id	sid	eid	entity	type
ap-6863	1	1	acta polytechnica	PERSON
ap-6863	1	2	62(2):303–312	CARDINAL
ap-6863	1	3	2022	CARDINAL
ap-6863	1	4	2022	CARDINAL
ap-6863	2	1	4.0	CARDINAL
ap-6863	2	2	the czech technical university	ORG
ap-6863	2	3	prague	GPE
ap-6863	2	4	l. samsonovich	PERSON
ap-6863	2	5	boris k.	PERSON
ap-6863	2	6	nikolay b. rozhnin	PERSON
ap-6863	2	7	national research university	ORG
ap-6863	2	8	moscow aviation institute	ORG
ap-6863	2	9	702	CARDINAL
ap-6863	2	10	volokolamskoye av	PERSON
ap-6863	2	11	4, 125993	CARDINAL
ap-6863	2	12	moscow	GPE
ap-6863	2	13	russia	GPE
ap-6863	4	1	article contain two	LAW
ap-6863	5	1	one	CARDINAL
ap-6863	5	2	two	CARDINAL
ap-6863	6	1	first	ORDINAL
ap-6863	7	1	second	ORDINAL
ap-6863	8	1	two	CARDINAL
ap-6863	10	1	tandem	ORG
ap-6863	11	1	1	CARDINAL
ap-6863	12	1	the 30 years	DATE
ap-6863	12	2	1	CARDINAL
ap-6863	14	1	2–10	CARDINAL
ap-6863	14	2	2	CARDINAL
ap-6863	14	3	4	CARDINAL
ap-6863	14	4	5	CARDINAL
ap-6863	14	5	6	CARDINAL
ap-6863	14	6	4	CARDINAL
ap-6863	14	7	6	CARDINAL
ap-6863	15	1	two	CARDINAL
ap-6863	15	2	1	CARDINAL
ap-6863	16	1	two	CARDINAL
ap-6863	17	1	first	ORDINAL
ap-6863	18	1	11–17	CARDINAL
ap-6863	19	1	18–24	CARDINAL
ap-6863	21	1	303	CARDINAL
ap-6863	21	2	s. l. samsonovich	PERSON
ap-6863	21	3	b. k.	PERSON
ap-6863	21	4	n. b. rozhnin	PERSON
ap-6863	21	5	r. v. goryunov acta polytechnica	PERSON
ap-6863	21	6	1	CARDINAL
ap-6863	22	1	2	CARDINAL
ap-6863	23	1	2	CARDINAL
ap-6863	23	2	two	CARDINAL
ap-6863	24	1	11–17	CARDINAL
ap-6863	24	2	25	CARDINAL
ap-6863	27	1	two	CARDINAL
ap-6863	28	1	2	CARDINAL
ap-6863	31	1	440	CARDINAL
ap-6863	31	2	115	CARDINAL
ap-6863	31	3	45	CARDINAL
ap-6863	31	4	750	CARDINAL
ap-6863	31	5	2.575 kgm2	QUANTITY
ap-6863	31	6	400	CARDINAL
ap-6863	31	7	0.017 deg	QUANTITY
ap-6863	34	1	one	CARDINAL
ap-6863	34	2	304	CARDINAL
ap-6863	35	1	62	CARDINAL
ap-6863	36	1	2/2022	CARDINAL
ap-6863	37	1	3	CARDINAL
ap-6863	39	1	3	CARDINAL
ap-6863	40	1	two	CARDINAL
ap-6863	41	1	first	ORDINAL
ap-6863	41	2	2	CARDINAL
ap-6863	41	3	3	CARDINAL
ap-6863	42	1	4	CARDINAL
ap-6863	42	2	3	CARDINAL
ap-6863	43	1	zero	CARDINAL
ap-6863	43	2	a spring	DATE
ap-6863	47	1	second	ORDINAL
ap-6863	48	1	4	CARDINAL
ap-6863	48	2	4	CARDINAL
ap-6863	51	1	one	CARDINAL
ap-6863	52	1	5	CARDINAL
ap-6863	53	1	tandem	ORG
ap-6863	54	1	two	CARDINAL
ap-6863	54	2	two	CARDINAL
ap-6863	54	3	two	CARDINAL
ap-6863	54	4	four	CARDINAL
ap-6863	54	5	two	CARDINAL
ap-6863	55	1	three	CARDINAL
ap-6863	56	1	two	CARDINAL
ap-6863	57	1	one	CARDINAL
ap-6863	57	2	first	ORDINAL
ap-6863	57	3	first	ORDINAL
ap-6863	57	4	second	ORDINAL
ap-6863	58	1	second	ORDINAL
ap-6863	58	2	second	ORDINAL
ap-6863	58	3	second	ORDINAL
ap-6863	60	1	0	CARDINAL
ap-6863	60	2	1	CARDINAL
ap-6863	60	3	-1	ORG
ap-6863	60	4	0	DATE
ap-6863	61	1	one	CARDINAL
ap-6863	61	2	second	ORDINAL
ap-6863	61	3	four	CARDINAL
ap-6863	61	4	305	CARDINAL
ap-6863	61	5	s. l. samsonovich	PERSON
ap-6863	61	6	b. k.	PERSON
ap-6863	61	7	n. b. rozhnin	PERSON
ap-6863	61	8	r. v. goryunov acta polytechnica	PERSON
ap-6863	61	9	5	CARDINAL
ap-6863	64	1	second	ORDINAL
ap-6863	71	1	second	ORDINAL
ap-6863	71	2	first	ORDINAL
ap-6863	73	1	second	ORDINAL
ap-6863	73	2	two	CARDINAL
ap-6863	74	1	5	CARDINAL
ap-6863	75	1	6	CARDINAL
ap-6863	77	1	6a	CARDINAL
ap-6863	78	1	6b	CARDINAL
ap-6863	79	1	30 %	PERCENT
ap-6863	79	2	6c	CARDINAL
ap-6863	82	1	t1,t2	CARDINAL
ap-6863	82	2	0.2 s	CARDINAL
ap-6863	82	3	second	ORDINAL
ap-6863	82	4	7	CARDINAL
ap-6863	84	1	62	CARDINAL
ap-6863	85	1	2/2022	CARDINAL
ap-6863	89	1	6	CARDINAL
ap-6863	91	1	tion	PERSON
ap-6863	91	2	7b	CARDINAL
ap-6863	93	1	7c	CARDINAL
ap-6863	93	2	80 %	PERCENT
ap-6863	94	1	8	CARDINAL
ap-6863	94	2	1.0	CARDINAL
ap-6863	95	1	8b	CARDINAL
ap-6863	97	1	8c	CARDINAL
ap-6863	97	2	30–40 %	PERCENT
ap-6863	98	1	9	CARDINAL
ap-6863	99	1	10	CARDINAL
ap-6863	101	1	0.65	CARDINAL
ap-6863	101	2	second	ORDINAL
ap-6863	102	1	307	CARDINAL
ap-6863	102	2	s. l. samsonovich	PERSON
ap-6863	102	3	b. k.	PERSON
ap-6863	102	4	n. b. rozhnin	PERSON
ap-6863	102	5	r. v. goryunov acta polytechnica	PERSON
ap-6863	105	1	7	CARDINAL
ap-6863	107	1	10	CARDINAL
ap-6863	110	1	second	ORDINAL
ap-6863	115	1	two	CARDINAL
ap-6863	116	1	8)	CARDINAL
ap-6863	116	2	second	ORDINAL
ap-6863	117	1	7	CARDINAL
ap-6863	119	1	308	CARDINAL
ap-6863	120	1	62	CARDINAL
ap-6863	121	1	2/2022	CARDINAL
ap-6863	125	1	8	CARDINAL
ap-6863	127	1	9	CARDINAL
ap-6863	129	1	309	CARDINAL
ap-6863	129	2	s. l. samsonovich	PERSON
ap-6863	129	3	b. k.	PERSON
ap-6863	129	4	n. b. rozhnin	PERSON
ap-6863	129	5	r. v. goryunov acta polytechnica	PERSON
ap-6863	129	6	10	CARDINAL
ap-6863	131	1	two	CARDINAL
ap-6863	132	1	6	CARDINAL
ap-6863	132	2	a mechanical spring	DATE
ap-6863	133	1	one	CARDINAL
ap-6863	133	2	one	CARDINAL
ap-6863	133	3	6b	CARDINAL
ap-6863	135	1	40 %	PERCENT
ap-6863	138	1	80 %	PERCENT
ap-6863	140	1	8b	CARDINAL
ap-6863	140	2	8c	CARDINAL
ap-6863	141	1	two	CARDINAL
ap-6863	143	1	40 %	PERCENT
ap-6863	144	1	7a	CARDINAL
ap-6863	144	2	up to 85 %	PERCENT
ap-6863	146	1	310	CARDINAL
ap-6863	147	1	62	CARDINAL
ap-6863	148	1	2/2022	CARDINAL
ap-6863	149	1	7.	CARDINAL
ap-6863	149	2	1	CARDINAL
ap-6863	151	1	2	CARDINAL
ap-6863	153	1	3	CARDINAL
ap-6863	154	1	two	CARDINAL
ap-6863	155	1	1	CARDINAL
ap-6863	155	2	s. l. samsonovich	PERSON
ap-6863	155	3	r. v. goryunov	PERSON
ap-6863	157	1	2):16–22, 2019	DATE
ap-6863	159	1	2	CARDINAL
ap-6863	159	2	b. g. sergeev	PERSON
ap-6863	160	1	russian	NORP
ap-6863	161	1	moscow	GPE
ap-6863	161	2	1980	DATE
ap-6863	162	1	3	CARDINAL
ap-6863	162	2	a. a. kirillov	PERSON
ap-6863	162	3	v. g. stebletsov	PERSON
ap-6863	165	1	moscow	GPE
ap-6863	165	2	2013	DATE
ap-6863	166	1	2020	CARDINAL
ap-6863	167	1	4	CARDINAL
ap-6863	167	2	m. nordin	PERSON
ap-6863	168	1	gutman	PERSON
ap-6863	170	1	38(10):1633–1649, 2002	DATE
ap-6863	172	1	5	CARDINAL
ap-6863	172	2	r. m. r. bruns	PERSON
ap-6863	172	3	j. f. p. b. diepstraten	PERSON
ap-6863	172	4	x. g. p. schuurbiers	PERSON
ap-6863	172	5	j. a. g.	PERSON
ap-6863	173	1	2006	DATE
ap-6863	174	1	dct rapporten	ORG
ap-6863	175	1	2006.075	CARDINAL
ap-6863	176	1	2020-02-16	DATE
ap-6863	177	1	6	CARDINAL
ap-6863	177	2	b. k. chemodanov	PERSON
ap-6863	178	1	russian	NORP
ap-6863	179	1	bauman mstu	PERSON
ap-6863	179	2	moscow	GPE
ap-6863	179	3	1999	DATE
ap-6863	180	1	5-7038-1383-2	DATE
ap-6863	181	1	7	CARDINAL
ap-6863	181	2	l. márton	PERSON
ap-6863	183	1	11(1):3–9,	DATE
ap-6863	183	2	2009	DATE
ap-6863	184	1	8	CARDINAL
ap-6863	184	2	r. r. selmic	PERSON
ap-6863	184	3	f. l. lewis	PERSON
ap-6863	185	1	hebbian	NORP
ap-6863	186	1	37(8):1269–1277, 2001	DATE
ap-6863	188	1	9	CARDINAL
ap-6863	188	2	g. tao	PERSON
ap-6863	188	3	f. l. lewis	PERSON
ap-6863	190	1	london	GPE
ap-6863	190	2	2001	DATE
ap-6863	191	1	978	CARDINAL
ap-6863	191	2	869	CARDINAL
ap-6863	192	1	10	CARDINAL
ap-6863	192	2	s. suraneni	PERSON
ap-6863	192	3	i. n. kar	PERSON
ap-6863	192	4	o. v. ramana murthy	PERSON
ap-6863	192	5	r. k. p. bhatt	PERSON
ap-6863	194	1	6(1):26–37, 2005	DATE
ap-6863	196	1	11	CARDINAL
ap-6863	197	1	two	CARDINAL
ap-6863	197	2	1980	DATE
ap-6863	198	1	su746399	PERSON
ap-6863	198	2	bull	PERSON
ap-6863	200	1	25	CARDINAL
ap-6863	201	1	12	CARDINAL
ap-6863	202	1	1984	DATE
ap-6863	203	1	bull	ORG
ap-6863	205	1	7	CARDINAL
ap-6863	206	1	13	CARDINAL
ap-6863	206	2	k. iijima	PERSON
ap-6863	206	3	2019	DATE
ap-6863	207	1	2019/0079487 a1	PERSON
ap-6863	208	1	14	CARDINAL
ap-6863	208	2	a. ito	PERSON
ap-6863	208	3	n. furuya	PERSON
ap-6863	208	4	t. oshima	ORG
ap-6863	208	5	3d14	CARDINAL
ap-6863	210	1	3d14–1–3d14–12, 2010	DATE
ap-6863	212	1	15	CARDINAL
ap-6863	212	2	w. zhao	PERSON
ap-6863	212	3	x. ren	PERSON
ap-6863	214	1	2017	DATE
ap-6863	216	1	16	CARDINAL
ap-6863	216	2	f. xu	PERSON
ap-6863	216	3	h. wang	PERSON
ap-6863	217	1	two	CARDINAL
ap-6863	218	1	seventh	ORDINAL
ap-6863	218	2	asia	LOC
ap-6863	219	1	702–710	CARDINAL
ap-6863	219	2	springer singapore	ORG
ap-6863	219	3	singapore	GPE
ap-6863	219	4	2020	DATE
ap-6863	221	1	17	CARDINAL
ap-6863	221	2	m. deng	PERSON
ap-6863	222	1	wiley	ORG
ap-6863	222	2	piscataway	GPE
ap-6863	222	3	2014	DATE
ap-6863	223	1	978	CARDINAL
ap-6863	224	1	18	CARDINAL
ap-6863	224	2	t. uchida	ORG
ap-6863	224	3	a. ito	PERSON
ap-6863	224	4	t. kitamura	ORG
ap-6863	226	1	japanese	LANGUAGE
ap-6863	226	2	2014	DATE
ap-6863	228	1	19	CARDINAL
ap-6863	228	2	w. gawronski	PERSON
ap-6863	228	3	j. j. beech-brandt	PERSON
ap-6863	228	4	h. g. ahlstrom	PERSON
ap-6863	228	5	e. maneri	PERSON
ap-6863	230	1	2000	DATE
ap-6863	232	1	20	CARDINAL
ap-6863	232	2	z. haider	PERSON
ap-6863	232	3	f. habib	PERSON
ap-6863	232	4	m. h. mukhtar	PERSON
ap-6863	232	5	k. munawar	PERSON
ap-6863	233	1	2	CARDINAL
ap-6863	234	1	2007	DATE
ap-6863	235	1	2007	DATE
ap-6863	237	1	21	CARDINAL
ap-6863	237	2	s. g. robertz	PERSON
ap-6863	237	3	l. halt	PERSON
ap-6863	237	4	s. kelkar	PERSON
ap-6863	238	1	2010	DATE
ap-6863	239	1	2010	DATE
ap-6863	241	1	22	CARDINAL
ap-6863	241	2	k. maeda	PERSON
ap-6863	242	1	tandem	ORG
ap-6863	242	2	1997	DATE
ap-6863	244	1	23	CARDINAL
ap-6863	244	2	s. tararykin	PERSON
ap-6863	244	3	2008	DATE
ap-6863	245	1	ru2316886c1	PERSON
ap-6863	247	1	18	CARDINAL
ap-6863	247	2	311	CARDINAL
ap-6863	249	1	https://doi.org/10.1109/robot.2010.5509384 s. l. samsonovich	PERSON
ap-6863	249	2	b. k.	PERSON
ap-6863	250	1	n. b. rozhnin	PERSON
ap-6863	250	2	r. v. goryunov acta polytechnica	PERSON
ap-6863	251	1	24	CARDINAL
ap-6863	251	2	i. polyushchenkov	PERSON
ap-6863	251	3	2018	DATE
ap-6863	254	1	16	CARDINAL
ap-6863	255	1	25	CARDINAL
ap-6863	255	2	s. l. samsonovich	PERSON
ap-6863	255	3	b. k.	PERSON
ap-6863	255	4	r. v. goryunov	PERSON
ap-6863	256	1	two	CARDINAL
ap-6863	256	2	2020	DATE
ap-6863	257	1	ru2726951c1	PERSON
ap-6863	259	1	20	CARDINAL
ap-6863	260	1	312	CARDINAL
ap-6863	260	2	62(2):303–312	CARDINAL
ap-6863	260	3	2022	CARDINAL
ap-6863	260	4	2	CARDINAL
ap-6863	260	5	3	CARDINAL
ap-6863	260	6	4	CARDINAL
ap-6863	260	7	5	CARDINAL
ap-6863	260	8	6	CARDINAL
ap-6863	260	9	7	CARDINAL