	PUNCT
ajst-32562	161	59	2010	2010	NUM
ajst-32562	161	60	)	)	PUNCT
ajst-32562	161	61	.	.	PUNCT
ajst-32562	162	1	locomotion	locomotion	NOUN
ajst-32562	162	2	analysis	analysis	NOUN
ajst-32562	162	3	of	of	ADP
ajst-32562	162	4	hexapod	hexapod	NOUN
ajst-32562	162	5	robot	robot	NOUN
ajst-32562	162	6	.	.	PUNCT
ajst-32562	163	1	intech	intech	PROPN
ajst-32562	163	2	.	.	PUNCT
ajst-32562	164	1	doi	doi	NOUN
ajst-32562	164	2	:	:	PUNCT
ajst-32562	164	3	10.5772/8822	10.5772/8822	NUM
ajst-32562	164	4	[	[	X
ajst-32562	164	5	5	5	NUM
ajst-32562	164	6	]	]	X
ajst-32562	164	7	chu	chu	PROPN
ajst-32562	164	8	,	,	PUNCT
ajst-32562	164	9	s.	s.	PROPN
ajst-32562	164	10	k.-k	k.-k	PROPN
ajst-32562	164	11	.	.	PUNCT
ajst-32562	165	1	&	&	CCONJ
ajst-32562	166	1	pang	pang	PROPN
ajst-32562	166	2	,	,	PUNCT
ajst-32562	166	3	g.	g.	PROPN
ajst-32562	166	4	k.-h	k.-h	PROPN
ajst-32562	166	5	.	.	PUNCT
ajst-32562	167	1	(	(	PUNCT
ajst-32562	167	2	2002	2002	NUM
ajst-32562	167	3	)	)	PUNCT
ajst-32562	167	4	.	.	PUNCT
ajst-32562	168	1	comparison	comparison	NOUN
ajst-32562	168	2	between	between	ADP
ajst-32562	168	3	different	different	ADJ
ajst-32562	168	4	model	model	NOUN
ajst-32562	168	5	of	of	ADP
ajst-32562	168	6	hexapod	hexapod	NOUN
ajst-32562	168	7	robot	robot	NOUN
ajst-32562	168	8	in	in	ADP
ajst-32562	168	9	fault	fault	NOUN
ajst-32562	168	10	-	-	PUNCT
ajst-32562	168	11	tolerant	tolerant	ADJ
ajst-32562	168	12	gait	gait	NOUN
ajst-32562	168	13	.	.	PUNCT
ajst-32562	169	1	ieee	ieee	NOUN
ajst-32562	169	2	transactions	transaction	NOUN
ajst-32562	169	3	on	on	ADP
ajst-32562	169	4	systems	system	NOUN
ajst-32562	169	5	,	,	PUNCT
ajst-32562	169	6	man	man	NOUN
ajst-32562	169	7	and	and	CCONJ
ajst-32562	169	8	cybernetics	cybernetic	NOUN
ajst-32562	169	9	,	,	PUNCT
ajst-32562	169	10	part	part	NOUN
ajst-32562	169	11	a	a	DET
ajst-32562	169	12	,	,	PUNCT
ajst-32562	169	13	vol	vol	NOUN
ajst-32562	169	14	.	.	PROPN
ajst-32562	169	15	32	32	NUM
ajst-32562	169	16	,	,	PUNCT
ajst-32562	169	17	issue	issue	NOUN
ajst-32562	169	18	6	6	NUM
ajst-32562	169	19	,	,	PUNCT
ajst-32562	169	20	nov	nov	PROPN
ajst-32562	169	21	.	.	PROPN
ajst-32562	169	22	2002	2002	NUM
ajst-32562	169	23	pp	pp	NOUN
ajst-32562	169	24	.	.	PUNCT
ajst-32562	170	1	752	752	NUM
ajst-32562	170	2	-756	-756	PROPN
ajst-32562	170	3	.	.	PUNCT
ajst-32562	171	1	[	[	X
ajst-32562	171	2	6	6	NUM
ajst-32562	171	3	]	]	SYM
ajst-32562	171	4	yang	yang	PROPN
ajst-32562	171	5	,	,	PUNCT
ajst-32562	171	6	j.-m	j.-m	PROPN
ajst-32562	171	7	.	.	PUNCT
ajst-32562	171	8	&	&	CCONJ
ajst-32562	171	9	kim	kim	PROPN
ajst-32562	171	10	j.-h	j.-h	PROPN
ajst-32562	171	11	.	.	PUNCT
ajst-32562	172	1	(	(	PUNCT
ajst-32562	172	2	1998	1998	NUM
ajst-32562	172	3	)	)	PUNCT
ajst-32562	172	4	.	.	PUNCT
ajst-32562	173	1	a	a	DET
ajst-32562	173	2	strategy	strategy	NOUN
ajst-32562	173	3	of	of	ADP
ajst-32562	173	4	optimal	optimal	ADJ
ajst-32562	173	5	fault	fault	NOUN
ajst-32562	173	6	tolerant	tolerant	ADJ
ajst-32562	173	7	gait	gait	NOUN
ajst-32562	173	8	for	for	ADP
ajst-32562	173	9	the	the	DET
ajst-32562	173	10	hexapod	hexapod	NOUN
ajst-32562	173	11	robot	robot	NOUN
ajst-32562	173	12	in	in	ADP
ajst-32562	173	13	crab	crab	NOUN
ajst-32562	173	14	walking	walking	NOUN
ajst-32562	173	15	.	.	PUNCT
ajst-32562	174	1	ieee	ieee	PROPN
ajst-32562	174	2	international	international	PROPN
ajst-32562	174	3	conference	conference	NOUN
ajst-32562	174	4	on	on	ADP
ajst-32562	174	5	robotics	robotic	NOUN
ajst-32562	174	6	and	and	CCONJ
ajst-32562	174	7	utomation	utomation	NOUN
ajst-32562	174	8	,	,	PUNCT
ajst-32562	174	9	vol	vol	NOUN
ajst-32562	174	10	.	.	PROPN
ajst-32562	174	11	2	2	NUM
ajst-32562	174	12	,	,	PUNCT
ajst-32562	174	13	16	16	NUM
ajst-32562	174	14	-	-	SYM
ajst-32562	174	15	20	20	NUM
ajst-32562	174	16	may	may	PROPN
ajst-32562	174	17	1998	1998	NUM
ajst-32562	174	18	pp	pp	NOUN
ajst-32562	174	19	.	.	PUNCT
ajst-32562	174	20	1695	1695	NUM
ajst-32562	174	21	–	–	PUNCT
ajst-32562	174	22	1700	1700	NUM
ajst-32562	174	23	.	.	PUNCT
ajst-32562	175	1	[	[	X
ajst-32562	175	2	7	7	X
ajst-32562	175	3	]	]	X
ajst-32562	175	4	m.	m.	NOUN
ajst-32562	175	5	babiuch	babiuch	NOUN
ajst-32562	175	6	,	,	PUNCT
ajst-32562	175	7	p.	p.	NOUN
ajst-32562	175	8	foltýnek	foltýnek	NOUN
ajst-32562	175	9	and	and	CCONJ
ajst-32562	175	10	p.	p.	NOUN
ajst-32562	175	11	smutný	smutný	NOUN
ajst-32562	175	12	,	,	PUNCT
ajst-32562	175	13	"	"	PUNCT
ajst-32562	175	14	using	use	VERB
ajst-32562	175	15	the	the	DET
ajst-32562	175	16	esp32	esp32	ADJ
ajst-32562	175	17	microcontroller	microcontroller	NOUN
ajst-32562	175	18	for	for	ADP
ajst-32562	175	19	data	data	NOUN
ajst-32562	175	20	processing	processing	NOUN
ajst-32562	175	21	,	,	PUNCT
ajst-32562	175	22	"	"	PUNCT
ajst-32562	175	23	2019	2019	NUM
ajst-32562	175	24	20th	20th	ADJ
ajst-32562	175	25	international	international	ADJ
ajst-32562	175	26	carpathian	carpathian	PROPN
ajst-32562	175	27	control	control	PROPN
ajst-32562	175	28	conference	conference	PROPN
ajst-32562	175	29	(	(	PUNCT
ajst-32562	175	30	iccc	iccc	PROPN
ajst-32562	175	31	)	)	PUNCT
ajst-32562	175	32	,	,	PUNCT
ajst-32562	175	33	krakow	krakow	PROPN
ajst-32562	175	34	-	-	PUNCT
ajst-32562	175	35	wieliczka	wieliczka	PROPN
ajst-32562	175	36	,	,	PUNCT
ajst-32562	175	37	poland	poland	PROPN
ajst-32562	175	38	,	,	PUNCT
ajst-32562	175	39	2019	2019	NUM
ajst-32562	175	40	,	,	PUNCT
ajst-32562	175	41	pp	pp	ADJ
ajst-32562	175	42	.	.	PUNCT
ajst-32562	176	1	1	1	NUM
ajst-32562	176	2	-	-	SYM
ajst-32562	176	3	6	6	NUM
ajst-32562	176	4	,	,	PUNCT
ajst-32562	176	5	doi	doi	NOUN
ajst-32562	176	6	:	:	PUNCT
ajst-32562	176	7	10.1109	10.1109	NUM
ajst-32562	176	8	/	/	SYM
ajst-32562	176	9	carpathiancc.2019.8765944	carpathiancc.2019.8765944	NOUN
ajst-32562	176	10	.	.	PUNCT
ajst-32562	177	1	[	[	X
ajst-32562	177	2	8	8	X
ajst-32562	177	3	]	]	X
ajst-32562	177	4	e.	e.	PROPN
ajst-32562	177	5	muntean	muntean	PROPN
ajst-32562	177	6	and	and	CCONJ
ajst-32562	177	7	m.	m.	NOUN
ajst-32562	177	8	leba	leba	PROPN
ajst-32562	177	9	,	,	PUNCT
ajst-32562	177	10	"	"	PUNCT
ajst-32562	177	11	advancing	advance	VERB
ajst-32562	177	12	humanoid	humanoid	ADJ
ajst-32562	177	13	robotics	robotic	NOUN
ajst-32562	177	14	:	:	PUNCT
ajst-32562	177	15	leg	leg	NOUN
ajst-32562	177	16	control	control	NOUN
ajst-32562	177	17	and	and	CCONJ
ajst-32562	177	18	locomotion	locomotion	NOUN
ajst-32562	177	19	,	,	PUNCT
ajst-32562	177	20	"	"	PUNCT
ajst-32562	177	21	2024	2024	NUM
ajst-32562	177	22	ieee	ieee	PROPN
ajst-32562	177	23	international	international	ADJ
ajst-32562	177	24	conference	conference	NOUN
ajst-32562	177	25	on	on	ADP
ajst-32562	177	26	automation	automation	NOUN
ajst-32562	177	27	,	,	PUNCT
ajst-32562	177	28	quality	quality	NOUN
ajst-32562	177	29	and	and	CCONJ
ajst-32562	177	30	testing	testing	NOUN
ajst-32562	177	31	,	,	PUNCT
ajst-32562	177	32	robotics	robotic	NOUN
ajst-32562	177	33	(	(	PUNCT
ajst-32562	177	34	aqtr	aqtr	NOUN
ajst-32562	177	35	)	)	PUNCT
ajst-32562	177	36	,	,	PUNCT
ajst-32562	177	37	cluj	cluj	NOUN
ajst-32562	177	38	-	-	PUNCT
ajst-32562	177	39	napoca	napoca	PROPN
ajst-32562	177	40	,	,	PUNCT
ajst-32562	177	41	romania	romania	PROPN
ajst-32562	177	42	,	,	PUNCT
ajst-32562	177	43	2024	2024	NUM
ajst-32562	177	44	,	,	PUNCT
ajst-32562	177	45	pp	pp	ADJ
ajst-32562	177	46	.	.	PUNCT
ajst-32562	178	1	1	1	NUM
ajst-32562	178	2	-	-	SYM
ajst-32562	178	3	5	5	NUM
ajst-32562	178	4	,	,	PUNCT
ajst-32562	178	5	doi	doi	NOUN
ajst-32562	178	6	:	:	PUNCT
ajst-32562	178	7	10.1109	10.1109	NUM
ajst-32562	178	8	/	/	SYM
ajst-32562	178	9	aqtr61889.2024.10554215	aqtr61889.2024.10554215	NOUN
ajst-32562	178	10	.	.	PUNCT
ajst-32562	179	1	[	[	X
ajst-32562	179	2	9	9	NUM
ajst-32562	179	3	]	]	PUNCT
ajst-32562	179	4	m.	m.	NOUN
ajst-32562	179	5	s.	s.	PROPN
ajst-32562	179	6	nagar	nagar	PROPN
ajst-32562	179	7	,	,	PUNCT
ajst-32562	179	8	v.	v.	PROPN
ajst-32562	179	9	chauhan	chauhan	PROPN
ajst-32562	179	10	,	,	PUNCT
ajst-32562	179	11	k.	k.	PROPN
ajst-32562	179	12	m.	m.	PROPN
ajst-32562	179	13	chinchavde	chinchavde	PROPN
ajst-32562	179	14	,	,	PUNCT
ajst-32562	179	15	swati	swati	PROPN
ajst-32562	179	16	,	,	PUNCT
ajst-32562	179	17	s.	s.	PROPN
ajst-32562	179	18	patel	patel	PROPN
ajst-32562	179	19	and	and	CCONJ
ajst-32562	179	20	p.	p.	PROPN
ajst-32562	179	21	engineer	engineer	NOUN
ajst-32562	179	22	,	,	PUNCT
ajst-32562	179	23	"	"	PUNCT
ajst-32562	179	24	energy	energy	NOUN
ajst-32562	179	25	-	-	PUNCT
ajst-32562	179	26	efficient	efficient	ADJ
ajst-32562	179	27	acceleration	acceleration	NOUN
ajst-32562	179	28	of	of	ADP
ajst-32562	179	29	deep	deep	ADJ
ajst-32562	179	30	learning	learning	NOUN
ajst-32562	179	31	based	base	VERB
ajst-32562	179	32	facial	facial	ADJ
ajst-32562	179	33	recognition	recognition	NOUN
ajst-32562	179	34	on	on	ADP
ajst-32562	179	35	risc	risc	PROPN
ajst-32562	179	36	-	-	PUNCT
ajst-32562	179	37	v	v	NOUN
ajst-32562	179	38	processor	processor	NOUN
ajst-32562	179	39	,	,	PUNCT
ajst-32562	179	40	"	"	PUNCT
ajst-32562	179	41	2023	2023	NUM
ajst-32562	179	42	11th	11th	ADJ
ajst-32562	179	43	international	international	ADJ
ajst-32562	179	44	conference	conference	NOUN
ajst-32562	179	45	on	on	ADP
ajst-32562	179	46	intelligent	intelligent	ADJ
ajst-32562	179	47	systems	system	NOUN
ajst-32562	179	48	and	and	CCONJ
ajst-32562	179	49	embedded	embed	VERB
ajst-32562	179	50	design	design	NOUN
ajst-32562	179	51	(	(	PUNCT
ajst-32562	179	52	ised	ise	VERB
ajst-32562	179	53	)	)	PUNCT
ajst-32562	179	54	,	,	PUNCT
ajst-32562	179	55	dehradun	dehradun	PROPN
ajst-32562	179	56	,	,	PUNCT
ajst-32562	179	57	india	india	PROPN
ajst-32562	179	58	,	,	PUNCT
ajst-32562	179	59	2023	2023	NUM
ajst-32562	179	60	,	,	PUNCT
ajst-32562	179	61	pp	pp	ADJ
ajst-32562	179	62	.	.	PUNCT
ajst-32562	179	63	1	1	NUM
ajst-32562	179	64	-	-	SYM
ajst-32562	179	65	6	6	NUM
ajst-32562	179	66	,	,	PUNCT
ajst-32562	179	67	doi	doi	NOUN
ajst-32562	179	68	:	:	PUNCT
ajst-32562	179	69	10.1109	10.1109	NUM
ajst-32562	179	70	/	/	SYM
ajst-32562	179	71	ised59382.2023.10444594	ised59382.2023.10444594	NOUN
ajst-32562	179	72	.	.	PUNCT
ajst-32562	180	1	[	[	X
ajst-32562	180	2	10	10	NUM
ajst-32562	180	3	]	]	X
ajst-32562	180	4	d.	d.	PROPN
ajst-32562	180	5	xu	xu	PROPN
ajst-32562	180	6	,	,	PUNCT
ajst-32562	180	7	y.	y.	PROPN
ajst-32562	180	8	chen	chen	PROPN
ajst-32562	180	9	and	and	CCONJ
ajst-32562	180	10	r.	r.	PROPN
ajst-32562	180	11	kang	kang	PROPN
ajst-32562	180	12	,	,	PUNCT
ajst-32562	180	13	"	"	PUNCT
ajst-32562	180	14	study	study	NOUN
ajst-32562	180	15	of	of	ADP
ajst-32562	180	16	accelerated	accelerate	VERB
ajst-32562	180	17	stability	stability	NOUN
ajst-32562	180	18	test	test	NOUN
ajst-32562	180	19	method	method	NOUN
ajst-32562	180	20	for	for	ADP
ajst-32562	180	21	quartz	quartz	NOUN
ajst-32562	180	22	flexible	flexible	ADJ
ajst-32562	180	23	accelerometer	accelerometer	NOUN
ajst-32562	180	24	,	,	PUNCT
ajst-32562	180	25	"	"	PUNCT
ajst-32562	180	26	in	in	ADP
ajst-32562	180	27	ieee	ieee	NOUN
ajst-32562	180	28	transactions	transaction	NOUN
ajst-32562	180	29	on	on	ADP
ajst-32562	180	30	device	device	NOUN
ajst-32562	180	31	and	and	CCONJ
ajst-32562	180	32	materials	material	NOUN
ajst-32562	180	33	reliability	reliability	NOUN
ajst-32562	180	34	,	,	PUNCT
ajst-32562	180	35	vol	vol	NOUN
ajst-32562	180	36	.	.	PROPN
ajst-32562	180	37	11	11	NUM
ajst-32562	180	38	,	,	PUNCT
ajst-32562	180	39	no	no	INTJ
ajst-32562	180	40	.	.	NOUN
ajst-32562	180	41	1	1	NUM
ajst-32562	180	42	,	,	PUNCT
ajst-32562	180	43	pp	pp	ADJ
ajst-32562	180	44	.	.	PUNCT
ajst-32562	180	45	148	148	NUM
ajst-32562	180	46	-	-	SYM
ajst-32562	180	47	156	156	NUM
ajst-32562	180	48	,	,	PUNCT
ajst-32562	180	49	march	march	PROPN
ajst-32562	180	50	2011	2011	NUM
ajst-32562	180	51	,	,	PUNCT
ajst-32562	180	52	doi	doi	NOUN
ajst-32562	180	53	:	:	PUNCT
ajst-32562	180	54	10.1109	10.1109	NUM
ajst-32562	180	55	/	/	SYM
ajst-32562	180	56	tdmr.2010.2102025	tdmr.2010.2102025	NOUN
ajst-32562	180	57	.	.	PUNCT