id	sid	tid	token	lemma	pos
app01-3400	1	1	acta	acta	PROPN
app01-3400	1	2	polytechnica	polytechnica	PROPN
app01-3400	1	3	ctu	ctu	PROPN
app01-3400	1	4	proceedings	proceeding	NOUN
app01-3400	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3400	1	6	/	/	SYM
app01-3400	1	7	app.2015.1.0034	app.2015.1.0034	PROPN
app01-3400	1	8	acta	acta	PROPN
app01-3400	1	9	polytechnica	polytechnica	PROPN
app01-3400	1	10	ctu	ctu	NOUN
app01-3400	1	11	proceedings	proceeding	NOUN
app01-3400	1	12	2:34–39	2:34–39	NUM
app01-3400	1	13	,	,	PUNCT
app01-3400	1	14	2015	2015	NUM
app01-3400	1	15	©	©	PROPN
app01-3400	1	16	czech	czech	PROPN
app01-3400	1	17	technical	technical	PROPN
app01-3400	1	18	university	university	PROPN
app01-3400	1	19	in	in	ADP
app01-3400	1	20	prague	prague	PROPN
app01-3400	1	21	,	,	PUNCT
app01-3400	1	22	2015	2015	NUM
app01-3400	1	23	available	available	ADJ
app01-3400	1	24	online	online	ADV
app01-3400	1	25	at	at	ADP
app01-3400	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3400	1	27	on	on	ADP
app01-3400	1	28	traversability	traversability	NOUN
app01-3400	1	29	cost	cost	NOUN
app01-3400	1	30	evaluation	evaluation	NOUN
app01-3400	1	31	from	from	ADP
app01-3400	1	32	proprioceptive	proprioceptive	ADJ
app01-3400	1	33	sensing	sensing	NOUN
app01-3400	1	34	for	for	ADP
app01-3400	1	35	a	a	DET
app01-3400	1	36	crawling	crawl	VERB
app01-3400	1	37	robot	robot	NOUN
app01-3400	1	38	jakub	jakub	PROPN
app01-3400	1	39	mrva∗	mrva∗	PROPN
app01-3400	1	40	,	,	PUNCT
app01-3400	1	41	martin	martin	PROPN
app01-3400	1	42	stejskal	stejskal	PROPN
app01-3400	1	43	,	,	PUNCT
app01-3400	1	44	jan	jan	PROPN
app01-3400	1	45	faigl	faigl	PROPN
app01-3400	1	46	dept	dept	PROPN
app01-3400	1	47	.	.	PROPN
app01-3400	2	1	of	of	ADP
app01-3400	2	2	computer	computer	NOUN
app01-3400	2	3	science	science	NOUN
app01-3400	2	4	,	,	PUNCT
app01-3400	2	5	czech	czech	PROPN
app01-3400	2	6	technical	technical	PROPN
app01-3400	2	7	university	university	PROPN
app01-3400	2	8	in	in	ADP
app01-3400	2	9	prague	prague	PROPN
app01-3400	2	10	,	,	PUNCT
app01-3400	2	11	technická	technická	NOUN
app01-3400	2	12	2	2	NUM
app01-3400	2	13	,	,	PUNCT
app01-3400	2	14	166	166	NUM
app01-3400	2	15	27	27	NUM
app01-3400	2	16	prague	prague	NOUN
app01-3400	2	17	,	,	PUNCT
app01-3400	2	18	czech	czech	PROPN
app01-3400	2	19	republic	republic	NOUN
app01-3400	2	20	∗	∗	NOUN
app01-3400	2	21	corresponding	correspond	VERB
app01-3400	2	22	author	author	NOUN
app01-3400	2	23	:	:	PUNCT
app01-3400	2	24	jakub.mrva@fel.cvut.cz	jakub.mrva@fel.cvut.cz	NUM
app01-3400	2	25	abstract	abstract	NOUN
app01-3400	2	26	.	.	PUNCT
app01-3400	3	1	traversability	traversability	NOUN
app01-3400	3	2	characteristics	characteristic	NOUN
app01-3400	3	3	of	of	ADP
app01-3400	3	4	the	the	DET
app01-3400	3	5	robot	robot	NOUN
app01-3400	3	6	working	working	NOUN
app01-3400	3	7	environment	environment	NOUN
app01-3400	3	8	are	be	AUX
app01-3400	3	9	crucial	crucial	ADJ
app01-3400	3	10	in	in	ADP
app01-3400	3	11	planning	plan	VERB
app01-3400	3	12	an	an	DET
app01-3400	3	13	efficient	efficient	ADJ
app01-3400	3	14	path	path	NOUN
app01-3400	3	15	for	for	ADP
app01-3400	3	16	a	a	DET
app01-3400	3	17	robot	robot	NOUN
app01-3400	3	18	operating	operate	VERB
app01-3400	3	19	in	in	ADP
app01-3400	3	20	rough	rough	ADJ
app01-3400	3	21	unstructured	unstructured	ADJ
app01-3400	3	22	areas	area	NOUN
app01-3400	3	23	.	.	PUNCT
app01-3400	4	1	in	in	ADP
app01-3400	4	2	the	the	DET
app01-3400	4	3	literature	literature	NOUN
app01-3400	4	4	,	,	PUNCT
app01-3400	4	5	approaches	approach	VERB
app01-3400	4	6	to	to	ADP
app01-3400	4	7	wheeled	wheeled	ADJ
app01-3400	4	8	or	or	CCONJ
app01-3400	4	9	tracked	track	VERB
app01-3400	4	10	robots	robot	NOUN
app01-3400	4	11	can	can	AUX
app01-3400	4	12	be	be	AUX
app01-3400	4	13	found	find	VERB
app01-3400	4	14	,	,	PUNCT
app01-3400	4	15	but	but	CCONJ
app01-3400	4	16	a	a	DET
app01-3400	4	17	relatively	relatively	ADV
app01-3400	4	18	little	little	ADJ
app01-3400	4	19	attention	attention	NOUN
app01-3400	4	20	is	be	AUX
app01-3400	4	21	given	give	VERB
app01-3400	4	22	to	to	ADP
app01-3400	4	23	walking	walk	VERB
app01-3400	4	24	multi	multi	ADJ
app01-3400	4	25	-	-	ADJ
app01-3400	4	26	legged	legged	ADJ
app01-3400	4	27	robots	robot	NOUN
app01-3400	4	28	.	.	PUNCT
app01-3400	5	1	moreover	moreover	ADV
app01-3400	5	2	,	,	PUNCT
app01-3400	5	3	the	the	DET
app01-3400	5	4	existing	exist	VERB
app01-3400	5	5	approaches	approach	NOUN
app01-3400	5	6	for	for	ADP
app01-3400	5	7	terrain	terrain	NOUN
app01-3400	5	8	traversability	traversability	NOUN
app01-3400	5	9	assessment	assessment	NOUN
app01-3400	5	10	seem	seem	VERB
app01-3400	5	11	to	to	PART
app01-3400	5	12	be	be	AUX
app01-3400	5	13	focused	focus	VERB
app01-3400	5	14	on	on	ADP
app01-3400	5	15	gathering	gather	VERB
app01-3400	5	16	key	key	ADJ
app01-3400	5	17	features	feature	NOUN
app01-3400	5	18	from	from	ADP
app01-3400	5	19	a	a	DET
app01-3400	5	20	terrain	terrain	NOUN
app01-3400	5	21	model	model	NOUN
app01-3400	5	22	acquired	acquire	VERB
app01-3400	5	23	from	from	ADP
app01-3400	5	24	range	range	NOUN
app01-3400	5	25	data	datum	NOUN
app01-3400	5	26	or	or	CCONJ
app01-3400	5	27	camera	camera	NOUN
app01-3400	5	28	image	image	NOUN
app01-3400	5	29	and	and	CCONJ
app01-3400	5	30	only	only	ADV
app01-3400	5	31	occasionally	occasionally	ADV
app01-3400	5	32	supplemented	supplement	VERB
app01-3400	5	33	with	with	ADP
app01-3400	5	34	proprioceptive	proprioceptive	ADJ
app01-3400	5	35	sensing	sensing	NOUN
app01-3400	5	36	that	that	PRON
app01-3400	5	37	expresses	express	VERB
app01-3400	5	38	the	the	DET
app01-3400	5	39	interaction	interaction	NOUN
app01-3400	5	40	of	of	ADP
app01-3400	5	41	the	the	DET
app01-3400	5	42	robot	robot	NOUN
app01-3400	5	43	with	with	ADP
app01-3400	5	44	the	the	DET
app01-3400	5	45	terrain	terrain	NOUN
app01-3400	5	46	.	.	PUNCT
app01-3400	6	1	this	this	DET
app01-3400	6	2	paper	paper	NOUN
app01-3400	6	3	addresses	address	VERB
app01-3400	6	4	the	the	DET
app01-3400	6	5	problem	problem	NOUN
app01-3400	6	6	of	of	ADP
app01-3400	6	7	traversability	traversability	NOUN
app01-3400	6	8	cost	cost	NOUN
app01-3400	6	9	evaluation	evaluation	NOUN
app01-3400	6	10	based	base	VERB
app01-3400	6	11	on	on	ADP
app01-3400	6	12	proprioceptive	proprioceptive	ADJ
app01-3400	6	13	sensing	sensing	NOUN
app01-3400	6	14	for	for	ADP
app01-3400	6	15	a	a	DET
app01-3400	6	16	hexapod	hexapod	NOUN
app01-3400	6	17	walking	walking	NOUN
app01-3400	6	18	robot	robot	NOUN
app01-3400	6	19	while	while	SCONJ
app01-3400	6	20	optimizing	optimize	VERB
app01-3400	6	21	different	different	ADJ
app01-3400	6	22	criteria	criterion	NOUN
app01-3400	6	23	.	.	PUNCT
app01-3400	7	1	we	we	PRON
app01-3400	7	2	present	present	VERB
app01-3400	7	3	several	several	ADJ
app01-3400	7	4	methods	method	NOUN
app01-3400	7	5	of	of	ADP
app01-3400	7	6	evaluating	evaluate	VERB
app01-3400	7	7	the	the	DET
app01-3400	7	8	robot	robot	NOUN
app01-3400	7	9	-	-	PUNCT
app01-3400	7	10	terrain	terrain	NOUN
app01-3400	7	11	interaction	interaction	NOUN
app01-3400	7	12	that	that	PRON
app01-3400	7	13	can	can	AUX
app01-3400	7	14	be	be	AUX
app01-3400	7	15	used	use	VERB
app01-3400	7	16	as	as	ADP
app01-3400	7	17	a	a	DET
app01-3400	7	18	cost	cost	NOUN
app01-3400	7	19	function	function	NOUN
app01-3400	7	20	for	for	ADP
app01-3400	7	21	an	an	DET
app01-3400	7	22	assessment	assessment	NOUN
app01-3400	7	23	of	of	ADP
app01-3400	7	24	the	the	DET
app01-3400	7	25	robot	robot	NOUN
app01-3400	7	26	motion	motion	NOUN
app01-3400	7	27	that	that	PRON
app01-3400	7	28	can	can	AUX
app01-3400	7	29	be	be	AUX
app01-3400	7	30	utilized	utilize	VERB
app01-3400	7	31	in	in	ADP
app01-3400	7	32	high	high	ADJ
app01-3400	7	33	-	-	PUNCT
app01-3400	7	34	level	level	NOUN
app01-3400	7	35	path	path	NOUN
app01-3400	7	36	-	-	PUNCT
app01-3400	7	37	planning	planning	NOUN
app01-3400	7	38	algorithms	algorithm	NOUN
app01-3400	7	39	.	.	PUNCT
app01-3400	8	1	keywords	keyword	NOUN
app01-3400	8	2	:	:	PUNCT
app01-3400	8	3	terrain	terrain	NOUN
app01-3400	8	4	traversability	traversability	NOUN
app01-3400	8	5	,	,	PUNCT
app01-3400	8	6	proprioceptive	proprioceptive	ADJ
app01-3400	8	7	sensing	sensing	NOUN
app01-3400	8	8	,	,	PUNCT
app01-3400	8	9	walking	walking	NOUN
app01-3400	8	10	robot	robot	NOUN
app01-3400	8	11	.	.	PUNCT
app01-3400	9	1	1	1	X
app01-3400	9	2	.	.	X
app01-3400	9	3	introduction	introduction	NOUN
app01-3400	9	4	exteroceptive	exteroceptive	ADJ
app01-3400	9	5	sensing	sensing	NOUN
app01-3400	9	6	is	be	AUX
app01-3400	9	7	widely	widely	ADV
app01-3400	9	8	analyzed	analyze	VERB
app01-3400	9	9	and	and	CCONJ
app01-3400	9	10	summarized	summarize	VERB
app01-3400	9	11	in	in	ADP
app01-3400	9	12	the	the	DET
app01-3400	9	13	survey	survey	NOUN
app01-3400	9	14	[	[	X
app01-3400	9	15	1	1	NUM
app01-3400	9	16	]	]	PUNCT
app01-3400	9	17	,	,	PUNCT
app01-3400	9	18	where	where	SCONJ
app01-3400	9	19	authors	author	NOUN
app01-3400	9	20	conclude	conclude	VERB
app01-3400	9	21	that	that	SCONJ
app01-3400	9	22	the	the	DET
app01-3400	9	23	most	most	ADV
app01-3400	9	24	favored	favor	VERB
app01-3400	9	25	method	method	NOUN
app01-3400	9	26	is	be	AUX
app01-3400	9	27	to	to	PART
app01-3400	9	28	assess	assess	VERB
app01-3400	9	29	the	the	DET
app01-3400	9	30	traversability	traversability	NOUN
app01-3400	9	31	characteristics	characteristic	NOUN
app01-3400	9	32	before	before	ADP
app01-3400	9	33	actually	actually	ADV
app01-3400	9	34	driving	drive	VERB
app01-3400	9	35	the	the	DET
app01-3400	9	36	robot	robot	NOUN
app01-3400	9	37	into	into	ADP
app01-3400	9	38	the	the	DET
app01-3400	9	39	respective	respective	ADJ
app01-3400	9	40	region	region	NOUN
app01-3400	9	41	.	.	PUNCT
app01-3400	10	1	such	such	DET
app01-3400	10	2	an	an	DET
app01-3400	10	3	assessment	assessment	NOUN
app01-3400	10	4	is	be	AUX
app01-3400	10	5	based	base	VERB
app01-3400	10	6	on	on	ADP
app01-3400	10	7	a	a	DET
app01-3400	10	8	terrain	terrain	NOUN
app01-3400	10	9	model	model	NOUN
app01-3400	10	10	created	create	VERB
app01-3400	10	11	from	from	ADP
app01-3400	10	12	exteroceptive	exteroceptive	ADJ
app01-3400	10	13	sensors	sensor	NOUN
app01-3400	10	14	like	like	ADP
app01-3400	10	15	laser	laser	NOUN
app01-3400	10	16	range	range	NOUN
app01-3400	10	17	finder	finder	NOUN
app01-3400	10	18	or	or	CCONJ
app01-3400	10	19	stereo	stereo	PROPN
app01-3400	10	20	camera	camera	NOUN
app01-3400	10	21	.	.	PUNCT
app01-3400	11	1	however	however	ADV
app01-3400	11	2	,	,	PUNCT
app01-3400	11	3	the	the	DET
app01-3400	11	4	difficulties	difficulty	NOUN
app01-3400	11	5	a	a	DET
app01-3400	11	6	robot	robot	NOUN
app01-3400	11	7	has	have	VERB
app01-3400	11	8	while	while	SCONJ
app01-3400	11	9	traversing	traverse	VERB
app01-3400	11	10	rough	rough	ADJ
app01-3400	11	11	terrain	terrain	NOUN
app01-3400	11	12	(	(	PUNCT
app01-3400	11	13	e.g.	e.g.	ADV
app01-3400	11	14	,	,	PUNCT
app01-3400	11	15	slippages	slippage	NOUN
app01-3400	11	16	,	,	PUNCT
app01-3400	11	17	softness	softness	NOUN
app01-3400	11	18	of	of	ADP
app01-3400	11	19	the	the	DET
app01-3400	11	20	ground	ground	NOUN
app01-3400	11	21	,	,	PUNCT
app01-3400	11	22	energy	energy	NOUN
app01-3400	11	23	consumption	consumption	NOUN
app01-3400	11	24	,	,	PUNCT
app01-3400	11	25	etc	etc	X
app01-3400	11	26	.	.	X
app01-3400	11	27	)	)	PUNCT
app01-3400	11	28	can	can	AUX
app01-3400	11	29	not	not	PART
app01-3400	11	30	be	be	AUX
app01-3400	11	31	foreseen	foresee	VERB
app01-3400	11	32	in	in	ADP
app01-3400	11	33	advance	advance	NOUN
app01-3400	11	34	.	.	PUNCT
app01-3400	12	1	one	one	PRON
app01-3400	12	2	has	have	VERB
app01-3400	12	3	to	to	PART
app01-3400	12	4	actually	actually	ADV
app01-3400	12	5	walk	walk	VERB
app01-3400	12	6	through	through	ADP
app01-3400	12	7	the	the	DET
app01-3400	12	8	terrain	terrain	NOUN
app01-3400	12	9	to	to	PART
app01-3400	12	10	feel	feel	VERB
app01-3400	12	11	and	and	CCONJ
app01-3400	12	12	measure	measure	VERB
app01-3400	12	13	the	the	DET
app01-3400	12	14	interaction	interaction	NOUN
app01-3400	12	15	between	between	ADP
app01-3400	12	16	the	the	DET
app01-3400	12	17	robot	robot	NOUN
app01-3400	12	18	and	and	CCONJ
app01-3400	12	19	the	the	DET
app01-3400	12	20	ground	ground	NOUN
app01-3400	12	21	using	use	VERB
app01-3400	12	22	proprioceptive	proprioceptive	ADJ
app01-3400	12	23	sensors	sensor	NOUN
app01-3400	12	24	like	like	ADP
app01-3400	12	25	accelerometers	accelerometer	NOUN
app01-3400	12	26	,	,	PUNCT
app01-3400	12	27	force	force	NOUN
app01-3400	12	28	and	and	CCONJ
app01-3400	12	29	torque	torque	NOUN
app01-3400	12	30	sensors	sensor	NOUN
app01-3400	12	31	,	,	PUNCT
app01-3400	12	32	etc	etc	X
app01-3400	12	33	.	.	X
app01-3400	13	1	according	accord	VERB
app01-3400	13	2	to	to	ADP
app01-3400	13	3	the	the	DET
app01-3400	13	4	survey	survey	NOUN
app01-3400	13	5	that	that	PRON
app01-3400	13	6	provides	provide	VERB
app01-3400	13	7	a	a	DET
app01-3400	13	8	study	study	NOUN
app01-3400	13	9	of	of	ADP
app01-3400	13	10	unmanned	unmanned	ADJ
app01-3400	13	11	ground	ground	NOUN
app01-3400	13	12	vehicles	vehicle	NOUN
app01-3400	13	13	(	(	PUNCT
app01-3400	13	14	ugv	ugv	NOUN
app01-3400	13	15	)	)	PUNCT
app01-3400	13	16	,	,	PUNCT
app01-3400	13	17	the	the	DET
app01-3400	13	18	generic	generic	ADJ
app01-3400	13	19	capability	capability	NOUN
app01-3400	13	20	of	of	ADP
app01-3400	13	21	a	a	DET
app01-3400	13	22	robot	robot	NOUN
app01-3400	13	23	to	to	PART
app01-3400	13	24	negotiate	negotiate	VERB
app01-3400	13	25	the	the	DET
app01-3400	13	26	terrain	terrain	NOUN
app01-3400	13	27	is	be	AUX
app01-3400	13	28	the	the	DET
app01-3400	13	29	most	most	ADV
app01-3400	13	30	commonly	commonly	ADV
app01-3400	13	31	called	call	VERB
app01-3400	13	32	as	as	ADP
app01-3400	13	33	the	the	DET
app01-3400	13	34	traversability	traversability	NOUN
app01-3400	13	35	(	(	PUNCT
app01-3400	13	36	along	along	ADP
app01-3400	13	37	with	with	ADP
app01-3400	13	38	occasional	occasional	ADJ
app01-3400	13	39	terms	term	NOUN
app01-3400	13	40	like	like	ADP
app01-3400	13	41	terrainability	terrainability	NOUN
app01-3400	13	42	,	,	PUNCT
app01-3400	13	43	trafficability	trafficability	NOUN
app01-3400	13	44	,	,	PUNCT
app01-3400	13	45	mobility	mobility	NOUN
app01-3400	13	46	,	,	PUNCT
app01-3400	13	47	etc	etc	X
app01-3400	13	48	.	.	X
app01-3400	13	49	)	)	PUNCT
app01-3400	13	50	.	.	PUNCT
app01-3400	14	1	based	base	VERB
app01-3400	14	2	on	on	ADP
app01-3400	14	3	that	that	PRON
app01-3400	14	4	,	,	PUNCT
app01-3400	14	5	we	we	PRON
app01-3400	14	6	follow	follow	VERB
app01-3400	14	7	this	this	DET
app01-3400	14	8	established	establish	VERB
app01-3400	14	9	term	term	NOUN
app01-3400	14	10	and	and	CCONJ
app01-3400	14	11	refer	refer	VERB
app01-3400	14	12	to	to	ADP
app01-3400	14	13	its	its	PRON
app01-3400	14	14	value	value	NOUN
app01-3400	14	15	as	as	ADP
app01-3400	14	16	to	to	ADP
app01-3400	14	17	the	the	DET
app01-3400	14	18	traversability	traversability	NOUN
app01-3400	14	19	cost	cost	NOUN
app01-3400	14	20	.	.	PUNCT
app01-3400	15	1	although	although	SCONJ
app01-3400	15	2	the	the	DET
app01-3400	15	3	cost	cost	NOUN
app01-3400	15	4	is	be	AUX
app01-3400	15	5	a	a	DET
app01-3400	15	6	common	common	ADJ
app01-3400	15	7	name	name	NOUN
app01-3400	15	8	,	,	PUNCT
app01-3400	15	9	its	its	PRON
app01-3400	15	10	meaning	meaning	NOUN
app01-3400	15	11	varies	vary	VERB
app01-3400	15	12	among	among	ADP
app01-3400	15	13	researchers	researcher	NOUN
app01-3400	15	14	.	.	PUNCT
app01-3400	16	1	regarding	regard	VERB
app01-3400	16	2	the	the	DET
app01-3400	16	3	mission	mission	NOUN
app01-3400	16	4	the	the	DET
app01-3400	16	5	robot	robot	NOUN
app01-3400	16	6	is	be	AUX
app01-3400	16	7	requested	request	VERB
app01-3400	16	8	to	to	PART
app01-3400	16	9	accomplish	accomplish	VERB
app01-3400	16	10	,	,	PUNCT
app01-3400	16	11	we	we	PRON
app01-3400	16	12	need	need	VERB
app01-3400	16	13	to	to	PART
app01-3400	16	14	balance	balance	VERB
app01-3400	16	15	between	between	ADP
app01-3400	16	16	the	the	DET
app01-3400	16	17	time	time	NOUN
app01-3400	16	18	or	or	CCONJ
app01-3400	16	19	the	the	DET
app01-3400	16	20	distance	distance	NOUN
app01-3400	16	21	traveled	travel	VERB
app01-3400	16	22	,	,	PUNCT
app01-3400	16	23	the	the	DET
app01-3400	16	24	energy	energy	NOUN
app01-3400	16	25	consumption	consumption	NOUN
app01-3400	16	26	,	,	PUNCT
app01-3400	16	27	the	the	DET
app01-3400	16	28	stability	stability	NOUN
app01-3400	16	29	,	,	PUNCT
app01-3400	16	30	the	the	DET
app01-3400	16	31	danger	danger	NOUN
app01-3400	16	32	along	along	ADP
app01-3400	16	33	the	the	DET
app01-3400	16	34	path	path	NOUN
app01-3400	16	35	,	,	PUNCT
app01-3400	16	36	etc	etc	X
app01-3400	16	37	.	.	X
app01-3400	17	1	having	have	VERB
app01-3400	17	2	a	a	DET
app01-3400	17	3	terrain	terrain	NOUN
app01-3400	17	4	model	model	NOUN
app01-3400	17	5	,	,	PUNCT
app01-3400	17	6	a	a	DET
app01-3400	17	7	common	common	ADJ
app01-3400	17	8	method	method	NOUN
app01-3400	17	9	of	of	ADP
app01-3400	17	10	optimizing	optimize	VERB
app01-3400	17	11	the	the	DET
app01-3400	17	12	traversability	traversability	NOUN
app01-3400	17	13	cost	cost	NOUN
app01-3400	17	14	is	be	AUX
app01-3400	17	15	to	to	PART
app01-3400	17	16	prefer	prefer	VERB
app01-3400	17	17	a	a	DET
app01-3400	17	18	smooth	smooth	ADJ
app01-3400	17	19	and	and	CCONJ
app01-3400	17	20	obstacle	obstacle	NOUN
app01-3400	17	21	-	-	PUNCT
app01-3400	17	22	free	free	ADJ
app01-3400	17	23	path	path	NOUN
app01-3400	17	24	,	,	PUNCT
app01-3400	17	25	but	but	CCONJ
app01-3400	17	26	a	a	DET
app01-3400	17	27	usage	usage	NOUN
app01-3400	17	28	of	of	ADP
app01-3400	17	29	proprioceptive	proprioceptive	ADJ
app01-3400	17	30	sensors	sensor	NOUN
app01-3400	17	31	as	as	ADP
app01-3400	17	32	indicators	indicator	NOUN
app01-3400	17	33	of	of	ADP
app01-3400	17	34	the	the	DET
app01-3400	17	35	expected	expect	VERB
app01-3400	17	36	cost	cost	NOUN
app01-3400	17	37	does	do	AUX
app01-3400	17	38	not	not	PART
app01-3400	17	39	have	have	VERB
app01-3400	17	40	such	such	DET
app01-3400	17	41	a	a	DET
app01-3400	17	42	common	common	ADJ
app01-3400	17	43	direction	direction	NOUN
app01-3400	17	44	.	.	PUNCT
app01-3400	18	1	in	in	ADP
app01-3400	18	2	this	this	DET
app01-3400	18	3	paper	paper	NOUN
app01-3400	18	4	,	,	PUNCT
app01-3400	18	5	we	we	PRON
app01-3400	18	6	report	report	VERB
app01-3400	18	7	on	on	ADP
app01-3400	18	8	existing	exist	VERB
app01-3400	18	9	approaches	approach	NOUN
app01-3400	18	10	for	for	ADP
app01-3400	18	11	traversability	traversability	NOUN
app01-3400	18	12	assessment	assessment	NOUN
app01-3400	18	13	based	base	VERB
app01-3400	18	14	not	not	PART
app01-3400	18	15	only	only	ADV
app01-3400	18	16	on	on	ADP
app01-3400	18	17	exteroceptive	exteroceptive	ADJ
app01-3400	18	18	sensors	sensor	NOUN
app01-3400	18	19	but	but	CCONJ
app01-3400	18	20	we	we	PRON
app01-3400	18	21	rather	rather	ADV
app01-3400	18	22	focus	focus	VERB
app01-3400	18	23	on	on	ADP
app01-3400	18	24	proprioceptive	proprioceptive	ADJ
app01-3400	18	25	sensors	sensor	NOUN
app01-3400	18	26	.	.	PUNCT
app01-3400	19	1	moreover	moreover	ADV
app01-3400	19	2	,	,	PUNCT
app01-3400	19	3	instead	instead	ADV
app01-3400	19	4	of	of	ADP
app01-3400	19	5	wheeled	wheeled	ADJ
app01-3400	19	6	robot	robot	NOUN
app01-3400	19	7	,	,	PUNCT
app01-3400	19	8	we	we	PRON
app01-3400	19	9	consider	consider	VERB
app01-3400	19	10	legged	legged	ADJ
app01-3400	19	11	robots	robot	NOUN
app01-3400	19	12	.	.	PUNCT
app01-3400	20	1	the	the	DET
app01-3400	20	2	rest	rest	NOUN
app01-3400	20	3	of	of	ADP
app01-3400	20	4	the	the	DET
app01-3400	20	5	paper	paper	NOUN
app01-3400	20	6	is	be	AUX
app01-3400	20	7	organized	organize	VERB
app01-3400	20	8	as	as	SCONJ
app01-3400	20	9	follows	follow	VERB
app01-3400	20	10	.	.	PUNCT
app01-3400	21	1	we	we	PRON
app01-3400	21	2	identify	identify	VERB
app01-3400	21	3	the	the	DET
app01-3400	21	4	main	main	ADJ
app01-3400	21	5	components	component	NOUN
app01-3400	21	6	of	of	ADP
app01-3400	21	7	the	the	DET
app01-3400	21	8	terrain	terrain	NOUN
app01-3400	21	9	traversability	traversability	NOUN
app01-3400	21	10	analysis	analysis	NOUN
app01-3400	21	11	in	in	ADP
app01-3400	21	12	section	section	NOUN
app01-3400	21	13	2	2	NUM
app01-3400	21	14	.	.	PUNCT
app01-3400	22	1	first	first	ADV
app01-3400	22	2	,	,	PUNCT
app01-3400	22	3	we	we	PRON
app01-3400	22	4	provide	provide	VERB
app01-3400	22	5	a	a	DET
app01-3400	22	6	brief	brief	ADJ
app01-3400	22	7	overview	overview	NOUN
app01-3400	22	8	of	of	ADP
app01-3400	22	9	the	the	DET
app01-3400	22	10	exteroceptive	exteroceptive	ADJ
app01-3400	22	11	sensing	sensing	NOUN
app01-3400	22	12	based	base	VERB
app01-3400	22	13	methods	method	NOUN
app01-3400	22	14	for	for	ADP
app01-3400	22	15	a	a	DET
app01-3400	22	16	comparison	comparison	NOUN
app01-3400	22	17	.	.	PUNCT
app01-3400	23	1	next	next	ADV
app01-3400	23	2	,	,	PUNCT
app01-3400	23	3	we	we	PRON
app01-3400	23	4	follow	follow	VERB
app01-3400	23	5	with	with	ADP
app01-3400	23	6	an	an	DET
app01-3400	23	7	overview	overview	NOUN
app01-3400	23	8	of	of	ADP
app01-3400	23	9	known	know	VERB
app01-3400	23	10	approaches	approach	NOUN
app01-3400	23	11	using	use	VERB
app01-3400	23	12	proprioceptive	proprioceptive	ADJ
app01-3400	23	13	sensing	sensing	NOUN
app01-3400	23	14	.	.	PUNCT
app01-3400	24	1	we	we	PRON
app01-3400	24	2	formulate	formulate	VERB
app01-3400	24	3	the	the	DET
app01-3400	24	4	main	main	ADJ
app01-3400	24	5	objectives	objective	NOUN
app01-3400	24	6	in	in	ADP
app01-3400	24	7	the	the	DET
app01-3400	24	8	view	view	NOUN
app01-3400	24	9	of	of	ADP
app01-3400	24	10	the	the	DET
app01-3400	24	11	terrain	terrain	NOUN
app01-3400	24	12	traversability	traversability	NOUN
app01-3400	24	13	evaluation	evaluation	NOUN
app01-3400	24	14	in	in	ADP
app01-3400	24	15	section	section	NOUN
app01-3400	24	16	3	3	NUM
app01-3400	24	17	and	and	CCONJ
app01-3400	24	18	propose	propose	VERB
app01-3400	24	19	traversability	traversability	NOUN
app01-3400	24	20	evaluation	evaluation	NOUN
app01-3400	24	21	methods	method	NOUN
app01-3400	24	22	for	for	ADP
app01-3400	24	23	walking	walk	VERB
app01-3400	24	24	robots	robot	NOUN
app01-3400	24	25	while	while	SCONJ
app01-3400	24	26	focused	focus	VERB
app01-3400	24	27	on	on	ADP
app01-3400	24	28	utilizing	utilize	VERB
app01-3400	24	29	proprioceptive	proprioceptive	ADJ
app01-3400	24	30	sensors	sensor	NOUN
app01-3400	24	31	in	in	ADP
app01-3400	24	32	section	section	NOUN
app01-3400	24	33	4	4	NUM
app01-3400	24	34	.	.	PUNCT
app01-3400	25	1	finally	finally	ADV
app01-3400	25	2	,	,	PUNCT
app01-3400	25	3	a	a	DET
app01-3400	25	4	discussion	discussion	NOUN
app01-3400	25	5	about	about	ADP
app01-3400	25	6	possible	possible	ADJ
app01-3400	25	7	future	future	ADJ
app01-3400	25	8	approaches	approach	NOUN
app01-3400	25	9	is	be	AUX
app01-3400	25	10	given	give	VERB
app01-3400	25	11	in	in	ADP
app01-3400	25	12	section	section	NOUN
app01-3400	25	13	5	5	NUM
app01-3400	25	14	.	.	NOUN
app01-3400	25	15	2	2	NUM
app01-3400	25	16	.	.	X
app01-3400	25	17	related	relate	VERB
app01-3400	25	18	work	work	NOUN
app01-3400	25	19	a	a	DET
app01-3400	25	20	great	great	ADJ
app01-3400	25	21	progress	progress	NOUN
app01-3400	25	22	in	in	ADP
app01-3400	25	23	the	the	DET
app01-3400	25	24	field	field	NOUN
app01-3400	25	25	of	of	ADP
app01-3400	25	26	autonomous	autonomous	ADJ
app01-3400	25	27	,	,	PUNCT
app01-3400	25	28	perception	perception	NOUN
app01-3400	25	29	-	-	PUNCT
app01-3400	25	30	based	base	VERB
app01-3400	25	31	,	,	PUNCT
app01-3400	25	32	off	off	ADP
app01-3400	25	33	-	-	PUNCT
app01-3400	25	34	road	road	NOUN
app01-3400	25	35	navigation	navigation	NOUN
app01-3400	25	36	in	in	ADP
app01-3400	25	37	robotic	robotic	ADJ
app01-3400	25	38	unmanned	unmanned	ADJ
app01-3400	25	39	ground	ground	NOUN
app01-3400	25	40	vehicles	vehicle	NOUN
app01-3400	25	41	(	(	PUNCT
app01-3400	25	42	ugv	ugv	NOUN
app01-3400	25	43	)	)	PUNCT
app01-3400	25	44	was	be	AUX
app01-3400	25	45	influenced	influence	VERB
app01-3400	25	46	by	by	ADP
app01-3400	25	47	the	the	DET
app01-3400	25	48	darpa	darpa	PROPN
app01-3400	25	49	learning	learning	NOUN
app01-3400	25	50	applied	apply	VERB
app01-3400	25	51	to	to	ADP
app01-3400	25	52	ground	ground	NOUN
app01-3400	25	53	vehicles	vehicle	NOUN
app01-3400	25	54	(	(	PUNCT
app01-3400	25	55	lagr	lagr	NOUN
app01-3400	25	56	)	)	PUNCT
app01-3400	25	57	program	program	NOUN
app01-3400	26	1	[	[	X
app01-3400	26	2	2	2	NUM
app01-3400	26	3	]	]	PUNCT
app01-3400	26	4	,	,	PUNCT
app01-3400	26	5	which	which	PRON
app01-3400	26	6	ran	run	VERB
app01-3400	26	7	from	from	ADP
app01-3400	26	8	2004	2004	NUM
app01-3400	26	9	until	until	ADP
app01-3400	26	10	2008	2008	NUM
app01-3400	26	11	.	.	PUNCT
app01-3400	27	1	the	the	DET
app01-3400	27	2	challenge	challenge	NOUN
app01-3400	27	3	evoked	evoke	VERB
app01-3400	27	4	several	several	ADJ
app01-3400	27	5	solutions	solution	NOUN
app01-3400	28	1	[	[	X
app01-3400	28	2	3–5	3–5	X
app01-3400	28	3	]	]	PUNCT
app01-3400	28	4	with	with	ADP
app01-3400	28	5	different	different	ADJ
app01-3400	28	6	approaches	approach	NOUN
app01-3400	28	7	of	of	ADP
app01-3400	28	8	robot	robot	NOUN
app01-3400	28	9	sensing	sensing	NOUN
app01-3400	28	10	which	which	PRON
app01-3400	28	11	can	can	AUX
app01-3400	28	12	be	be	AUX
app01-3400	28	13	divided	divide	VERB
app01-3400	28	14	into	into	ADP
app01-3400	28	15	two	two	NUM
app01-3400	28	16	groups	group	NOUN
app01-3400	28	17	as	as	ADP
app01-3400	28	18	:	:	PUNCT
app01-3400	28	19	1	1	NUM
app01-3400	28	20	)	)	PUNCT
app01-3400	28	21	exteroceptive	exteroceptive	ADJ
app01-3400	28	22	;	;	PUNCT
app01-3400	28	23	2	2	X
app01-3400	28	24	)	)	PUNCT
app01-3400	28	25	and	and	CCONJ
app01-3400	28	26	proprioceptive	proprioceptive	ADJ
app01-3400	28	27	sensing	sensing	NOUN
app01-3400	28	28	.	.	PUNCT
app01-3400	29	1	2.1	2.1	NUM
app01-3400	29	2	.	.	PUNCT
app01-3400	30	1	exteroceptive	exteroceptive	ADJ
app01-3400	30	2	sensing	sense	VERB
app01-3400	30	3	it	it	PRON
app01-3400	30	4	is	be	AUX
app01-3400	30	5	reasonable	reasonable	ADJ
app01-3400	30	6	to	to	PART
app01-3400	30	7	have	have	VERB
app01-3400	30	8	information	information	NOUN
app01-3400	30	9	about	about	ADP
app01-3400	30	10	the	the	DET
app01-3400	30	11	terrain	terrain	NOUN
app01-3400	30	12	prior	prior	ADV
app01-3400	30	13	to	to	ADP
app01-3400	30	14	traversing	traverse	VERB
app01-3400	30	15	it	it	PRON
app01-3400	30	16	.	.	PUNCT
app01-3400	31	1	laser	laser	NOUN
app01-3400	31	2	scanner	scanner	NOUN
app01-3400	31	3	and	and	CCONJ
app01-3400	31	4	camera	camera	NOUN
app01-3400	31	5	are	be	AUX
app01-3400	31	6	examples	example	NOUN
app01-3400	31	7	of	of	ADP
app01-3400	31	8	exteroceptive	exteroceptive	ADJ
app01-3400	31	9	sensors	sensor	NOUN
app01-3400	31	10	mostly	mostly	ADV
app01-3400	31	11	used	use	VERB
app01-3400	31	12	in	in	ADP
app01-3400	31	13	the	the	DET
app01-3400	31	14	case	case	NOUN
app01-3400	31	15	of	of	ADP
app01-3400	31	16	acquiring	acquire	VERB
app01-3400	31	17	terrain	terrain	NOUN
app01-3400	31	18	characteristics	characteristic	NOUN
app01-3400	31	19	.	.	PUNCT
app01-3400	32	1	the	the	DET
app01-3400	32	2	terrain	terrain	NOUN
app01-3400	32	3	scan	scan	NOUN
app01-3400	32	4	can	can	AUX
app01-3400	32	5	provide	provide	VERB
app01-3400	32	6	an	an	DET
app01-3400	32	7	elevation	elevation	NOUN
app01-3400	32	8	map	map	NOUN
app01-3400	32	9	for	for	ADP
app01-3400	32	10	a	a	DET
app01-3400	32	11	proper	proper	ADJ
app01-3400	32	12	foothold	foothold	NOUN
app01-3400	32	13	planning	planning	NOUN
app01-3400	32	14	[	[	X
app01-3400	32	15	6	6	NUM
app01-3400	32	16	]	]	PUNCT
app01-3400	32	17	and	and	CCONJ
app01-3400	32	18	estimation	estimation	NOUN
app01-3400	32	19	of	of	ADP
app01-3400	32	20	its	its	PRON
app01-3400	32	21	traversability	traversability	NOUN
app01-3400	33	1	[	[	X
app01-3400	33	2	7	7	NUM
app01-3400	33	3	]	]	PUNCT
app01-3400	33	4	using	use	VERB
app01-3400	33	5	a	a	DET
app01-3400	33	6	laser	laser	NOUN
app01-3400	33	7	scanner	scanner	NOUN
app01-3400	33	8	.	.	PUNCT
app01-3400	34	1	characteristic	characteristic	ADJ
app01-3400	34	2	features	feature	NOUN
app01-3400	34	3	can	can	AUX
app01-3400	34	4	be	be	AUX
app01-3400	34	5	obtained	obtain	VERB
app01-3400	34	6	from	from	ADP
app01-3400	34	7	a	a	DET
app01-3400	34	8	far	far	ADV
app01-3400	34	9	-	-	PUNCT
app01-3400	34	10	field	field	NOUN
app01-3400	34	11	scan	scan	NOUN
app01-3400	34	12	(	(	PUNCT
app01-3400	34	13	color	color	NOUN
app01-3400	34	14	image	image	NOUN
app01-3400	34	15	,	,	PUNCT
app01-3400	34	16	stereo	stereo	NOUN
app01-3400	34	17	camera	camera	NOUN
app01-3400	34	18	,	,	PUNCT
app01-3400	34	19	etc	etc	X
app01-3400	34	20	.	.	X
app01-3400	34	21	)	)	PUNCT
app01-3400	34	22	and	and	CCONJ
app01-3400	34	23	classified	classify	VERB
app01-3400	34	24	based	base	VERB
app01-3400	34	25	on	on	ADP
app01-3400	34	26	a	a	DET
app01-3400	34	27	model	model	NOUN
app01-3400	34	28	learned	learn	VERB
app01-3400	34	29	from	from	ADP
app01-3400	34	30	near	near	ADJ
app01-3400	34	31	-	-	PUNCT
app01-3400	34	32	field	field	NOUN
app01-3400	34	33	[	[	X
app01-3400	34	34	3	3	NUM
app01-3400	34	35	,	,	PUNCT
app01-3400	34	36	4	4	NUM
app01-3400	34	37	,	,	PUNCT
app01-3400	34	38	8	8	NUM
app01-3400	34	39	]	]	PUNCT
app01-3400	34	40	where	where	SCONJ
app01-3400	34	41	more	more	ADJ
app01-3400	34	42	data	datum	NOUN
app01-3400	34	43	are	be	AUX
app01-3400	34	44	34	34	NUM
app01-3400	34	45	http://dx.doi.org/10.14311/app.2015.1.0034	http://dx.doi.org/10.14311/app.2015.1.0034	NOUN
app01-3400	34	46	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3400	34	47	vol	vol	NOUN
app01-3400	34	48	.	.	PUNCT
app01-3400	35	1	2/2015	2/2015	NUM
app01-3400	35	2	available	available	ADJ
app01-3400	35	3	.	.	PUNCT
app01-3400	36	1	with	with	ADP
app01-3400	36	2	data	datum	NOUN
app01-3400	36	3	source	source	NOUN
app01-3400	36	4	getting	get	VERB
app01-3400	36	5	closer	close	ADJ
app01-3400	36	6	to	to	ADP
app01-3400	36	7	the	the	DET
app01-3400	36	8	robot	robot	NOUN
app01-3400	36	9	,	,	PUNCT
app01-3400	36	10	we	we	PRON
app01-3400	36	11	get	get	VERB
app01-3400	36	12	more	more	ADV
app01-3400	36	13	precise	precise	ADJ
app01-3400	36	14	models	model	NOUN
app01-3400	36	15	of	of	ADP
app01-3400	36	16	the	the	DET
app01-3400	36	17	terrain	terrain	NOUN
app01-3400	36	18	,	,	PUNCT
app01-3400	36	19	but	but	CCONJ
app01-3400	36	20	usage	usage	NOUN
app01-3400	36	21	of	of	ADP
app01-3400	36	22	only	only	ADJ
app01-3400	36	23	exteroceptive	exteroceptive	ADJ
app01-3400	36	24	sensors	sensor	NOUN
app01-3400	36	25	does	do	AUX
app01-3400	36	26	not	not	PART
app01-3400	36	27	provide	provide	VERB
app01-3400	36	28	much	much	ADJ
app01-3400	36	29	information	information	NOUN
app01-3400	36	30	about	about	ADP
app01-3400	36	31	the	the	DET
app01-3400	36	32	real	real	ADJ
app01-3400	36	33	interaction	interaction	NOUN
app01-3400	36	34	between	between	ADP
app01-3400	36	35	the	the	DET
app01-3400	36	36	robot	robot	NOUN
app01-3400	36	37	and	and	CCONJ
app01-3400	36	38	the	the	DET
app01-3400	36	39	terrain	terrain	NOUN
app01-3400	36	40	being	be	AUX
app01-3400	36	41	traversed	traverse	VERB
app01-3400	36	42	and	and	CCONJ
app01-3400	36	43	thus	thus	ADV
app01-3400	36	44	the	the	DET
app01-3400	36	45	robot	robot	NOUN
app01-3400	36	46	can	can	AUX
app01-3400	36	47	hardly	hardly	ADV
app01-3400	36	48	learn	learn	VERB
app01-3400	36	49	from	from	ADP
app01-3400	36	50	its	its	PRON
app01-3400	36	51	experience	experience	NOUN
app01-3400	36	52	.	.	PUNCT
app01-3400	37	1	2.2	2.2	NUM
app01-3400	37	2	.	.	PUNCT
app01-3400	38	1	proprioceptive	proprioceptive	ADJ
app01-3400	38	2	sensing	sensing	NOUN
app01-3400	38	3	on	on	ADP
app01-3400	38	4	the	the	DET
app01-3400	38	5	other	other	ADJ
app01-3400	38	6	hand	hand	NOUN
app01-3400	38	7	,	,	PUNCT
app01-3400	38	8	the	the	DET
app01-3400	38	9	robot	robot	NOUN
app01-3400	38	10	needs	need	VERB
app01-3400	38	11	to	to	PART
app01-3400	38	12	receive	receive	VERB
app01-3400	38	13	a	a	DET
app01-3400	38	14	feedback	feedback	NOUN
app01-3400	38	15	from	from	ADP
app01-3400	38	16	the	the	DET
app01-3400	38	17	terrain	terrain	NOUN
app01-3400	38	18	to	to	PART
app01-3400	38	19	utilize	utilize	VERB
app01-3400	38	20	learning	learn	VERB
app01-3400	38	21	from	from	ADP
app01-3400	38	22	experience	experience	NOUN
app01-3400	38	23	.	.	PUNCT
app01-3400	39	1	proprioceptive	proprioceptive	ADJ
app01-3400	39	2	sensors	sensor	NOUN
app01-3400	39	3	measure	measure	VERB
app01-3400	39	4	the	the	DET
app01-3400	39	5	modalities	modality	NOUN
app01-3400	39	6	of	of	ADP
app01-3400	39	7	the	the	DET
app01-3400	39	8	terrain	terrain	NOUN
app01-3400	39	9	that	that	PRON
app01-3400	39	10	affect	affect	VERB
app01-3400	39	11	the	the	DET
app01-3400	39	12	robot	robot	NOUN
app01-3400	39	13	motion	motion	NOUN
app01-3400	39	14	directly	directly	ADV
app01-3400	39	15	.	.	PUNCT
app01-3400	40	1	in	in	ADP
app01-3400	40	2	the	the	DET
app01-3400	40	3	path	path	NOUN
app01-3400	40	4	planning	planning	NOUN
app01-3400	40	5	task	task	NOUN
app01-3400	40	6	,	,	PUNCT
app01-3400	40	7	the	the	DET
app01-3400	40	8	robot	robot	NOUN
app01-3400	40	9	plans	plan	VERB
app01-3400	40	10	according	accord	VERB
app01-3400	40	11	to	to	ADP
app01-3400	40	12	estimated	estimate	VERB
app01-3400	40	13	traversability	traversability	NOUN
app01-3400	40	14	costs	cost	NOUN
app01-3400	40	15	.	.	PUNCT
app01-3400	41	1	however	however	ADV
app01-3400	41	2	,	,	PUNCT
app01-3400	41	3	the	the	DET
app01-3400	41	4	estimation	estimation	NOUN
app01-3400	41	5	can	can	AUX
app01-3400	41	6	change	change	VERB
app01-3400	41	7	when	when	SCONJ
app01-3400	41	8	the	the	DET
app01-3400	41	9	robot	robot	NOUN
app01-3400	41	10	actually	actually	ADV
app01-3400	41	11	encounters	encounter	VERB
app01-3400	41	12	the	the	DET
app01-3400	41	13	terrain	terrain	NOUN
app01-3400	41	14	,	,	PUNCT
app01-3400	41	15	as	as	SCONJ
app01-3400	41	16	it	it	PRON
app01-3400	41	17	has	have	AUX
app01-3400	41	18	been	be	AUX
app01-3400	41	19	applied	apply	VERB
app01-3400	41	20	in	in	ADP
app01-3400	41	21	the	the	DET
app01-3400	41	22	previous	previous	ADJ
app01-3400	41	23	approaches	approach	NOUN
app01-3400	41	24	[	[	X
app01-3400	41	25	3	3	NUM
app01-3400	41	26	,	,	PUNCT
app01-3400	41	27	4	4	NUM
app01-3400	41	28	,	,	PUNCT
app01-3400	41	29	8	8	NUM
app01-3400	41	30	]	]	PUNCT
app01-3400	41	31	using	use	VERB
app01-3400	41	32	wheeled	wheel	VERB
app01-3400	41	33	robot	robot	NOUN
app01-3400	41	34	with	with	ADP
app01-3400	41	35	bumpers	bumper	NOUN
app01-3400	41	36	,	,	PUNCT
app01-3400	41	37	wheel	wheel	NOUN
app01-3400	41	38	encoders	encoder	NOUN
app01-3400	41	39	for	for	ADP
app01-3400	41	40	a	a	DET
app01-3400	41	41	slip	slip	NOUN
app01-3400	41	42	measurement	measurement	NOUN
app01-3400	41	43	or	or	CCONJ
app01-3400	41	44	imu	imu	NOUN
app01-3400	41	45	with	with	ADP
app01-3400	41	46	gyros	gyro	NOUN
app01-3400	41	47	and	and	CCONJ
app01-3400	41	48	accelerometers	accelerometer	NOUN
app01-3400	41	49	for	for	ADP
app01-3400	41	50	measuring	measure	VERB
app01-3400	41	51	the	the	DET
app01-3400	41	52	roughness	roughness	NOUN
app01-3400	41	53	of	of	ADP
app01-3400	41	54	the	the	DET
app01-3400	41	55	terrain	terrain	NOUN
app01-3400	41	56	.	.	PUNCT
app01-3400	42	1	for	for	ADP
app01-3400	42	2	example	example	NOUN
app01-3400	42	3	,	,	PUNCT
app01-3400	42	4	a	a	DET
app01-3400	42	5	tall	tall	ADJ
app01-3400	42	6	-	-	PUNCT
app01-3400	42	7	grass	grass	NOUN
app01-3400	42	8	area	area	NOUN
app01-3400	42	9	can	can	AUX
app01-3400	42	10	be	be	AUX
app01-3400	42	11	estimated	estimate	VERB
app01-3400	42	12	as	as	ADP
app01-3400	42	13	a	a	DET
app01-3400	42	14	non	non	ADJ
app01-3400	42	15	-	-	ADJ
app01-3400	42	16	traversable	traversable	ADJ
app01-3400	42	17	using	use	VERB
app01-3400	42	18	only	only	ADV
app01-3400	42	19	a	a	DET
app01-3400	42	20	range	range	NOUN
app01-3400	42	21	measurement	measurement	NOUN
app01-3400	42	22	,	,	PUNCT
app01-3400	42	23	but	but	CCONJ
app01-3400	42	24	it	it	PRON
app01-3400	42	25	turns	turn	VERB
app01-3400	42	26	out	out	ADP
app01-3400	42	27	that	that	SCONJ
app01-3400	42	28	the	the	DET
app01-3400	42	29	robot	robot	NOUN
app01-3400	42	30	can	can	AUX
app01-3400	42	31	go	go	VERB
app01-3400	42	32	through	through	ADP
app01-3400	42	33	it	it	PRON
app01-3400	42	34	without	without	ADP
app01-3400	42	35	a	a	DET
app01-3400	42	36	significant	significant	ADJ
app01-3400	42	37	difficulty	difficulty	NOUN
app01-3400	42	38	.	.	PUNCT
app01-3400	43	1	the	the	DET
app01-3400	43	2	traversability	traversability	NOUN
app01-3400	43	3	cost	cost	NOUN
app01-3400	43	4	assessment	assessment	NOUN
app01-3400	43	5	is	be	AUX
app01-3400	43	6	closely	closely	ADV
app01-3400	43	7	related	relate	VERB
app01-3400	43	8	to	to	ADP
app01-3400	43	9	the	the	DET
app01-3400	43	10	terrain	terrain	NOUN
app01-3400	43	11	classification	classification	NOUN
app01-3400	43	12	(	(	PUNCT
app01-3400	43	13	or	or	CCONJ
app01-3400	43	14	discrimination	discrimination	NOUN
app01-3400	43	15	)	)	PUNCT
app01-3400	43	16	assuming	assume	VERB
app01-3400	43	17	that	that	SCONJ
app01-3400	43	18	the	the	DET
app01-3400	43	19	terrains	terrain	NOUN
app01-3400	43	20	of	of	ADP
app01-3400	43	21	the	the	DET
app01-3400	43	22	same	same	ADJ
app01-3400	43	23	kind	kind	NOUN
app01-3400	43	24	provide	provide	VERB
app01-3400	43	25	the	the	DET
app01-3400	43	26	same	same	ADJ
app01-3400	43	27	conditions	condition	NOUN
app01-3400	43	28	for	for	ADP
app01-3400	43	29	traversing	traverse	VERB
app01-3400	43	30	.	.	PUNCT
app01-3400	44	1	based	base	VERB
app01-3400	44	2	only	only	ADV
app01-3400	44	3	on	on	ADP
app01-3400	44	4	proprioceptive	proprioceptive	ADJ
app01-3400	44	5	sensors	sensor	NOUN
app01-3400	44	6	,	,	PUNCT
app01-3400	44	7	the	the	DET
app01-3400	44	8	classification	classification	NOUN
app01-3400	44	9	can	can	AUX
app01-3400	44	10	be	be	AUX
app01-3400	44	11	done	do	VERB
app01-3400	44	12	using	use	VERB
app01-3400	44	13	accelerometers	accelerometer	NOUN
app01-3400	44	14	[	[	X
app01-3400	44	15	9	9	NUM
app01-3400	44	16	]	]	PUNCT
app01-3400	44	17	(	(	PUNCT
app01-3400	44	18	the	the	PRON
app01-3400	44	19	faster	fast	ADJ
app01-3400	44	20	the	the	DET
app01-3400	44	21	speed	speed	NOUN
app01-3400	44	22	,	,	PUNCT
app01-3400	44	23	the	the	PRON
app01-3400	44	24	better	well	ADJ
app01-3400	44	25	the	the	DET
app01-3400	44	26	accuracy	accuracy	NOUN
app01-3400	44	27	)	)	PUNCT
app01-3400	44	28	or	or	CCONJ
app01-3400	44	29	yaw	yaw	NOUN
app01-3400	44	30	-	-	PUNCT
app01-3400	44	31	angle	angle	NOUN
app01-3400	44	32	variations	variation	NOUN
app01-3400	44	33	[	[	X
app01-3400	44	34	10	10	NUM
app01-3400	44	35	]	]	PUNCT
app01-3400	44	36	on	on	ADP
app01-3400	44	37	a	a	DET
app01-3400	44	38	wheeled	wheel	VERB
app01-3400	44	39	robot	robot	NOUN
app01-3400	44	40	,	,	PUNCT
app01-3400	44	41	or	or	CCONJ
app01-3400	44	42	using	use	VERB
app01-3400	44	43	servo	servo	NOUN
app01-3400	44	44	drives	drive	VERB
app01-3400	44	45	feedback	feedback	NOUN
app01-3400	44	46	on	on	ADP
app01-3400	44	47	a	a	DET
app01-3400	44	48	hexapod	hexapod	NOUN
app01-3400	44	49	walking	walking	NOUN
app01-3400	44	50	robot	robot	NOUN
app01-3400	45	1	[	[	X
app01-3400	45	2	11	11	NUM
app01-3400	45	3	,	,	PUNCT
app01-3400	45	4	12	12	NUM
app01-3400	45	5	]	]	PUNCT
app01-3400	45	6	.	.	PUNCT
app01-3400	46	1	focusing	focus	VERB
app01-3400	46	2	now	now	ADV
app01-3400	46	3	mainly	mainly	ADV
app01-3400	46	4	on	on	ADP
app01-3400	46	5	legged	legged	ADJ
app01-3400	46	6	robots	robot	NOUN
app01-3400	46	7	,	,	PUNCT
app01-3400	46	8	an	an	DET
app01-3400	46	9	early	early	ADJ
app01-3400	46	10	analysis	analysis	NOUN
app01-3400	46	11	of	of	ADP
app01-3400	46	12	terrain	terrain	NOUN
app01-3400	46	13	traversability	traversability	NOUN
app01-3400	46	14	for	for	ADP
app01-3400	46	15	legged	legged	ADJ
app01-3400	46	16	locomotion	locomotion	NOUN
app01-3400	46	17	using	use	VERB
app01-3400	46	18	active	active	ADJ
app01-3400	46	19	perception	perception	NOUN
app01-3400	46	20	was	be	AUX
app01-3400	46	21	proposed	propose	VERB
app01-3400	46	22	by	by	ADP
app01-3400	46	23	krotkov	krotkov	PROPN
app01-3400	46	24	back	back	ADV
app01-3400	46	25	in	in	ADP
app01-3400	46	26	1990	1990	NUM
app01-3400	47	1	[	[	X
app01-3400	47	2	13	13	NUM
app01-3400	47	3	]	]	PUNCT
app01-3400	47	4	studying	study	VERB
app01-3400	47	5	the	the	DET
app01-3400	47	6	terrain	terrain	NOUN
app01-3400	47	7	stiffness	stiffness	NOUN
app01-3400	47	8	and	and	CCONJ
app01-3400	47	9	surface	surface	NOUN
app01-3400	47	10	friction	friction	NOUN
app01-3400	47	11	upon	upon	SCONJ
app01-3400	47	12	foot	foot	NOUN
app01-3400	47	13	contact	contact	NOUN
app01-3400	47	14	on	on	ADP
app01-3400	47	15	a	a	DET
app01-3400	47	16	planetary	planetary	ADJ
app01-3400	47	17	rover	rover	NOUN
app01-3400	47	18	–	–	PUNCT
app01-3400	47	19	the	the	DET
app01-3400	47	20	ambler	ambler	NOUN
app01-3400	47	21	robot	robot	NOUN
app01-3400	47	22	.	.	PUNCT
app01-3400	48	1	however	however	ADV
app01-3400	48	2	,	,	PUNCT
app01-3400	48	3	the	the	DET
app01-3400	48	4	final	final	ADJ
app01-3400	48	5	path	path	NOUN
app01-3400	48	6	of	of	ADP
app01-3400	48	7	the	the	DET
app01-3400	48	8	ambler	ambler	NOUN
app01-3400	48	9	robot	robot	NOUN
app01-3400	48	10	is	be	AUX
app01-3400	48	11	computed	compute	VERB
app01-3400	48	12	on	on	ADP
app01-3400	48	13	a	a	DET
app01-3400	48	14	grid	grid	NOUN
app01-3400	48	15	terrain	terrain	NOUN
app01-3400	48	16	elevation	elevation	NOUN
app01-3400	48	17	map	map	NOUN
app01-3400	48	18	avoiding	avoid	VERB
app01-3400	48	19	occluded	occluded	ADJ
app01-3400	48	20	cells	cell	NOUN
app01-3400	48	21	[	[	X
app01-3400	48	22	14	14	NUM
app01-3400	48	23	]	]	PUNCT
app01-3400	48	24	,	,	PUNCT
app01-3400	48	25	i.e.	i.e.	X
app01-3400	48	26	,	,	PUNCT
app01-3400	48	27	without	without	ADP
app01-3400	48	28	the	the	DET
app01-3400	48	29	possible	possible	ADJ
app01-3400	48	30	knowledge	knowledge	NOUN
app01-3400	48	31	gained	gain	VERB
app01-3400	48	32	from	from	ADP
app01-3400	48	33	the	the	DET
app01-3400	48	34	proprioceptive	proprioceptive	ADJ
app01-3400	48	35	sensors	sensor	NOUN
app01-3400	48	36	.	.	PUNCT
app01-3400	49	1	a	a	DET
app01-3400	49	2	more	more	ADV
app01-3400	49	3	matured	mature	VERB
app01-3400	49	4	solution	solution	NOUN
app01-3400	49	5	[	[	X
app01-3400	49	6	15	15	NUM
app01-3400	49	7	]	]	PUNCT
app01-3400	49	8	utilizes	utilize	VERB
app01-3400	49	9	a	a	DET
app01-3400	49	10	biologically	biologically	ADV
app01-3400	49	11	inspired	inspire	VERB
app01-3400	49	12	gait	gait	NOUN
app01-3400	49	13	on	on	ADP
app01-3400	49	14	a	a	DET
app01-3400	49	15	hexapod	hexapod	NOUN
app01-3400	49	16	crawler	crawler	NOUN
app01-3400	49	17	.	.	PUNCT
app01-3400	50	1	carrying	carry	VERB
app01-3400	50	2	a	a	DET
app01-3400	50	3	lot	lot	NOUN
app01-3400	50	4	of	of	ADP
app01-3400	50	5	proprioceptive	proprioceptive	ADJ
app01-3400	50	6	sensors	sensor	NOUN
app01-3400	50	7	,	,	PUNCT
app01-3400	50	8	the	the	DET
app01-3400	50	9	robot	robot	NOUN
app01-3400	50	10	was	be	AUX
app01-3400	50	11	able	able	ADJ
app01-3400	50	12	to	to	PART
app01-3400	50	13	negotiate	negotiate	VERB
app01-3400	50	14	small	small	ADJ
app01-3400	50	15	obstacles	obstacle	NOUN
app01-3400	50	16	using	use	VERB
app01-3400	50	17	few	few	ADJ
app01-3400	50	18	hard	hard	ADV
app01-3400	50	19	-	-	PUNCT
app01-3400	50	20	coded	code	VERB
app01-3400	50	21	reflexes	reflex	NOUN
app01-3400	50	22	which	which	PRON
app01-3400	50	23	ensured	ensure	VERB
app01-3400	50	24	quality	quality	NOUN
app01-3400	50	25	footholds	foothold	NOUN
app01-3400	50	26	during	during	ADP
app01-3400	50	27	the	the	DET
app01-3400	50	28	motion	motion	NOUN
app01-3400	50	29	.	.	PUNCT
app01-3400	51	1	however	however	ADV
app01-3400	51	2	,	,	PUNCT
app01-3400	51	3	the	the	DET
app01-3400	51	4	estimation	estimation	NOUN
app01-3400	51	5	of	of	ADP
app01-3400	51	6	the	the	DET
app01-3400	51	7	traversability	traversability	NOUN
app01-3400	51	8	cost	cost	NOUN
app01-3400	51	9	relies	rely	VERB
app01-3400	51	10	only	only	ADV
app01-3400	51	11	on	on	ADP
app01-3400	51	12	exteroceptive	exteroceptive	ADJ
app01-3400	51	13	sensors	sensor	NOUN
app01-3400	51	14	and	and	CCONJ
app01-3400	51	15	the	the	DET
app01-3400	51	16	shape	shape	NOUN
app01-3400	51	17	of	of	ADP
app01-3400	51	18	the	the	DET
app01-3400	51	19	terrain	terrain	NOUN
app01-3400	51	20	.	.	PUNCT
app01-3400	52	1	regarding	regard	VERB
app01-3400	52	2	our	our	PRON
app01-3400	52	3	focus	focus	NOUN
app01-3400	52	4	,	,	PUNCT
app01-3400	52	5	we	we	PRON
app01-3400	52	6	consider	consider	VERB
app01-3400	52	7	the	the	DET
app01-3400	52	8	work	work	NOUN
app01-3400	52	9	of	of	ADP
app01-3400	52	10	hoffmann	hoffmann	PROPN
app01-3400	52	11	et	et	PROPN
app01-3400	52	12	al	al	PROPN
app01-3400	52	13	.	.	PROPN
app01-3400	53	1	as	as	ADP
app01-3400	53	2	the	the	DET
app01-3400	53	3	most	most	ADV
app01-3400	53	4	related	related	ADJ
app01-3400	53	5	to	to	ADP
app01-3400	53	6	our	our	PRON
app01-3400	53	7	approach	approach	NOUN
app01-3400	53	8	.	.	PUNCT
app01-3400	54	1	they	they	PRON
app01-3400	54	2	presented	present	VERB
app01-3400	54	3	how	how	SCONJ
app01-3400	54	4	different	different	ADJ
app01-3400	54	5	sensory	sensory	ADJ
app01-3400	54	6	modalities	modality	NOUN
app01-3400	54	7	affect	affect	VERB
app01-3400	54	8	the	the	DET
app01-3400	54	9	accuracy	accuracy	NOUN
app01-3400	54	10	of	of	ADP
app01-3400	54	11	the	the	DET
app01-3400	54	12	terrain	terrain	NOUN
app01-3400	54	13	discrimination	discrimination	NOUN
app01-3400	54	14	using	use	VERB
app01-3400	54	15	a	a	DET
app01-3400	54	16	quadruped	quadruped	NOUN
app01-3400	54	17	puppy	puppy	NOUN
app01-3400	54	18	robot	robot	NOUN
app01-3400	54	19	[	[	X
app01-3400	54	20	16	16	NUM
app01-3400	54	21	]	]	PUNCT
app01-3400	54	22	.	.	PUNCT
app01-3400	55	1	they	they	PRON
app01-3400	55	2	also	also	ADV
app01-3400	55	3	studied	study	VERB
app01-3400	55	4	the	the	DET
app01-3400	55	5	relationship	relationship	NOUN
app01-3400	55	6	between	between	ADP
app01-3400	55	7	the	the	DET
app01-3400	55	8	gait	gait	NOUN
app01-3400	55	9	used	use	VERB
app01-3400	55	10	and	and	CCONJ
app01-3400	55	11	the	the	DET
app01-3400	55	12	classifier	classifier	NOUN
app01-3400	55	13	accuracy	accuracy	NOUN
app01-3400	55	14	[	[	X
app01-3400	55	15	17	17	NUM
app01-3400	55	16	]	]	PUNCT
app01-3400	55	17	including	include	VERB
app01-3400	55	18	using	use	VERB
app01-3400	55	19	sequences	sequence	NOUN
app01-3400	55	20	of	of	ADP
app01-3400	55	21	different	different	ADJ
app01-3400	55	22	gaits	gait	NOUN
app01-3400	55	23	to	to	PART
app01-3400	55	24	get	get	VERB
app01-3400	55	25	better	well	ADJ
app01-3400	55	26	results	result	NOUN
app01-3400	55	27	.	.	PUNCT
app01-3400	56	1	3	3	X
app01-3400	56	2	.	.	X
app01-3400	56	3	problem	problem	NOUN
app01-3400	56	4	statement	statement	NOUN
app01-3400	56	5	the	the	DET
app01-3400	56	6	terrain	terrain	NOUN
app01-3400	56	7	sensing	sensing	NOUN
app01-3400	56	8	and	and	CCONJ
app01-3400	56	9	the	the	DET
app01-3400	56	10	evaluation	evaluation	NOUN
app01-3400	56	11	of	of	ADP
app01-3400	56	12	the	the	DET
app01-3400	56	13	traversability	traversability	NOUN
app01-3400	56	14	cost	cost	NOUN
app01-3400	56	15	of	of	ADP
app01-3400	56	16	the	the	DET
app01-3400	56	17	robot	robot	NOUN
app01-3400	56	18	motion	motion	NOUN
app01-3400	56	19	fits	fit	VERB
app01-3400	56	20	into	into	ADP
app01-3400	56	21	the	the	DET
app01-3400	56	22	scope	scope	NOUN
app01-3400	56	23	of	of	ADP
app01-3400	56	24	path	path	NOUN
app01-3400	56	25	planning	planning	NOUN
app01-3400	56	26	.	.	PUNCT
app01-3400	57	1	assuming	assume	VERB
app01-3400	57	2	we	we	PRON
app01-3400	57	3	have	have	VERB
app01-3400	57	4	a	a	DET
app01-3400	57	5	map	map	NOUN
app01-3400	57	6	of	of	ADP
app01-3400	57	7	the	the	DET
app01-3400	57	8	environment	environment	NOUN
app01-3400	57	9	in	in	ADP
app01-3400	57	10	terms	term	NOUN
app01-3400	57	11	of	of	ADP
app01-3400	57	12	positions	position	NOUN
app01-3400	57	13	of	of	ADP
app01-3400	57	14	untraversable	untraversable	ADJ
app01-3400	57	15	obstacles	obstacle	NOUN
app01-3400	57	16	or	or	CCONJ
app01-3400	57	17	regions	region	NOUN
app01-3400	57	18	,	,	PUNCT
app01-3400	57	19	we	we	PRON
app01-3400	57	20	can	can	AUX
app01-3400	57	21	build	build	VERB
app01-3400	57	22	a	a	DET
app01-3400	57	23	weighted	weight	VERB
app01-3400	57	24	graph	graph	NOUN
app01-3400	57	25	on	on	ADP
app01-3400	57	26	top	top	NOUN
app01-3400	57	27	of	of	ADP
app01-3400	57	28	the	the	DET
app01-3400	57	29	map	map	NOUN
app01-3400	57	30	.	.	PUNCT
app01-3400	58	1	although	although	SCONJ
app01-3400	58	2	we	we	PRON
app01-3400	58	3	consider	consider	VERB
app01-3400	58	4	evaluation	evaluation	NOUN
app01-3400	58	5	of	of	ADP
app01-3400	58	6	the	the	DET
app01-3400	58	7	cost	cost	NOUN
app01-3400	58	8	for	for	ADP
app01-3400	58	9	path	path	NOUN
app01-3400	58	10	planning	planning	NOUN
app01-3400	58	11	,	,	PUNCT
app01-3400	58	12	the	the	DET
app01-3400	58	13	planning	planning	NOUN
app01-3400	58	14	itself	itself	PRON
app01-3400	58	15	is	be	AUX
app01-3400	58	16	out	out	ADP
app01-3400	58	17	of	of	ADP
app01-3400	58	18	the	the	DET
app01-3400	58	19	scope	scope	NOUN
app01-3400	58	20	of	of	ADP
app01-3400	58	21	this	this	DET
app01-3400	58	22	paper	paper	NOUN
app01-3400	58	23	.	.	PUNCT
app01-3400	59	1	therefore	therefore	ADV
app01-3400	59	2	,	,	PUNCT
app01-3400	59	3	we	we	PRON
app01-3400	59	4	consider	consider	VERB
app01-3400	59	5	the	the	DET
app01-3400	59	6	planning	planning	NOUN
app01-3400	59	7	problem	problem	NOUN
app01-3400	59	8	can	can	AUX
app01-3400	59	9	be	be	AUX
app01-3400	59	10	solved	solve	VERB
app01-3400	59	11	using	use	VERB
app01-3400	59	12	optimal	optimal	ADJ
app01-3400	59	13	planners	planner	NOUN
app01-3400	59	14	like	like	ADP
app01-3400	59	15	a	a	PRON
app01-3400	59	16	*	*	PUNCT
app01-3400	60	1	[	[	X
app01-3400	60	2	18	18	NUM
app01-3400	60	3	]	]	PUNCT
app01-3400	60	4	or	or	CCONJ
app01-3400	60	5	d	d	NOUN
app01-3400	60	6	*	*	PUNCT
app01-3400	60	7	[	[	X
app01-3400	60	8	19	19	NUM
app01-3400	60	9	]	]	PUNCT
app01-3400	60	10	on	on	ADP
app01-3400	60	11	a	a	DET
app01-3400	60	12	graph	graph	NOUN
app01-3400	60	13	with	with	ADP
app01-3400	60	14	known	know	VERB
app01-3400	60	15	weights	weight	NOUN
app01-3400	60	16	,	,	PUNCT
app01-3400	60	17	i.e.	i.e.	X
app01-3400	60	18	,	,	PUNCT
app01-3400	60	19	the	the	DET
app01-3400	60	20	costs	cost	NOUN
app01-3400	60	21	on	on	ADP
app01-3400	60	22	the	the	DET
app01-3400	60	23	edges	edge	NOUN
app01-3400	60	24	.	.	PUNCT
app01-3400	61	1	the	the	DET
app01-3400	61	2	path	path	NOUN
app01-3400	61	3	consists	consist	VERB
app01-3400	61	4	of	of	ADP
app01-3400	61	5	a	a	DET
app01-3400	61	6	sequence	sequence	NOUN
app01-3400	61	7	of	of	ADP
app01-3400	61	8	actions	action	NOUN
app01-3400	61	9	(	(	PUNCT
app01-3400	61	10	the	the	DET
app01-3400	61	11	robot	robot	NOUN
app01-3400	61	12	moves	move	VERB
app01-3400	61	13	along	along	ADP
app01-3400	61	14	an	an	DET
app01-3400	61	15	edge	edge	NOUN
app01-3400	61	16	using	use	VERB
app01-3400	61	17	a	a	DET
app01-3400	61	18	particular	particular	ADJ
app01-3400	61	19	gait	gait	NOUN
app01-3400	61	20	)	)	PUNCT
app01-3400	61	21	that	that	PRON
app01-3400	61	22	have	have	VERB
app01-3400	61	23	some	some	DET
app01-3400	61	24	cost	cost	NOUN
app01-3400	61	25	—	—	PUNCT
app01-3400	61	26	the	the	DET
app01-3400	61	27	traversability	traversability	NOUN
app01-3400	61	28	cost	cost	NOUN
app01-3400	61	29	—	—	PUNCT
app01-3400	61	30	which	which	PRON
app01-3400	61	31	can	can	AUX
app01-3400	61	32	be	be	AUX
app01-3400	61	33	computed	compute	VERB
app01-3400	61	34	from	from	ADP
app01-3400	61	35	various	various	ADJ
app01-3400	61	36	sources	source	NOUN
app01-3400	61	37	based	base	VERB
app01-3400	61	38	on	on	ADP
app01-3400	61	39	different	different	ADJ
app01-3400	61	40	criteria	criterion	NOUN
app01-3400	61	41	and	and	CCONJ
app01-3400	61	42	different	different	ADJ
app01-3400	61	43	tasks	task	NOUN
app01-3400	61	44	the	the	DET
app01-3400	61	45	robot	robot	NOUN
app01-3400	61	46	is	be	AUX
app01-3400	61	47	performing	perform	VERB
app01-3400	61	48	.	.	PUNCT
app01-3400	62	1	in	in	ADP
app01-3400	62	2	general	general	ADJ
app01-3400	62	3	,	,	PUNCT
app01-3400	62	4	we	we	PRON
app01-3400	62	5	can	can	AUX
app01-3400	62	6	distinguish	distinguish	VERB
app01-3400	62	7	sources	source	NOUN
app01-3400	62	8	of	of	ADP
app01-3400	62	9	information	information	NOUN
app01-3400	62	10	the	the	DET
app01-3400	62	11	robot	robot	NOUN
app01-3400	62	12	receives	receive	VERB
app01-3400	62	13	(	(	PUNCT
app01-3400	62	14	terrain	terrain	NOUN
app01-3400	62	15	-	-	PUNCT
app01-3400	62	16	sensor	sensor	NOUN
app01-3400	62	17	modalities	modality	NOUN
app01-3400	62	18	)	)	PUNCT
app01-3400	62	19	and	and	CCONJ
app01-3400	62	20	the	the	DET
app01-3400	62	21	outcomes	outcome	NOUN
app01-3400	62	22	of	of	ADP
app01-3400	62	23	the	the	DET
app01-3400	62	24	resulting	result	VERB
app01-3400	62	25	robot	robot	NOUN
app01-3400	62	26	motion	motion	NOUN
app01-3400	62	27	(	(	PUNCT
app01-3400	62	28	cost	cost	NOUN
app01-3400	62	29	modalities	modality	NOUN
app01-3400	62	30	)	)	PUNCT
app01-3400	62	31	as	as	SCONJ
app01-3400	62	32	can	can	AUX
app01-3400	62	33	be	be	AUX
app01-3400	62	34	seen	see	VERB
app01-3400	62	35	in	in	ADP
app01-3400	62	36	fig	fig	NOUN
app01-3400	62	37	.	.	PUNCT
app01-3400	63	1	1	1	X
app01-3400	63	2	.	.	X
app01-3400	63	3	proprioceptive	proprioceptive	ADJ
app01-3400	63	4	exteroceptive	exteroceptive	ADJ
app01-3400	63	5	sensors	sensor	NOUN
app01-3400	63	6	terrain	terrain	NOUN
app01-3400	63	7	gait	gait	NOUN
app01-3400	63	8	control	control	NOUN
app01-3400	63	9	f(s	f(	NOUN
app01-3400	63	10	)	)	PUNCT
app01-3400	63	11	evaluation	evaluation	NOUN
app01-3400	63	12	c	c	NOUN
app01-3400	63	13	cost	cost	VERB
app01-3400	63	14	terrain	terrain	NOUN
app01-3400	63	15	-	-	PUNCT
app01-3400	63	16	sensor	sensor	NOUN
app01-3400	63	17	modalities	modality	NOUN
app01-3400	63	18	cost	cost	NOUN
app01-3400	63	19	modalities	modality	NOUN
app01-3400	63	20	figure	figure	VERB
app01-3400	63	21	1	1	NUM
app01-3400	63	22	.	.	NOUN
app01-3400	63	23	schema	schema	NOUN
app01-3400	63	24	of	of	ADP
app01-3400	63	25	the	the	DET
app01-3400	63	26	robot	robot	NOUN
app01-3400	63	27	perception	perception	NOUN
app01-3400	63	28	module	module	NOUN
app01-3400	63	29	.	.	PUNCT
app01-3400	64	1	the	the	DET
app01-3400	64	2	input	input	NOUN
app01-3400	64	3	modalities	modality	NOUN
app01-3400	64	4	represent	represent	VERB
app01-3400	64	5	different	different	ADJ
app01-3400	64	6	sensor	sensor	NOUN
app01-3400	64	7	measurements	measurement	NOUN
app01-3400	64	8	of	of	ADP
app01-3400	64	9	the	the	DET
app01-3400	64	10	terrain	terrain	NOUN
app01-3400	64	11	which	which	PRON
app01-3400	64	12	are	be	AUX
app01-3400	64	13	used	use	VERB
app01-3400	64	14	in	in	ADP
app01-3400	64	15	a	a	DET
app01-3400	64	16	function	function	NOUN
app01-3400	64	17	f	f	X
app01-3400	64	18	to	to	PART
app01-3400	64	19	evaluate	evaluate	VERB
app01-3400	64	20	the	the	DET
app01-3400	64	21	traversability	traversability	NOUN
app01-3400	64	22	cost	cost	NOUN
app01-3400	64	23	c.	c.	NOUN
app01-3400	64	24	the	the	DET
app01-3400	64	25	cost	cost	NOUN
app01-3400	64	26	is	be	AUX
app01-3400	64	27	multimodal	multimodal	ADJ
app01-3400	64	28	in	in	ADP
app01-3400	64	29	general	general	ADJ
app01-3400	64	30	but	but	CCONJ
app01-3400	64	31	usually	usually	ADV
app01-3400	64	32	only	only	ADV
app01-3400	64	33	one	one	NUM
app01-3400	64	34	modality	modality	NOUN
app01-3400	64	35	is	be	AUX
app01-3400	64	36	used	use	VERB
app01-3400	64	37	for	for	ADP
app01-3400	64	38	planning	planning	NOUN
app01-3400	64	39	(	(	PUNCT
app01-3400	64	40	e.g.	e.g.	ADV
app01-3400	64	41	,	,	PUNCT
app01-3400	64	42	the	the	DET
app01-3400	64	43	robot	robot	NOUN
app01-3400	64	44	speed	speed	NOUN
app01-3400	64	45	)	)	PUNCT
app01-3400	64	46	.	.	PUNCT
app01-3400	65	1	we	we	PRON
app01-3400	65	2	can	can	AUX
app01-3400	65	3	imagine	imagine	VERB
app01-3400	65	4	that	that	SCONJ
app01-3400	65	5	a	a	DET
app01-3400	65	6	terrain	terrain	NOUN
app01-3400	65	7	can	can	AUX
app01-3400	65	8	be	be	AUX
app01-3400	65	9	described	describe	VERB
app01-3400	65	10	by	by	ADP
app01-3400	65	11	several	several	ADJ
app01-3400	65	12	characteristic	characteristic	ADJ
app01-3400	65	13	features	feature	NOUN
app01-3400	65	14	:	:	PUNCT
app01-3400	65	15	shape	shape	NOUN
app01-3400	65	16	,	,	PUNCT
app01-3400	65	17	consistency	consistency	NOUN
app01-3400	65	18	,	,	PUNCT
app01-3400	65	19	temperature	temperature	NOUN
app01-3400	65	20	,	,	PUNCT
app01-3400	65	21	friction	friction	NOUN
app01-3400	65	22	,	,	PUNCT
app01-3400	65	23	etc	etc	X
app01-3400	65	24	.	.	X
app01-3400	65	25	which	which	PRON
app01-3400	65	26	can	can	AUX
app01-3400	65	27	be	be	AUX
app01-3400	65	28	measured	measure	VERB
app01-3400	65	29	by	by	ADP
app01-3400	65	30	various	various	ADJ
app01-3400	65	31	sensors	sensor	NOUN
app01-3400	65	32	.	.	PUNCT
app01-3400	66	1	each	each	DET
app01-3400	66	2	such	such	DET
app01-3400	66	3	a	a	DET
app01-3400	66	4	feature	feature	NOUN
app01-3400	66	5	can	can	AUX
app01-3400	66	6	be	be	AUX
app01-3400	66	7	viewed	view	VERB
app01-3400	66	8	as	as	ADP
app01-3400	66	9	a	a	DET
app01-3400	66	10	modality	modality	NOUN
app01-3400	66	11	that	that	PRON
app01-3400	66	12	is	be	AUX
app01-3400	66	13	either	either	CCONJ
app01-3400	66	14	directly	directly	ADV
app01-3400	66	15	measured	measure	VERB
app01-3400	66	16	or	or	CCONJ
app01-3400	66	17	remains	remain	VERB
app01-3400	66	18	hidden	hide	VERB
app01-3400	66	19	.	.	PUNCT
app01-3400	67	1	each	each	DET
app01-3400	67	2	sensor	sensor	NOUN
app01-3400	67	3	refers	refer	VERB
app01-3400	67	4	to	to	ADP
app01-3400	67	5	different	different	ADJ
app01-3400	67	6	modalities	modality	NOUN
app01-3400	67	7	and	and	CCONJ
app01-3400	67	8	combined	combine	VERB
app01-3400	67	9	together	together	ADV
app01-3400	67	10	,	,	PUNCT
app01-3400	67	11	we	we	PRON
app01-3400	67	12	get	get	VERB
app01-3400	67	13	a	a	DET
app01-3400	67	14	set	set	NOUN
app01-3400	67	15	of	of	ADP
app01-3400	67	16	observable	observable	ADJ
app01-3400	67	17	modalities	modality	NOUN
app01-3400	67	18	on	on	ADP
app01-3400	67	19	the	the	DET
app01-3400	67	20	input	input	NOUN
app01-3400	67	21	side	side	NOUN
app01-3400	67	22	of	of	ADP
app01-3400	67	23	the	the	DET
app01-3400	67	24	robot	robot	NOUN
app01-3400	67	25	perception	perception	NOUN
app01-3400	67	26	module	module	NOUN
app01-3400	67	27	generating	generate	VERB
app01-3400	67	28	a	a	DET
app01-3400	67	29	multidimensional	multidimensional	ADJ
app01-3400	67	30	vector	vector	NOUN
app01-3400	67	31	of	of	ADP
app01-3400	67	32	sensor	sensor	NOUN
app01-3400	67	33	data	datum	NOUN
app01-3400	67	34	.	.	PUNCT
app01-3400	68	1	in	in	ADP
app01-3400	68	2	general	general	ADJ
app01-3400	68	3	,	,	PUNCT
app01-3400	68	4	we	we	PRON
app01-3400	68	5	can	can	AUX
app01-3400	68	6	say	say	VERB
app01-3400	68	7	that	that	SCONJ
app01-3400	68	8	more	more	ADJ
app01-3400	68	9	modalities	modality	NOUN
app01-3400	68	10	—	—	PUNCT
app01-3400	68	11	and	and	CCONJ
app01-3400	68	12	hence	hence	ADV
app01-3400	68	13	more	more	ADJ
app01-3400	68	14	information	information	NOUN
app01-3400	68	15	—	—	PUNCT
app01-3400	68	16	about	about	ADP
app01-3400	68	17	the	the	DET
app01-3400	68	18	terrain	terrain	NOUN
app01-3400	68	19	we	we	PRON
app01-3400	68	20	have	have	VERB
app01-3400	68	21	,	,	PUNCT
app01-3400	68	22	the	the	PRON
app01-3400	68	23	better	well	ADJ
app01-3400	68	24	the	the	DET
app01-3400	68	25	estimation	estimation	NOUN
app01-3400	68	26	of	of	ADP
app01-3400	68	27	its	its	PRON
app01-3400	68	28	traversability	traversability	NOUN
app01-3400	68	29	cost	cost	NOUN
app01-3400	68	30	we	we	PRON
app01-3400	68	31	can	can	AUX
app01-3400	68	32	get	get	VERB
app01-3400	68	33	.	.	PUNCT
app01-3400	69	1	notice	notice	VERB
app01-3400	69	2	that	that	SCONJ
app01-3400	69	3	some	some	PRON
app01-3400	69	4	of	of	ADP
app01-3400	69	5	the	the	DET
app01-3400	69	6	modalities	modality	NOUN
app01-3400	69	7	may	may	AUX
app01-3400	69	8	provide	provide	VERB
app01-3400	69	9	more	more	ADV
app01-3400	69	10	useful	useful	ADJ
app01-3400	69	11	information	information	NOUN
app01-3400	69	12	(	(	PUNCT
app01-3400	69	13	regarding	regard	VERB
app01-3400	69	14	the	the	DET
app01-3400	69	15	cost	cost	NOUN
app01-3400	69	16	evaluation	evaluation	NOUN
app01-3400	69	17	)	)	PUNCT
app01-3400	69	18	than	than	ADP
app01-3400	69	19	others	other	NOUN
app01-3400	69	20	.	.	PUNCT
app01-3400	70	1	the	the	DET
app01-3400	70	2	output	output	NOUN
app01-3400	70	3	side	side	NOUN
app01-3400	70	4	of	of	ADP
app01-3400	70	5	the	the	DET
app01-3400	70	6	module	module	NOUN
app01-3400	70	7	is	be	AUX
app01-3400	70	8	also	also	ADV
app01-3400	70	9	multimodal	multimodal	ADJ
app01-3400	70	10	although	although	SCONJ
app01-3400	70	11	it	it	PRON
app01-3400	70	12	is	be	AUX
app01-3400	70	13	not	not	PART
app01-3400	70	14	as	as	ADV
app01-3400	70	15	obvious	obvious	ADJ
app01-3400	70	16	because	because	SCONJ
app01-3400	70	17	usually	usually	ADV
app01-3400	70	18	only	only	ADV
app01-3400	70	19	one	one	NUM
app01-3400	70	20	modality	modality	NOUN
app01-3400	70	21	is	be	AUX
app01-3400	70	22	used	use	VERB
app01-3400	70	23	for	for	ADP
app01-3400	70	24	the	the	DET
app01-3400	70	25	traversability	traversability	NOUN
app01-3400	70	26	cost	cost	NOUN
app01-3400	70	27	estimation	estimation	NOUN
app01-3400	70	28	(	(	PUNCT
app01-3400	70	29	e.g.	e.g.	ADV
app01-3400	70	30	,	,	PUNCT
app01-3400	70	31	the	the	DET
app01-3400	70	32	robot	robot	NOUN
app01-3400	70	33	speed	speed	NOUN
app01-3400	70	34	while	while	SCONJ
app01-3400	70	35	traversing	traverse	VERB
app01-3400	70	36	the	the	DET
app01-3400	70	37	terrain	terrain	NOUN
app01-3400	70	38	)	)	PUNCT
app01-3400	70	39	.	.	PUNCT
app01-3400	71	1	35	35	NUM
app01-3400	71	2	j.	j.	PROPN
app01-3400	71	3	mrva	mrva	PROPN
app01-3400	71	4	,	,	PUNCT
app01-3400	71	5	m.	m.	PROPN
app01-3400	71	6	stejskal	stejskal	PROPN
app01-3400	71	7	,	,	PUNCT
app01-3400	71	8	j.	j.	PROPN
app01-3400	71	9	faigl	faigl	PROPN
app01-3400	71	10	acta	acta	PROPN
app01-3400	71	11	polytechnica	polytechnica	PROPN
app01-3400	71	12	ctu	ctu	NOUN
app01-3400	71	13	proceedings	proceeding	NOUN
app01-3400	71	14	the	the	DET
app01-3400	71	15	main	main	ADJ
app01-3400	71	16	problem	problem	NOUN
app01-3400	71	17	is	be	AUX
app01-3400	71	18	the	the	DET
app01-3400	71	19	middle	middle	ADJ
app01-3400	71	20	part	part	NOUN
app01-3400	71	21	(	(	PUNCT
app01-3400	71	22	of	of	ADP
app01-3400	71	23	the	the	DET
app01-3400	71	24	schema	schema	NOUN
app01-3400	71	25	in	in	ADP
app01-3400	71	26	fig	fig	NOUN
app01-3400	71	27	.	.	PUNCT
app01-3400	72	1	1	1	NUM
app01-3400	72	2	)	)	PUNCT
app01-3400	72	3	that	that	PRON
app01-3400	72	4	consists	consist	VERB
app01-3400	72	5	of	of	ADP
app01-3400	72	6	an	an	DET
app01-3400	72	7	evaluation	evaluation	NOUN
app01-3400	72	8	function	function	NOUN
app01-3400	72	9	f	f	PROPN
app01-3400	72	10	which	which	PRON
app01-3400	72	11	transforms	transform	VERB
app01-3400	72	12	the	the	DET
app01-3400	72	13	sensory	sensory	ADJ
app01-3400	72	14	measurement	measurement	NOUN
app01-3400	72	15	into	into	ADP
app01-3400	72	16	a	a	DET
app01-3400	72	17	single	single	ADJ
app01-3400	72	18	(	(	PUNCT
app01-3400	72	19	albeit	albeit	SCONJ
app01-3400	72	20	multimodal	multimodal	ADJ
app01-3400	72	21	)	)	PUNCT
app01-3400	72	22	cost	cost	NOUN
app01-3400	72	23	.	.	PUNCT
app01-3400	73	1	the	the	DET
app01-3400	73	2	methodology	methodology	NOUN
app01-3400	73	3	how	how	SCONJ
app01-3400	73	4	to	to	PART
app01-3400	73	5	extract	extract	VERB
app01-3400	73	6	a	a	DET
app01-3400	73	7	single	single	ADJ
app01-3400	73	8	cost	cost	NOUN
app01-3400	73	9	from	from	ADP
app01-3400	73	10	a	a	DET
app01-3400	73	11	lot	lot	NOUN
app01-3400	73	12	of	of	ADP
app01-3400	73	13	data	datum	NOUN
app01-3400	73	14	in	in	ADP
app01-3400	73	15	time	time	NOUN
app01-3400	73	16	,	,	PUNCT
app01-3400	73	17	frequency	frequency	NOUN
app01-3400	73	18	or	or	CCONJ
app01-3400	73	19	other	other	ADJ
app01-3400	73	20	domain	domain	NOUN
app01-3400	73	21	is	be	AUX
app01-3400	73	22	not	not	PART
app01-3400	73	23	a	a	DET
app01-3400	73	24	straightforward	straightforward	ADJ
app01-3400	73	25	task	task	NOUN
app01-3400	73	26	and	and	CCONJ
app01-3400	73	27	hence	hence	ADV
app01-3400	73	28	results	result	NOUN
app01-3400	73	29	vary	vary	VERB
app01-3400	73	30	among	among	ADP
app01-3400	73	31	researchers	researcher	NOUN
app01-3400	73	32	from	from	ADP
app01-3400	73	33	the	the	DET
app01-3400	73	34	simple	simple	ADJ
app01-3400	73	35	and	and	CCONJ
app01-3400	73	36	obvious	obvious	ADJ
app01-3400	73	37	findings	finding	NOUN
app01-3400	73	38	to	to	ADP
app01-3400	73	39	more	more	ADV
app01-3400	73	40	and	and	CCONJ
app01-3400	73	41	more	more	ADV
app01-3400	73	42	sophisticated	sophisticated	ADJ
app01-3400	73	43	methods	method	NOUN
app01-3400	73	44	.	.	PUNCT
app01-3400	74	1	3.1	3.1	NUM
app01-3400	74	2	.	.	PUNCT
app01-3400	74	3	terrain	terrain	NOUN
app01-3400	74	4	-	-	PUNCT
app01-3400	74	5	sensor	sensor	NOUN
app01-3400	74	6	modalities	modalitie	VERB
app01-3400	74	7	the	the	DET
app01-3400	74	8	input	input	NOUN
app01-3400	74	9	modalities	modality	NOUN
app01-3400	74	10	refer	refer	VERB
app01-3400	74	11	to	to	ADP
app01-3400	74	12	the	the	DET
app01-3400	74	13	robot	robot	NOUN
app01-3400	74	14	-	-	PUNCT
app01-3400	74	15	terrain	terrain	NOUN
app01-3400	74	16	interaction	interaction	NOUN
app01-3400	74	17	from	from	ADP
app01-3400	74	18	which	which	PRON
app01-3400	74	19	we	we	PRON
app01-3400	74	20	can	can	AUX
app01-3400	74	21	gather	gather	VERB
app01-3400	74	22	the	the	DET
app01-3400	74	23	sensory	sensory	ADJ
app01-3400	74	24	data	datum	NOUN
app01-3400	74	25	.	.	PUNCT
app01-3400	75	1	however	however	ADV
app01-3400	75	2	,	,	PUNCT
app01-3400	75	3	we	we	PRON
app01-3400	75	4	can	can	AUX
app01-3400	75	5	gather	gather	VERB
app01-3400	75	6	such	such	ADJ
app01-3400	75	7	data	datum	NOUN
app01-3400	75	8	only	only	ADV
app01-3400	75	9	from	from	ADP
app01-3400	75	10	the	the	DET
app01-3400	75	11	observable	observable	ADJ
app01-3400	75	12	modalities	modality	NOUN
app01-3400	75	13	.	.	PUNCT
app01-3400	76	1	for	for	ADP
app01-3400	76	2	example	example	NOUN
app01-3400	76	3	,	,	PUNCT
app01-3400	76	4	without	without	ADP
app01-3400	76	5	a	a	DET
app01-3400	76	6	camera	camera	NOUN
app01-3400	76	7	image	image	NOUN
app01-3400	76	8	,	,	PUNCT
app01-3400	76	9	we	we	PRON
app01-3400	76	10	can	can	AUX
app01-3400	76	11	hardly	hardly	ADV
app01-3400	76	12	determine	determine	VERB
app01-3400	76	13	the	the	DET
app01-3400	76	14	color	color	NOUN
app01-3400	76	15	of	of	ADP
app01-3400	76	16	the	the	DET
app01-3400	76	17	terrain	terrain	NOUN
app01-3400	76	18	.	.	PUNCT
app01-3400	77	1	a	a	DET
app01-3400	77	2	(	(	PUNCT
app01-3400	77	3	certainly	certainly	ADV
app01-3400	77	4	not	not	PART
app01-3400	77	5	complete	complete	ADJ
app01-3400	77	6	)	)	PUNCT
app01-3400	77	7	list	list	NOUN
app01-3400	77	8	of	of	ADP
app01-3400	77	9	terrain	terrain	NOUN
app01-3400	77	10	-	-	PUNCT
app01-3400	77	11	sensor	sensor	NOUN
app01-3400	77	12	modalities	modality	NOUN
app01-3400	77	13	should	should	AUX
app01-3400	77	14	include	include	VERB
app01-3400	77	15	following	follow	VERB
app01-3400	77	16	terrain	terrain	NOUN
app01-3400	77	17	features	feature	NOUN
app01-3400	77	18	:	:	PUNCT
app01-3400	77	19	•	•	NUM
app01-3400	77	20	shape	shape	NOUN
app01-3400	77	21	(	(	PUNCT
app01-3400	77	22	surface	surface	NOUN
app01-3400	77	23	)	)	PUNCT
app01-3400	77	24	–	–	PUNCT
app01-3400	77	25	the	the	DET
app01-3400	77	26	3d	3d	NUM
app01-3400	77	27	shape	shape	NOUN
app01-3400	77	28	of	of	ADP
app01-3400	77	29	the	the	DET
app01-3400	77	30	terrain	terrain	NOUN
app01-3400	77	31	or	or	CCONJ
app01-3400	77	32	obstacles	obstacle	NOUN
app01-3400	77	33	is	be	AUX
app01-3400	77	34	useful	useful	ADJ
app01-3400	77	35	for	for	ADP
app01-3400	77	36	precise	precise	ADJ
app01-3400	77	37	motion	motion	NOUN
app01-3400	77	38	planning	planning	NOUN
app01-3400	77	39	and	and	CCONJ
app01-3400	77	40	it	it	PRON
app01-3400	77	41	is	be	AUX
app01-3400	77	42	usually	usually	ADV
app01-3400	77	43	scanned	scan	VERB
app01-3400	77	44	by	by	ADP
app01-3400	77	45	exteroceptive	exteroceptive	ADJ
app01-3400	77	46	sensors	sensor	NOUN
app01-3400	77	47	but	but	CCONJ
app01-3400	77	48	can	can	AUX
app01-3400	77	49	also	also	ADV
app01-3400	77	50	be	be	AUX
app01-3400	77	51	inferred	infer	VERB
app01-3400	77	52	from	from	ADP
app01-3400	77	53	an	an	DET
app01-3400	77	54	advanced	advanced	ADJ
app01-3400	77	55	touch	touch	NOUN
app01-3400	77	56	sensor	sensor	NOUN
app01-3400	77	57	.	.	PUNCT
app01-3400	78	1	•	•	NUM
app01-3400	78	2	color	color	NOUN
app01-3400	78	3	–	–	PUNCT
app01-3400	78	4	a	a	DET
app01-3400	78	5	color	color	NOUN
app01-3400	78	6	camera	camera	NOUN
app01-3400	78	7	image	image	NOUN
app01-3400	78	8	of	of	ADP
app01-3400	78	9	the	the	DET
app01-3400	78	10	terrain	terrain	NOUN
app01-3400	78	11	area	area	NOUN
app01-3400	78	12	can	can	AUX
app01-3400	78	13	enhance	enhance	VERB
app01-3400	78	14	the	the	DET
app01-3400	78	15	terrain	terrain	NOUN
app01-3400	78	16	discrimination	discrimination	NOUN
app01-3400	78	17	(	(	PUNCT
app01-3400	78	18	e.g.	e.g.	ADV
app01-3400	78	19	,	,	PUNCT
app01-3400	78	20	flat	flat	ADJ
app01-3400	78	21	sand	sand	NOUN
app01-3400	78	22	vs.	vs.	ADP
app01-3400	78	23	concrete	concrete	NOUN
app01-3400	78	24	)	)	PUNCT
app01-3400	78	25	.	.	PUNCT
app01-3400	79	1	•	•	NUM
app01-3400	79	2	consistency	consistency	NOUN
app01-3400	79	3	–	–	PUNCT
app01-3400	79	4	a	a	DET
app01-3400	79	5	gravel	gravel	NOUN
app01-3400	79	6	,	,	PUNCT
app01-3400	79	7	snow	snow	NOUN
app01-3400	79	8	or	or	CCONJ
app01-3400	79	9	sand	sand	NOUN
app01-3400	79	10	is	be	AUX
app01-3400	79	11	not	not	PART
app01-3400	79	12	a	a	DET
app01-3400	79	13	solid	solid	ADJ
app01-3400	79	14	terrain	terrain	NOUN
app01-3400	79	15	and	and	CCONJ
app01-3400	79	16	its	its	PRON
app01-3400	79	17	surface	surface	NOUN
app01-3400	79	18	is	be	AUX
app01-3400	79	19	usually	usually	ADV
app01-3400	79	20	changed	change	VERB
app01-3400	79	21	during	during	ADP
app01-3400	79	22	and	and	CCONJ
app01-3400	79	23	after	after	ADP
app01-3400	79	24	the	the	DET
app01-3400	79	25	robot	robot	NOUN
app01-3400	79	26	motion	motion	NOUN
app01-3400	79	27	while	while	SCONJ
app01-3400	79	28	leaving	leave	VERB
app01-3400	79	29	trace	trace	NOUN
app01-3400	79	30	or	or	CCONJ
app01-3400	79	31	marks	mark	NOUN
app01-3400	79	32	on	on	ADP
app01-3400	79	33	such	such	ADJ
app01-3400	79	34	terrain	terrain	NOUN
app01-3400	79	35	.	.	PUNCT
app01-3400	80	1	this	this	PRON
app01-3400	80	2	can	can	AUX
app01-3400	80	3	be	be	AUX
app01-3400	80	4	measured	measure	VERB
app01-3400	80	5	by	by	ADP
app01-3400	80	6	sensible	sensible	ADJ
app01-3400	80	7	touch	touch	NOUN
app01-3400	80	8	sensors	sensor	NOUN
app01-3400	80	9	or	or	CCONJ
app01-3400	80	10	by	by	ADP
app01-3400	80	11	comparing	compare	VERB
app01-3400	80	12	the	the	DET
app01-3400	80	13	surface	surface	NOUN
app01-3400	80	14	shape	shape	NOUN
app01-3400	80	15	before	before	ADV
app01-3400	80	16	and	and	CCONJ
app01-3400	80	17	after	after	ADP
app01-3400	80	18	the	the	DET
app01-3400	80	19	motion	motion	NOUN
app01-3400	80	20	referring	refer	VERB
app01-3400	80	21	to	to	ADP
app01-3400	80	22	the	the	DET
app01-3400	80	23	terrain	terrain	NOUN
app01-3400	80	24	changeability	changeability	NOUN
app01-3400	80	25	or	or	CCONJ
app01-3400	80	26	granularity	granularity	NOUN
app01-3400	80	27	.	.	PUNCT
app01-3400	81	1	•	•	NUM
app01-3400	81	2	softness	softness	NOUN
app01-3400	81	3	–	–	PUNCT
app01-3400	81	4	differences	difference	NOUN
app01-3400	81	5	between	between	ADP
app01-3400	81	6	solid	solid	ADJ
app01-3400	81	7	(	(	PUNCT
app01-3400	81	8	e.g.	e.g.	ADJ
app01-3400	81	9	,	,	PUNCT
app01-3400	81	10	concrete	concrete	ADJ
app01-3400	81	11	)	)	PUNCT
app01-3400	81	12	and	and	CCONJ
app01-3400	81	13	soft	soft	ADJ
app01-3400	81	14	(	(	PUNCT
app01-3400	81	15	e.g.	e.g.	ADJ
app01-3400	81	16	,	,	PUNCT
app01-3400	81	17	carpet	carpet	NOUN
app01-3400	81	18	)	)	PUNCT
app01-3400	81	19	terrains	terrain	NOUN
app01-3400	81	20	can	can	AUX
app01-3400	81	21	affect	affect	VERB
app01-3400	81	22	greatly	greatly	ADV
app01-3400	81	23	the	the	DET
app01-3400	81	24	robot	robot	NOUN
app01-3400	81	25	performance	performance	NOUN
app01-3400	81	26	.	.	PUNCT
app01-3400	82	1	this	this	DET
app01-3400	82	2	modality	modality	NOUN
app01-3400	82	3	is	be	AUX
app01-3400	82	4	measurable	measurable	ADJ
app01-3400	82	5	only	only	ADV
app01-3400	82	6	by	by	ADP
app01-3400	82	7	proprioceptive	proprioceptive	ADJ
app01-3400	82	8	(	(	PUNCT
app01-3400	82	9	e.g.	e.g.	ADJ
app01-3400	82	10	,	,	PUNCT
app01-3400	82	11	force	force	NOUN
app01-3400	82	12	)	)	PUNCT
app01-3400	82	13	sensors	sensor	NOUN
app01-3400	82	14	.	.	PUNCT
app01-3400	83	1	•	•	NUM
app01-3400	83	2	compliance	compliance	NOUN
app01-3400	83	3	–	–	PUNCT
app01-3400	83	4	a	a	DET
app01-3400	83	5	terrain	terrain	NOUN
app01-3400	83	6	can	can	AUX
app01-3400	83	7	look	look	VERB
app01-3400	83	8	stiff	stiff	ADJ
app01-3400	83	9	(	(	PUNCT
app01-3400	83	10	e.g.	e.g.	ADJ
app01-3400	83	11	,	,	PUNCT
app01-3400	83	12	grass	grass	NOUN
app01-3400	83	13	or	or	CCONJ
app01-3400	83	14	small	small	ADJ
app01-3400	83	15	branch	branch	NOUN
app01-3400	83	16	)	)	PUNCT
app01-3400	83	17	but	but	CCONJ
app01-3400	83	18	does	do	AUX
app01-3400	83	19	not	not	PART
app01-3400	83	20	resist	resist	VERB
app01-3400	83	21	to	to	ADP
app01-3400	83	22	the	the	DET
app01-3400	83	23	robot	robot	NOUN
app01-3400	83	24	motion	motion	NOUN
app01-3400	83	25	and	and	CCONJ
app01-3400	83	26	usually	usually	ADV
app01-3400	83	27	regains	regain	VERB
app01-3400	83	28	its	its	PRON
app01-3400	83	29	shape	shape	NOUN
app01-3400	83	30	afterwards	afterwards	ADV
app01-3400	83	31	;	;	PUNCT
app01-3400	83	32	so	so	CCONJ
app01-3400	83	33	,	,	PUNCT
app01-3400	83	34	a	a	DET
app01-3400	83	35	compliant	compliant	ADJ
app01-3400	83	36	terrain	terrain	NOUN
app01-3400	83	37	is	be	AUX
app01-3400	83	38	penetrable	penetrable	ADJ
app01-3400	83	39	.	.	PUNCT
app01-3400	84	1	this	this	PRON
app01-3400	84	2	is	be	AUX
app01-3400	84	3	also	also	ADV
app01-3400	84	4	measurable	measurable	ADJ
app01-3400	84	5	only	only	ADV
app01-3400	84	6	by	by	ADP
app01-3400	84	7	proprioceptive	proprioceptive	ADJ
app01-3400	84	8	sensors	sensor	NOUN
app01-3400	84	9	.	.	PUNCT
app01-3400	85	1	•	•	NUM
app01-3400	85	2	adhesion	adhesion	NOUN
app01-3400	85	3	–	–	PUNCT
app01-3400	85	4	an	an	DET
app01-3400	85	5	adhesive	adhesive	ADJ
app01-3400	85	6	terrain	terrain	NOUN
app01-3400	85	7	offers	offer	VERB
app01-3400	85	8	better	well	ADJ
app01-3400	85	9	friction	friction	NOUN
app01-3400	85	10	and	and	CCONJ
app01-3400	85	11	hence	hence	ADV
app01-3400	85	12	better	well	ADJ
app01-3400	85	13	traction	traction	NOUN
app01-3400	85	14	which	which	PRON
app01-3400	85	15	is	be	AUX
app01-3400	85	16	crucial	crucial	ADJ
app01-3400	85	17	to	to	PART
app01-3400	85	18	ensure	ensure	VERB
app01-3400	85	19	stable	stable	ADJ
app01-3400	85	20	footholds	foothold	NOUN
app01-3400	85	21	and	and	CCONJ
app01-3400	85	22	permit	permit	VERB
app01-3400	85	23	high	high	ADJ
app01-3400	85	24	accelerations	acceleration	NOUN
app01-3400	85	25	.	.	PUNCT
app01-3400	86	1	a	a	DET
app01-3400	86	2	force	force	NOUN
app01-3400	86	3	sensor	sensor	NOUN
app01-3400	86	4	or	or	CCONJ
app01-3400	86	5	slippage	slippage	NOUN
app01-3400	86	6	analysis	analysis	NOUN
app01-3400	86	7	is	be	AUX
app01-3400	86	8	needed	need	VERB
app01-3400	86	9	to	to	PART
app01-3400	86	10	measure	measure	VERB
app01-3400	86	11	the	the	DET
app01-3400	86	12	adhesion	adhesion	NOUN
app01-3400	86	13	with	with	ADP
app01-3400	86	14	respect	respect	NOUN
app01-3400	86	15	to	to	ADP
app01-3400	86	16	the	the	DET
app01-3400	86	17	robot	robot	NOUN
app01-3400	86	18	leg	leg	NOUN
app01-3400	86	19	shape	shape	NOUN
app01-3400	86	20	and	and	CCONJ
app01-3400	86	21	material	material	NOUN
app01-3400	86	22	.	.	PUNCT
app01-3400	87	1	•	•	NUM
app01-3400	87	2	temperature	temperature	NOUN
app01-3400	87	3	–	–	PUNCT
app01-3400	87	4	in	in	ADP
app01-3400	87	5	some	some	DET
app01-3400	87	6	cases	case	NOUN
app01-3400	87	7	,	,	PUNCT
app01-3400	87	8	e.g.	e.g.	ADV
app01-3400	87	9	,	,	PUNCT
app01-3400	87	10	on	on	ADP
app01-3400	87	11	a	a	DET
app01-3400	87	12	volcano	volcano	NOUN
app01-3400	87	13	,	,	PUNCT
app01-3400	87	14	a	a	DET
app01-3400	87	15	robot	robot	NOUN
app01-3400	87	16	might	might	AUX
app01-3400	87	17	need	need	VERB
app01-3400	87	18	to	to	PART
app01-3400	87	19	avoid	avoid	VERB
app01-3400	87	20	hot	hot	ADJ
app01-3400	87	21	surfaces	surface	NOUN
app01-3400	87	22	in	in	ADP
app01-3400	87	23	order	order	NOUN
app01-3400	87	24	not	not	PART
app01-3400	87	25	to	to	PART
app01-3400	87	26	damage	damage	VERB
app01-3400	87	27	itself	itself	PRON
app01-3400	87	28	.	.	PUNCT
app01-3400	88	1	the	the	DET
app01-3400	88	2	temperature	temperature	NOUN
app01-3400	88	3	(	(	PUNCT
app01-3400	88	4	scanned	scan	VERB
app01-3400	88	5	by	by	ADP
app01-3400	88	6	a	a	DET
app01-3400	88	7	thermal	thermal	ADJ
app01-3400	88	8	camera	camera	NOUN
app01-3400	88	9	)	)	PUNCT
app01-3400	88	10	can	can	AUX
app01-3400	88	11	also	also	ADV
app01-3400	88	12	be	be	AUX
app01-3400	88	13	used	use	VERB
app01-3400	88	14	for	for	ADP
app01-3400	88	15	a	a	DET
app01-3400	88	16	better	well	ADJ
app01-3400	88	17	estimate	estimate	NOUN
app01-3400	88	18	of	of	ADP
app01-3400	88	19	terrain	terrain	NOUN
app01-3400	88	20	traversability	traversability	NOUN
app01-3400	88	21	by	by	ADP
app01-3400	88	22	analysing	analyse	VERB
app01-3400	88	23	the	the	DET
app01-3400	88	24	relations	relation	NOUN
app01-3400	88	25	between	between	ADP
app01-3400	88	26	the	the	DET
app01-3400	88	27	terrain	terrain	NOUN
app01-3400	88	28	granularity	granularity	NOUN
app01-3400	88	29	(	(	PUNCT
app01-3400	88	30	compactness	compactness	NOUN
app01-3400	88	31	)	)	PUNCT
app01-3400	88	32	and	and	CCONJ
app01-3400	88	33	thermal	thermal	ADJ
app01-3400	88	34	transients	transient	NOUN
app01-3400	88	35	[	[	X
app01-3400	88	36	20	20	NUM
app01-3400	88	37	]	]	PUNCT
app01-3400	88	38	.	.	PUNCT
app01-3400	89	1	as	as	SCONJ
app01-3400	89	2	it	it	PRON
app01-3400	89	3	is	be	AUX
app01-3400	89	4	shown	show	VERB
app01-3400	89	5	in	in	ADP
app01-3400	89	6	fig	fig	NOUN
app01-3400	89	7	.	.	PUNCT
app01-3400	90	1	1	1	NUM
app01-3400	90	2	,	,	PUNCT
app01-3400	90	3	the	the	DET
app01-3400	90	4	values	value	NOUN
app01-3400	90	5	of	of	ADP
app01-3400	90	6	input	input	NOUN
app01-3400	90	7	modalities	modality	NOUN
app01-3400	90	8	measured	measure	VERB
app01-3400	90	9	by	by	ADP
app01-3400	90	10	exteroceptive	exteroceptive	ADJ
app01-3400	90	11	sensors	sensor	NOUN
app01-3400	90	12	are	be	AUX
app01-3400	90	13	(	(	PUNCT
app01-3400	90	14	in	in	ADP
app01-3400	90	15	general	general	ADJ
app01-3400	90	16	)	)	PUNCT
app01-3400	90	17	dependent	dependent	ADJ
app01-3400	90	18	on	on	ADP
app01-3400	90	19	the	the	DET
app01-3400	90	20	terrain	terrain	NOUN
app01-3400	90	21	being	be	AUX
app01-3400	90	22	scanned	scan	VERB
app01-3400	90	23	and	and	CCONJ
app01-3400	90	24	also	also	ADV
app01-3400	90	25	on	on	ADP
app01-3400	90	26	the	the	DET
app01-3400	90	27	gait	gait	NOUN
app01-3400	90	28	that	that	PRON
app01-3400	90	29	drives	drive	VERB
app01-3400	90	30	the	the	DET
app01-3400	90	31	robot	robot	NOUN
app01-3400	90	32	.	.	PUNCT
app01-3400	91	1	the	the	DET
app01-3400	91	2	sensor	sensor	NOUN
app01-3400	91	3	readings	reading	NOUN
app01-3400	91	4	can	can	AUX
app01-3400	91	5	be	be	AUX
app01-3400	91	6	affected	affect	VERB
app01-3400	91	7	when	when	SCONJ
app01-3400	91	8	using	use	VERB
app01-3400	91	9	a	a	DET
app01-3400	91	10	different	different	ADJ
app01-3400	91	11	gait	gait	NOUN
app01-3400	91	12	—	—	PUNCT
app01-3400	91	13	e.g.	e.g.	ADV
app01-3400	91	14	,	,	PUNCT
app01-3400	91	15	a	a	DET
app01-3400	91	16	fast	fast	ADJ
app01-3400	91	17	tripod	tripod	NOUN
app01-3400	91	18	gait	gait	NOUN
app01-3400	91	19	causes	cause	VERB
app01-3400	91	20	shaky	shaky	ADJ
app01-3400	91	21	motion	motion	NOUN
app01-3400	91	22	of	of	ADP
app01-3400	91	23	the	the	DET
app01-3400	91	24	robot	robot	NOUN
app01-3400	91	25	and	and	CCONJ
app01-3400	91	26	the	the	DET
app01-3400	91	27	images	image	NOUN
app01-3400	91	28	taken	take	VERB
app01-3400	91	29	can	can	AUX
app01-3400	91	30	be	be	AUX
app01-3400	91	31	blurred	blur	VERB
app01-3400	91	32	.	.	PUNCT
app01-3400	92	1	similarly	similarly	ADV
app01-3400	92	2	,	,	PUNCT
app01-3400	92	3	when	when	SCONJ
app01-3400	92	4	measuring	measure	VERB
app01-3400	92	5	by	by	ADP
app01-3400	92	6	proprioceptive	proprioceptive	ADJ
app01-3400	92	7	sensors	sensor	NOUN
app01-3400	92	8	,	,	PUNCT
app01-3400	92	9	some	some	PRON
app01-3400	92	10	of	of	ADP
app01-3400	92	11	the	the	DET
app01-3400	92	12	terrain	terrain	NOUN
app01-3400	92	13	-	-	PUNCT
app01-3400	92	14	sensor	sensor	NOUN
app01-3400	92	15	modalities	modality	NOUN
app01-3400	92	16	can	can	AUX
app01-3400	92	17	change	change	VERB
app01-3400	92	18	its	its	PRON
app01-3400	92	19	value	value	NOUN
app01-3400	92	20	depending	depend	VERB
app01-3400	92	21	on	on	ADP
app01-3400	92	22	the	the	DET
app01-3400	92	23	robot	robot	NOUN
app01-3400	92	24	motion	motion	NOUN
app01-3400	92	25	.	.	PUNCT
app01-3400	93	1	for	for	ADP
app01-3400	93	2	example	example	NOUN
app01-3400	93	3	,	,	PUNCT
app01-3400	93	4	the	the	DET
app01-3400	93	5	terrain	terrain	NOUN
app01-3400	93	6	can	can	AUX
app01-3400	93	7	seem	seem	VERB
app01-3400	93	8	solid	solid	ADJ
app01-3400	93	9	and	and	CCONJ
app01-3400	93	10	adhesive	adhesive	ADJ
app01-3400	93	11	while	while	SCONJ
app01-3400	93	12	traversing	traverse	VERB
app01-3400	93	13	slowly	slowly	ADV
app01-3400	93	14	,	,	PUNCT
app01-3400	93	15	and	and	CCONJ
app01-3400	93	16	crumbling	crumble	VERB
app01-3400	93	17	or	or	CCONJ
app01-3400	93	18	slippery	slippery	ADJ
app01-3400	93	19	when	when	SCONJ
app01-3400	93	20	accelerating	accelerate	VERB
app01-3400	93	21	(	(	PUNCT
app01-3400	93	22	on	on	ADP
app01-3400	93	23	gravel	gravel	NOUN
app01-3400	93	24	or	or	CCONJ
app01-3400	93	25	ice	ice	NOUN
app01-3400	93	26	)	)	PUNCT
app01-3400	93	27	.	.	PUNCT
app01-3400	94	1	another	another	DET
app01-3400	94	2	example	example	NOUN
app01-3400	94	3	for	for	ADP
app01-3400	94	4	a	a	DET
app01-3400	94	5	wheeled	wheel	VERB
app01-3400	94	6	vehicle	vehicle	NOUN
app01-3400	94	7	is	be	AUX
app01-3400	94	8	a	a	DET
app01-3400	94	9	sand	sand	NOUN
app01-3400	94	10	(	(	PUNCT
app01-3400	94	11	desert	desert	NOUN
app01-3400	94	12	)	)	PUNCT
app01-3400	94	13	that	that	PRON
app01-3400	94	14	can	can	AUX
app01-3400	94	15	be	be	AUX
app01-3400	94	16	traversable	traversable	ADJ
app01-3400	94	17	until	until	SCONJ
app01-3400	94	18	a	a	DET
app01-3400	94	19	small	small	ADJ
app01-3400	94	20	change	change	NOUN
app01-3400	94	21	in	in	ADP
app01-3400	94	22	the	the	DET
app01-3400	94	23	control	control	NOUN
app01-3400	94	24	is	be	AUX
app01-3400	94	25	applied	apply	VERB
app01-3400	94	26	and	and	CCONJ
app01-3400	94	27	then	then	ADV
app01-3400	94	28	it	it	PRON
app01-3400	94	29	become	become	VERB
app01-3400	94	30	completely	completely	ADV
app01-3400	94	31	untraversable	untraversable	ADJ
app01-3400	94	32	.	.	PUNCT
app01-3400	95	1	focusing	focus	VERB
app01-3400	95	2	on	on	ADP
app01-3400	95	3	proprioceptive	proprioceptive	ADJ
app01-3400	95	4	sensors	sensor	NOUN
app01-3400	95	5	and	and	CCONJ
app01-3400	95	6	legged	legged	ADJ
app01-3400	95	7	robots	robot	NOUN
app01-3400	95	8	,	,	PUNCT
app01-3400	95	9	the	the	DET
app01-3400	95	10	most	most	ADV
app01-3400	95	11	important	important	ADJ
app01-3400	95	12	terrain	terrain	NOUN
app01-3400	95	13	-	-	PUNCT
app01-3400	95	14	sensor	sensor	NOUN
app01-3400	95	15	modalities	modality	NOUN
app01-3400	95	16	are	be	AUX
app01-3400	95	17	those	those	PRON
app01-3400	95	18	which	which	PRON
app01-3400	95	19	directly	directly	ADV
app01-3400	95	20	affect	affect	VERB
app01-3400	95	21	the	the	DET
app01-3400	95	22	robot	robot	NOUN
app01-3400	95	23	motion	motion	NOUN
app01-3400	95	24	and	and	CCONJ
app01-3400	95	25	hence	hence	ADV
app01-3400	95	26	its	its	PRON
app01-3400	95	27	performance	performance	NOUN
app01-3400	95	28	:	:	PUNCT
app01-3400	95	29	shape	shape	NOUN
app01-3400	95	30	,	,	PUNCT
app01-3400	95	31	consistency	consistency	NOUN
app01-3400	95	32	,	,	PUNCT
app01-3400	95	33	softness	softness	NOUN
app01-3400	95	34	,	,	PUNCT
app01-3400	95	35	compliance	compliance	NOUN
app01-3400	95	36	,	,	PUNCT
app01-3400	95	37	and	and	CCONJ
app01-3400	95	38	adhesion	adhesion	NOUN
app01-3400	95	39	.	.	PUNCT
app01-3400	96	1	3.2	3.2	NUM
app01-3400	96	2	.	.	PUNCT
app01-3400	97	1	cost	cost	NOUN
app01-3400	97	2	modalities	modality	NOUN
app01-3400	97	3	in	in	ADP
app01-3400	97	4	general	general	ADJ
app01-3400	97	5	,	,	PUNCT
app01-3400	97	6	the	the	DET
app01-3400	97	7	outcome	outcome	NOUN
app01-3400	97	8	(	(	PUNCT
app01-3400	97	9	or	or	CCONJ
app01-3400	97	10	the	the	DET
app01-3400	97	11	cost	cost	NOUN
app01-3400	97	12	)	)	PUNCT
app01-3400	97	13	of	of	ADP
app01-3400	97	14	the	the	DET
app01-3400	97	15	robot	robot	NOUN
app01-3400	97	16	motion	motion	NOUN
app01-3400	97	17	does	do	AUX
app01-3400	97	18	not	not	PART
app01-3400	97	19	have	have	VERB
app01-3400	97	20	a	a	DET
app01-3400	97	21	single	single	ADJ
app01-3400	97	22	scalar	scalar	ADJ
app01-3400	97	23	value	value	NOUN
app01-3400	97	24	.	.	PUNCT
app01-3400	98	1	for	for	ADP
app01-3400	98	2	example	example	NOUN
app01-3400	98	3	,	,	PUNCT
app01-3400	98	4	answering	answer	VERB
app01-3400	98	5	a	a	DET
app01-3400	98	6	question	question	NOUN
app01-3400	98	7	:	:	PUNCT
app01-3400	98	8	“	"	PUNCT
app01-3400	98	9	how	how	SCONJ
app01-3400	98	10	was	be	AUX
app01-3400	98	11	the	the	DET
app01-3400	98	12	robot	robot	NOUN
app01-3400	98	13	going	go	VERB
app01-3400	98	14	?	?	PUNCT
app01-3400	98	15	”	"	PUNCT
app01-3400	98	16	with	with	ADP
app01-3400	98	17	“	"	PUNCT
app01-3400	98	18	5	5	NUM
app01-3400	98	19	”	"	PUNCT
app01-3400	98	20	looks	look	VERB
app01-3400	98	21	like	like	SCONJ
app01-3400	98	22	some	some	DET
app01-3400	98	23	information	information	NOUN
app01-3400	98	24	has	have	AUX
app01-3400	98	25	been	be	AUX
app01-3400	98	26	lost	lose	VERB
app01-3400	98	27	.	.	PUNCT
app01-3400	99	1	instead	instead	ADV
app01-3400	99	2	,	,	PUNCT
app01-3400	99	3	for	for	ADP
app01-3400	99	4	example	example	NOUN
app01-3400	99	5	,	,	PUNCT
app01-3400	99	6	we	we	PRON
app01-3400	99	7	would	would	AUX
app01-3400	99	8	like	like	VERB
app01-3400	99	9	to	to	PART
app01-3400	99	10	know	know	VERB
app01-3400	99	11	that	that	SCONJ
app01-3400	99	12	it	it	PRON
app01-3400	99	13	went	go	VERB
app01-3400	99	14	fast	fast	ADV
app01-3400	99	15	but	but	CCONJ
app01-3400	99	16	spent	spend	VERB
app01-3400	99	17	a	a	DET
app01-3400	99	18	lot	lot	NOUN
app01-3400	99	19	of	of	ADP
app01-3400	99	20	energy	energy	NOUN
app01-3400	99	21	and	and	CCONJ
app01-3400	99	22	hit	hit	VERB
app01-3400	99	23	several	several	ADJ
app01-3400	99	24	obstacles	obstacle	NOUN
app01-3400	99	25	along	along	ADP
app01-3400	99	26	the	the	DET
app01-3400	99	27	way	way	NOUN
app01-3400	99	28	.	.	PUNCT
app01-3400	100	1	the	the	DET
app01-3400	100	2	crucial	crucial	ADJ
app01-3400	100	3	part	part	NOUN
app01-3400	100	4	is	be	AUX
app01-3400	100	5	then	then	ADV
app01-3400	100	6	to	to	PART
app01-3400	100	7	balance	balance	VERB
app01-3400	100	8	the	the	DET
app01-3400	100	9	trade	trade	NOUN
app01-3400	100	10	-	-	PUNCT
app01-3400	100	11	off	off	NOUN
app01-3400	100	12	between	between	ADP
app01-3400	100	13	all	all	PRON
app01-3400	100	14	of	of	ADP
app01-3400	100	15	the	the	DET
app01-3400	100	16	possible	possible	ADJ
app01-3400	100	17	outcomes	outcome	NOUN
app01-3400	100	18	—	—	PUNCT
app01-3400	100	19	the	the	DET
app01-3400	100	20	cost	cost	NOUN
app01-3400	100	21	modalities	modality	NOUN
app01-3400	100	22	—	—	PUNCT
app01-3400	100	23	of	of	ADP
app01-3400	100	24	our	our	PRON
app01-3400	100	25	interest	interest	NOUN
app01-3400	100	26	.	.	PUNCT
app01-3400	101	1	the	the	DET
app01-3400	101	2	outcomes	outcome	NOUN
app01-3400	101	3	(	(	PUNCT
app01-3400	101	4	cost	cost	NOUN
app01-3400	101	5	modalities	modality	NOUN
app01-3400	101	6	)	)	PUNCT
app01-3400	101	7	can	can	AUX
app01-3400	101	8	be	be	AUX
app01-3400	101	9	the	the	DET
app01-3400	101	10	following	follow	VERB
app01-3400	101	11	(	(	PUNCT
app01-3400	101	12	again	again	ADV
app01-3400	101	13	,	,	PUNCT
app01-3400	101	14	we	we	PRON
app01-3400	101	15	do	do	AUX
app01-3400	101	16	not	not	PART
app01-3400	101	17	claim	claim	VERB
app01-3400	101	18	it	it	PRON
app01-3400	101	19	is	be	AUX
app01-3400	101	20	a	a	DET
app01-3400	101	21	complete	complete	ADJ
app01-3400	101	22	list	list	NOUN
app01-3400	101	23	):	):	PUNCT
app01-3400	101	24	•	•	NUM
app01-3400	101	25	average	average	ADJ
app01-3400	101	26	speed	speed	NOUN
app01-3400	101	27	(	(	PUNCT
app01-3400	101	28	time	time	NOUN
app01-3400	101	29	)	)	PUNCT
app01-3400	101	30	–	–	PUNCT
app01-3400	101	31	the	the	DET
app01-3400	101	32	overall	overall	ADJ
app01-3400	101	33	time	time	NOUN
app01-3400	101	34	and	and	CCONJ
app01-3400	101	35	speed	speed	NOUN
app01-3400	101	36	has	have	VERB
app01-3400	101	37	to	to	PART
app01-3400	101	38	be	be	AUX
app01-3400	101	39	evaluated	evaluate	VERB
app01-3400	101	40	relatively	relatively	ADV
app01-3400	101	41	to	to	ADP
app01-3400	101	42	the	the	DET
app01-3400	101	43	robot	robot	NOUN
app01-3400	101	44	capabilities	capability	NOUN
app01-3400	101	45	.	.	PUNCT
app01-3400	102	1	either	either	CCONJ
app01-3400	102	2	a	a	DET
app01-3400	102	3	reliable	reliable	ADJ
app01-3400	102	4	odometry	odometry	NOUN
app01-3400	102	5	or	or	CCONJ
app01-3400	102	6	external	external	ADJ
app01-3400	102	7	motion	motion	NOUN
app01-3400	102	8	capture	capture	NOUN
app01-3400	102	9	system	system	NOUN
app01-3400	102	10	is	be	AUX
app01-3400	102	11	needed	need	VERB
app01-3400	102	12	for	for	ADP
app01-3400	102	13	a	a	DET
app01-3400	102	14	proper	proper	ADJ
app01-3400	102	15	evaluation	evaluation	NOUN
app01-3400	102	16	.	.	PUNCT
app01-3400	103	1	•	•	NOUN
app01-3400	103	2	energy	energy	NOUN
app01-3400	103	3	consumption	consumption	NOUN
app01-3400	103	4	–	–	PUNCT
app01-3400	103	5	a	a	DET
app01-3400	103	6	robot	robot	NOUN
app01-3400	103	7	might	might	AUX
app01-3400	103	8	have	have	VERB
app01-3400	103	9	a	a	DET
app01-3400	103	10	limited	limited	ADJ
app01-3400	103	11	energy	energy	NOUN
app01-3400	103	12	capacity	capacity	NOUN
app01-3400	103	13	to	to	PART
app01-3400	103	14	fulfill	fulfill	VERB
app01-3400	103	15	its	its	PRON
app01-3400	103	16	task	task	NOUN
app01-3400	103	17	,	,	PUNCT
app01-3400	103	18	and	and	CCONJ
app01-3400	103	19	therefore	therefore	ADV
app01-3400	103	20	,	,	PUNCT
app01-3400	103	21	it	it	PRON
app01-3400	103	22	needs	need	VERB
app01-3400	103	23	to	to	PART
app01-3400	103	24	care	care	VERB
app01-3400	103	25	about	about	ADP
app01-3400	103	26	the	the	DET
app01-3400	103	27	energy	energy	NOUN
app01-3400	103	28	consumption	consumption	NOUN
app01-3400	103	29	(	(	PUNCT
app01-3400	103	30	e.g.	e.g.	ADV
app01-3400	103	31	,	,	PUNCT
app01-3400	103	32	to	to	PART
app01-3400	103	33	switch	switch	VERB
app01-3400	103	34	to	to	ADP
app01-3400	103	35	a	a	DET
app01-3400	103	36	more	more	ADV
app01-3400	103	37	energy	energy	NOUN
app01-3400	103	38	-	-	PUNCT
app01-3400	103	39	efficient	efficient	ADJ
app01-3400	103	40	gait	gait	NOUN
app01-3400	104	1	[	[	X
app01-3400	104	2	21	21	NUM
app01-3400	104	3	]	]	PUNCT
app01-3400	104	4	)	)	PUNCT
app01-3400	104	5	.	.	PUNCT
app01-3400	105	1	•	•	NUM
app01-3400	105	2	maximal	maximal	ADJ
app01-3400	105	3	torque	torque	NOUN
app01-3400	105	4	–	–	PUNCT
app01-3400	105	5	in	in	ADP
app01-3400	105	6	very	very	ADV
app01-3400	105	7	rough	rough	ADJ
app01-3400	105	8	terrains	terrain	NOUN
app01-3400	105	9	,	,	PUNCT
app01-3400	105	10	the	the	DET
app01-3400	105	11	balance	balance	NOUN
app01-3400	105	12	in	in	ADP
app01-3400	105	13	exploiting	exploit	VERB
app01-3400	105	14	all	all	DET
app01-3400	105	15	motors	motor	NOUN
app01-3400	105	16	the	the	DET
app01-3400	105	17	same	same	ADJ
app01-3400	105	18	can	can	AUX
app01-3400	105	19	be	be	AUX
app01-3400	105	20	impaired	impair	VERB
app01-3400	105	21	and	and	CCONJ
app01-3400	105	22	very	very	ADV
app01-3400	105	23	high	high	ADJ
app01-3400	105	24	torque	torque	NOUN
app01-3400	105	25	values	value	NOUN
app01-3400	105	26	of	of	ADP
app01-3400	105	27	some	some	DET
app01-3400	105	28	motors	motor	NOUN
app01-3400	105	29	can	can	AUX
app01-3400	105	30	cause	cause	VERB
app01-3400	105	31	overheating	overheating	ADJ
app01-3400	105	32	or	or	CCONJ
app01-3400	105	33	damage	damage	NOUN
app01-3400	105	34	of	of	ADP
app01-3400	105	35	servos	servo	NOUN
app01-3400	105	36	and	and	CCONJ
app01-3400	105	37	the	the	DET
app01-3400	105	38	robot	robot	NOUN
app01-3400	105	39	itself	itself	PRON
app01-3400	105	40	.	.	PUNCT
app01-3400	106	1	•	•	NUM
app01-3400	106	2	uncertainty	uncertainty	NOUN
app01-3400	106	3	of	of	ADP
app01-3400	106	4	localization	localization	NOUN
app01-3400	106	5	–	–	PUNCT
app01-3400	106	6	continuous	continuous	ADJ
app01-3400	106	7	robot	robot	NOUN
app01-3400	106	8	body	body	NOUN
app01-3400	106	9	motion	motion	NOUN
app01-3400	106	10	—	—	PUNCT
app01-3400	106	11	if	if	SCONJ
app01-3400	106	12	not	not	PART
app01-3400	106	13	smooth	smooth	VERB
app01-3400	106	14	enough	enough	ADV
app01-3400	106	15	—	—	PUNCT
app01-3400	106	16	can	can	AUX
app01-3400	106	17	negatively	negatively	ADV
app01-3400	106	18	affect	affect	VERB
app01-3400	106	19	the	the	DET
app01-3400	106	20	reliability	reliability	NOUN
app01-3400	106	21	of	of	ADP
app01-3400	106	22	range	range	NOUN
app01-3400	106	23	sensors	sensor	NOUN
app01-3400	106	24	or	or	CCONJ
app01-3400	106	25	camera	camera	NOUN
app01-3400	106	26	-	-	PUNCT
app01-3400	106	27	based	base	VERB
app01-3400	106	28	visual	visual	ADJ
app01-3400	106	29	localization	localization	NOUN
app01-3400	106	30	.	.	PUNCT
app01-3400	107	1	•	•	NUM
app01-3400	107	2	stability	stability	NOUN
app01-3400	107	3	risk	risk	NOUN
app01-3400	107	4	–	–	PUNCT
app01-3400	107	5	the	the	DET
app01-3400	107	6	robot	robot	NOUN
app01-3400	107	7	posture	posture	NOUN
app01-3400	107	8	can	can	AUX
app01-3400	107	9	be	be	AUX
app01-3400	107	10	close	close	ADJ
app01-3400	107	11	to	to	ADP
app01-3400	107	12	its	its	PRON
app01-3400	107	13	stability	stability	NOUN
app01-3400	107	14	margins	margin	NOUN
app01-3400	107	15	during	during	ADP
app01-3400	107	16	the	the	DET
app01-3400	107	17	motion	motion	NOUN
app01-3400	107	18	,	,	PUNCT
app01-3400	107	19	which	which	PRON
app01-3400	107	20	increases	increase	VERB
app01-3400	107	21	the	the	DET
app01-3400	107	22	risk	risk	NOUN
app01-3400	107	23	of	of	ADP
app01-3400	107	24	falling	fall	VERB
app01-3400	107	25	and	and	CCONJ
app01-3400	107	26	should	should	AUX
app01-3400	107	27	be	be	AUX
app01-3400	107	28	counted	count	VERB
app01-3400	107	29	in	in	ADP
app01-3400	107	30	further	further	ADJ
app01-3400	107	31	path	path	NOUN
app01-3400	107	32	planning	planning	NOUN
app01-3400	107	33	.	.	PUNCT
app01-3400	108	1	•	•	NUM
app01-3400	108	2	damage	damage	NOUN
app01-3400	108	3	risk	risk	NOUN
app01-3400	108	4	–	–	PUNCT
app01-3400	108	5	a	a	DET
app01-3400	108	6	precise	precise	ADJ
app01-3400	108	7	terrain	terrain	NOUN
app01-3400	108	8	analysis	analysis	NOUN
app01-3400	108	9	can	can	AUX
app01-3400	108	10	unveil	unveil	VERB
app01-3400	108	11	risky	risky	ADJ
app01-3400	108	12	areas	area	NOUN
app01-3400	108	13	where	where	SCONJ
app01-3400	108	14	the	the	DET
app01-3400	108	15	robot	robot	NOUN
app01-3400	108	16	can	can	AUX
app01-3400	108	17	be	be	AUX
app01-3400	108	18	damaged	damage	VERB
app01-3400	108	19	(	(	PUNCT
app01-3400	108	20	e.g.	e.g.	ADV
app01-3400	108	21	,	,	PUNCT
app01-3400	108	22	after	after	ADP
app01-3400	108	23	a	a	DET
app01-3400	108	24	small	small	ADJ
app01-3400	108	25	slip	slip	NOUN
app01-3400	108	26	)	)	PUNCT
app01-3400	108	27	,	,	PUNCT
app01-3400	108	28	and	and	CCONJ
app01-3400	108	29	therefore	therefore	ADV
app01-3400	108	30	,	,	PUNCT
app01-3400	108	31	these	these	DET
app01-3400	108	32	areas	area	NOUN
app01-3400	108	33	should	should	AUX
app01-3400	108	34	be	be	AUX
app01-3400	108	35	either	either	CCONJ
app01-3400	108	36	avoided	avoid	VERB
app01-3400	108	37	or	or	CCONJ
app01-3400	108	38	at	at	ADP
app01-3400	108	39	least	least	ADJ
app01-3400	108	40	considered	consider	VERB
app01-3400	108	41	.	.	PUNCT
app01-3400	109	1	36	36	NUM
app01-3400	109	2	vol	vol	NOUN
app01-3400	109	3	.	.	PUNCT
app01-3400	110	1	2/2015	2/2015	NUM
app01-3400	110	2	notice	notice	VERB
app01-3400	110	3	that	that	SCONJ
app01-3400	110	4	the	the	DET
app01-3400	110	5	aforementioned	aforementioned	ADJ
app01-3400	110	6	cost	cost	NOUN
app01-3400	110	7	modalities	modality	NOUN
app01-3400	110	8	are	be	AUX
app01-3400	110	9	dependent	dependent	ADJ
app01-3400	110	10	not	not	PART
app01-3400	110	11	only	only	ADV
app01-3400	110	12	on	on	ADP
app01-3400	110	13	the	the	DET
app01-3400	110	14	terrain	terrain	NOUN
app01-3400	110	15	the	the	DET
app01-3400	110	16	robot	robot	NOUN
app01-3400	110	17	is	be	AUX
app01-3400	110	18	traversing	traverse	VERB
app01-3400	110	19	but	but	CCONJ
app01-3400	110	20	also	also	ADV
app01-3400	110	21	on	on	ADP
app01-3400	110	22	the	the	DET
app01-3400	110	23	gait	gait	NOUN
app01-3400	110	24	that	that	PRON
app01-3400	110	25	is	be	AUX
app01-3400	110	26	used	use	VERB
app01-3400	110	27	to	to	PART
app01-3400	110	28	control	control	VERB
app01-3400	110	29	the	the	DET
app01-3400	110	30	robot	robot	NOUN
app01-3400	110	31	(	(	PUNCT
app01-3400	110	32	except	except	SCONJ
app01-3400	110	33	the	the	DET
app01-3400	110	34	risk	risk	NOUN
app01-3400	110	35	of	of	ADP
app01-3400	110	36	damage	damage	NOUN
app01-3400	110	37	from	from	ADP
app01-3400	110	38	a	a	DET
app01-3400	110	39	prior	prior	ADJ
app01-3400	110	40	terrain	terrain	NOUN
app01-3400	110	41	analysis	analysis	NOUN
app01-3400	110	42	to	to	PART
app01-3400	110	43	avoid	avoid	VERB
app01-3400	110	44	such	such	DET
app01-3400	110	45	a	a	DET
app01-3400	110	46	terrain	terrain	NOUN
app01-3400	110	47	)	)	PUNCT
app01-3400	110	48	.	.	PUNCT
app01-3400	111	1	the	the	DET
app01-3400	111	2	traversability	traversability	NOUN
app01-3400	111	3	cost	cost	NOUN
app01-3400	111	4	is	be	AUX
app01-3400	111	5	usually	usually	ADV
app01-3400	111	6	evaluated	evaluate	VERB
app01-3400	111	7	using	use	VERB
app01-3400	111	8	only	only	ADV
app01-3400	111	9	a	a	DET
app01-3400	111	10	single	single	ADJ
app01-3400	111	11	modality	modality	NOUN
app01-3400	111	12	when	when	SCONJ
app01-3400	111	13	a	a	DET
app01-3400	111	14	robot	robot	NOUN
app01-3400	111	15	is	be	AUX
app01-3400	111	16	performing	perform	VERB
app01-3400	111	17	a	a	DET
app01-3400	111	18	simple	simple	ADJ
app01-3400	111	19	task	task	NOUN
app01-3400	111	20	.	.	PUNCT
app01-3400	112	1	however	however	ADV
app01-3400	112	2	,	,	PUNCT
app01-3400	112	3	if	if	SCONJ
app01-3400	112	4	the	the	DET
app01-3400	112	5	robot	robot	NOUN
app01-3400	112	6	has	have	VERB
app01-3400	112	7	to	to	PART
app01-3400	112	8	perform	perform	VERB
app01-3400	112	9	a	a	DET
app01-3400	112	10	long	long	ADJ
app01-3400	112	11	-	-	PUNCT
app01-3400	112	12	term	term	NOUN
app01-3400	112	13	mission	mission	NOUN
app01-3400	112	14	and	and	CCONJ
app01-3400	112	15	meanwhile	meanwhile	ADV
app01-3400	112	16	learn	learn	VERB
app01-3400	112	17	from	from	ADP
app01-3400	112	18	its	its	PRON
app01-3400	112	19	own	own	ADJ
app01-3400	112	20	experience	experience	NOUN
app01-3400	112	21	to	to	PART
app01-3400	112	22	achieve	achieve	VERB
app01-3400	112	23	better	well	ADJ
app01-3400	112	24	results	result	NOUN
app01-3400	112	25	,	,	PUNCT
app01-3400	112	26	a	a	DET
app01-3400	112	27	single	single	ADJ
app01-3400	112	28	modality	modality	NOUN
app01-3400	112	29	is	be	AUX
app01-3400	112	30	not	not	PART
app01-3400	112	31	enough	enough	ADJ
app01-3400	112	32	and	and	CCONJ
app01-3400	112	33	the	the	DET
app01-3400	112	34	other	other	ADJ
app01-3400	112	35	modalities	modality	NOUN
app01-3400	112	36	have	have	VERB
app01-3400	112	37	to	to	PART
app01-3400	112	38	be	be	AUX
app01-3400	112	39	considered	consider	VERB
app01-3400	112	40	.	.	PUNCT
app01-3400	113	1	a	a	DET
app01-3400	113	2	robot	robot	NOUN
app01-3400	113	3	can	can	AUX
app01-3400	113	4	then	then	ADV
app01-3400	113	5	optimize	optimize	VERB
app01-3400	113	6	its	its	PRON
app01-3400	113	7	decisions	decision	NOUN
app01-3400	113	8	in	in	ADP
app01-3400	113	9	order	order	NOUN
app01-3400	113	10	to	to	PART
app01-3400	113	11	keep	keep	VERB
app01-3400	113	12	a	a	DET
app01-3400	113	13	high	high	ADJ
app01-3400	113	14	performance	performance	NOUN
app01-3400	113	15	in	in	ADP
app01-3400	113	16	a	a	DET
app01-3400	113	17	long	long	ADJ
app01-3400	113	18	period	period	NOUN
app01-3400	113	19	.	.	PUNCT
app01-3400	114	1	4	4	X
app01-3400	114	2	.	.	X
app01-3400	114	3	use	use	NOUN
app01-3400	114	4	case	case	NOUN
app01-3400	114	5	the	the	DET
app01-3400	114	6	proposed	propose	VERB
app01-3400	114	7	discussion	discussion	NOUN
app01-3400	114	8	of	of	ADP
app01-3400	114	9	multiple	multiple	ADJ
app01-3400	114	10	modalities	modality	NOUN
app01-3400	114	11	on	on	ADP
app01-3400	114	12	both	both	CCONJ
app01-3400	114	13	the	the	DET
app01-3400	114	14	terrain	terrain	NOUN
app01-3400	114	15	-	-	PUNCT
app01-3400	114	16	sensor	sensor	NOUN
app01-3400	114	17	interface	interface	NOUN
app01-3400	114	18	and	and	CCONJ
app01-3400	114	19	the	the	DET
app01-3400	114	20	evaluation	evaluation	NOUN
app01-3400	114	21	of	of	ADP
app01-3400	114	22	the	the	DET
app01-3400	114	23	traversability	traversability	NOUN
app01-3400	114	24	cost	cost	NOUN
app01-3400	114	25	can	can	AUX
app01-3400	114	26	be	be	AUX
app01-3400	114	27	applied	apply	VERB
app01-3400	114	28	on	on	ADP
app01-3400	114	29	almost	almost	ADV
app01-3400	114	30	every	every	PRON
app01-3400	114	31	mobile	mobile	ADJ
app01-3400	114	32	robot	robot	NOUN
app01-3400	114	33	.	.	PUNCT
app01-3400	115	1	however	however	ADV
app01-3400	115	2	,	,	PUNCT
app01-3400	115	3	each	each	DET
app01-3400	115	4	robot	robot	NOUN
app01-3400	115	5	has	have	VERB
app01-3400	115	6	different	different	ADJ
app01-3400	115	7	set	set	NOUN
app01-3400	115	8	of	of	ADP
app01-3400	115	9	sensors	sensor	NOUN
app01-3400	115	10	and	and	CCONJ
app01-3400	115	11	thus	thus	ADV
app01-3400	115	12	it	it	PRON
app01-3400	115	13	can	can	AUX
app01-3400	115	14	measure	measure	VERB
app01-3400	115	15	different	different	ADJ
app01-3400	115	16	terrain	terrain	NOUN
app01-3400	115	17	features	feature	NOUN
app01-3400	115	18	and	and	CCONJ
app01-3400	115	19	thus	thus	ADV
app01-3400	115	20	measure	measure	VERB
app01-3400	115	21	different	different	ADJ
app01-3400	115	22	cost	cost	NOUN
app01-3400	115	23	modalities	modality	NOUN
app01-3400	115	24	.	.	PUNCT
app01-3400	116	1	here	here	ADV
app01-3400	116	2	,	,	PUNCT
app01-3400	116	3	we	we	PRON
app01-3400	116	4	present	present	VERB
app01-3400	116	5	an	an	DET
app01-3400	116	6	example	example	NOUN
app01-3400	116	7	—	—	PUNCT
app01-3400	116	8	a	a	DET
app01-3400	116	9	use	use	NOUN
app01-3400	116	10	case	case	NOUN
app01-3400	116	11	—	—	PUNCT
app01-3400	116	12	for	for	ADP
app01-3400	116	13	a	a	DET
app01-3400	116	14	hexapod	hexapod	NOUN
app01-3400	116	15	walking	walking	NOUN
app01-3400	116	16	robot	robot	NOUN
app01-3400	116	17	operating	operate	VERB
app01-3400	116	18	in	in	ADP
app01-3400	116	19	a	a	DET
app01-3400	116	20	rough	rough	ADJ
app01-3400	116	21	terrain	terrain	NOUN
app01-3400	116	22	with	with	ADP
app01-3400	116	23	limited	limited	ADJ
app01-3400	116	24	proprioceptive	proprioceptive	ADJ
app01-3400	116	25	sensory	sensory	ADJ
app01-3400	116	26	data	datum	NOUN
app01-3400	116	27	.	.	PUNCT
app01-3400	117	1	the	the	DET
app01-3400	117	2	platform	platform	NOUN
app01-3400	117	3	,	,	PUNCT
app01-3400	117	4	used	use	VERB
app01-3400	117	5	methodology	methodology	NOUN
app01-3400	117	6	,	,	PUNCT
app01-3400	117	7	and	and	CCONJ
app01-3400	117	8	testing	testing	NOUN
app01-3400	117	9	scenarios	scenario	NOUN
app01-3400	117	10	are	be	AUX
app01-3400	117	11	described	describe	VERB
app01-3400	117	12	in	in	ADP
app01-3400	117	13	the	the	DET
app01-3400	117	14	following	follow	VERB
app01-3400	117	15	parts	part	NOUN
app01-3400	117	16	.	.	PUNCT
app01-3400	118	1	in	in	ADP
app01-3400	118	2	section	section	NOUN
app01-3400	118	3	4.4	4.4	NUM
app01-3400	118	4	,	,	PUNCT
app01-3400	118	5	achieved	achieve	VERB
app01-3400	118	6	results	result	NOUN
app01-3400	118	7	are	be	AUX
app01-3400	118	8	presented	present	VERB
app01-3400	118	9	.	.	PUNCT
app01-3400	119	1	4.1	4.1	NUM
app01-3400	119	2	.	.	PUNCT
app01-3400	119	3	used	use	VERB
app01-3400	119	4	hexapod	hexapod	NOUN
app01-3400	119	5	platform	platform	NOUN
app01-3400	119	6	we	we	PRON
app01-3400	119	7	used	use	VERB
app01-3400	119	8	an	an	DET
app01-3400	119	9	affordable	affordable	ADJ
app01-3400	119	10	platform	platform	NOUN
app01-3400	119	11	phantomx	phantomx	PROPN
app01-3400	119	12	hexapod	hexapod	PROPN
app01-3400	119	13	mark	mark	PROPN
app01-3400	119	14	ii	ii	PROPN
app01-3400	119	15	with	with	ADP
app01-3400	119	16	an	an	DET
app01-3400	119	17	adaptive	adaptive	ADJ
app01-3400	119	18	gait	gait	NOUN
app01-3400	120	1	[	[	X
app01-3400	120	2	22	22	NUM
app01-3400	120	3	]	]	PUNCT
app01-3400	120	4	that	that	PRON
app01-3400	120	5	enables	enable	VERB
app01-3400	120	6	this	this	DET
app01-3400	120	7	robot	robot	NOUN
app01-3400	120	8	to	to	PART
app01-3400	120	9	traverse	traverse	VERB
app01-3400	120	10	uneven	uneven	ADJ
app01-3400	120	11	terrains	terrain	NOUN
app01-3400	120	12	and	and	CCONJ
app01-3400	120	13	negotiate	negotiate	VERB
app01-3400	120	14	small	small	ADJ
app01-3400	120	15	obstacles	obstacle	NOUN
app01-3400	120	16	.	.	PUNCT
app01-3400	121	1	the	the	DET
app01-3400	121	2	gait	gait	NOUN
app01-3400	121	3	is	be	AUX
app01-3400	121	4	a	a	DET
app01-3400	121	5	periodic	periodic	NOUN
app01-3400	121	6	-	-	PUNCT
app01-3400	121	7	based	base	VERB
app01-3400	121	8	(	(	PUNCT
app01-3400	121	9	in	in	ADP
app01-3400	121	10	terms	term	NOUN
app01-3400	121	11	of	of	ADP
app01-3400	121	12	alternating	alternate	VERB
app01-3400	121	13	the	the	DET
app01-3400	121	14	legs	leg	NOUN
app01-3400	121	15	in	in	ADP
app01-3400	121	16	a	a	DET
app01-3400	121	17	given	give	VERB
app01-3400	121	18	order	order	NOUN
app01-3400	121	19	)	)	PUNCT
app01-3400	121	20	but	but	CCONJ
app01-3400	121	21	alters	alter	VERB
app01-3400	121	22	and	and	CCONJ
app01-3400	121	23	reacts	react	VERB
app01-3400	121	24	on	on	ADP
app01-3400	121	25	the	the	DET
app01-3400	121	26	underlying	underlie	VERB
app01-3400	121	27	terrain	terrain	NOUN
app01-3400	121	28	surface	surface	NOUN
app01-3400	121	29	.	.	PUNCT
app01-3400	122	1	the	the	DET
app01-3400	122	2	robot	robot	NOUN
app01-3400	122	3	utilizes	utilize	VERB
app01-3400	122	4	its	its	PRON
app01-3400	122	5	servo	servo	NOUN
app01-3400	122	6	drives	drive	VERB
app01-3400	122	7	feedback	feedback	NOUN
app01-3400	122	8	for	for	ADP
app01-3400	122	9	the	the	DET
app01-3400	122	10	tactile	tactile	ADJ
app01-3400	122	11	sensing	sensing	NOUN
app01-3400	122	12	of	of	ADP
app01-3400	122	13	the	the	DET
app01-3400	122	14	ground	ground	NOUN
app01-3400	122	15	and	and	CCONJ
app01-3400	122	16	servo	servo	NOUN
app01-3400	122	17	drives	drive	NOUN
app01-3400	122	18	are	be	AUX
app01-3400	122	19	also	also	ADV
app01-3400	122	20	the	the	DET
app01-3400	122	21	only	only	ADJ
app01-3400	122	22	sensory	sensory	ADJ
app01-3400	122	23	information	information	NOUN
app01-3400	122	24	the	the	DET
app01-3400	122	25	robot	robot	NOUN
app01-3400	122	26	has	have	AUX
app01-3400	122	27	(	(	PUNCT
app01-3400	122	28	i.e.	i.e.	X
app01-3400	122	29	,	,	PUNCT
app01-3400	122	30	the	the	DET
app01-3400	122	31	robot	robot	NOUN
app01-3400	122	32	is	be	AUX
app01-3400	122	33	technically	technically	ADV
app01-3400	122	34	blind	blind	ADJ
app01-3400	122	35	)	)	PUNCT
app01-3400	122	36	.	.	PUNCT
app01-3400	123	1	4.2	4.2	NUM
app01-3400	123	2	.	.	PUNCT
app01-3400	123	3	methodology	methodology	NOUN
app01-3400	123	4	of	of	ADP
app01-3400	123	5	cost	cost	NOUN
app01-3400	123	6	evaluation	evaluation	NOUN
app01-3400	123	7	following	follow	VERB
app01-3400	123	8	the	the	DET
app01-3400	123	9	set	set	NOUN
app01-3400	123	10	of	of	ADP
app01-3400	123	11	possible	possible	ADJ
app01-3400	123	12	traversability	traversability	NOUN
app01-3400	123	13	cost	cost	NOUN
app01-3400	123	14	modalities	modality	NOUN
app01-3400	123	15	listed	list	VERB
app01-3400	123	16	in	in	ADP
app01-3400	123	17	section	section	NOUN
app01-3400	123	18	3.2	3.2	NUM
app01-3400	123	19	and	and	CCONJ
app01-3400	123	20	the	the	DET
app01-3400	123	21	sensors	sensor	NOUN
app01-3400	123	22	available	available	ADJ
app01-3400	123	23	,	,	PUNCT
app01-3400	123	24	we	we	PRON
app01-3400	123	25	consider	consider	VERB
app01-3400	123	26	only	only	ADV
app01-3400	123	27	the	the	DET
app01-3400	123	28	speed	speed	NOUN
app01-3400	123	29	,	,	PUNCT
app01-3400	123	30	energy	energy	NOUN
app01-3400	123	31	(	(	PUNCT
app01-3400	123	32	power	power	NOUN
app01-3400	123	33	)	)	PUNCT
app01-3400	123	34	consumption	consumption	NOUN
app01-3400	123	35	,	,	PUNCT
app01-3400	123	36	and	and	CCONJ
app01-3400	123	37	maximal	maximal	ADJ
app01-3400	123	38	torque	torque	NOUN
app01-3400	123	39	.	.	PUNCT
app01-3400	124	1	the	the	DET
app01-3400	124	2	speed	speed	NOUN
app01-3400	124	3	is	be	AUX
app01-3400	124	4	given	give	VERB
app01-3400	124	5	from	from	ADP
app01-3400	124	6	the	the	DET
app01-3400	124	7	running	running	ADJ
app01-3400	124	8	time	time	NOUN
app01-3400	124	9	of	of	ADP
app01-3400	124	10	the	the	DET
app01-3400	124	11	experiments	experiment	NOUN
app01-3400	124	12	and	and	CCONJ
app01-3400	124	13	known	know	VERB
app01-3400	124	14	distance	distance	NOUN
app01-3400	124	15	of	of	ADP
app01-3400	124	16	the	the	DET
app01-3400	124	17	traversed	traverse	VERB
app01-3400	124	18	path	path	NOUN
app01-3400	124	19	.	.	PUNCT
app01-3400	125	1	the	the	DET
app01-3400	125	2	energy	energy	NOUN
app01-3400	125	3	consumption	consumption	NOUN
app01-3400	125	4	is	be	AUX
app01-3400	125	5	estimated	estimate	VERB
app01-3400	125	6	very	very	ADV
app01-3400	125	7	roughly	roughly	ADV
app01-3400	125	8	using	use	VERB
app01-3400	125	9	several	several	ADJ
app01-3400	125	10	approximations	approximation	NOUN
app01-3400	125	11	.	.	PUNCT
app01-3400	126	1	firstly	firstly	ADV
app01-3400	126	2	,	,	PUNCT
app01-3400	126	3	the	the	DET
app01-3400	126	4	instantaneous	instantaneous	ADJ
app01-3400	126	5	energy	energy	NOUN
app01-3400	126	6	consumed	consume	VERB
app01-3400	126	7	(	(	PUNCT
app01-3400	126	8	the	the	DET
app01-3400	126	9	power	power	NOUN
app01-3400	126	10	)	)	PUNCT
app01-3400	126	11	is	be	AUX
app01-3400	126	12	proportional	proportional	ADJ
app01-3400	126	13	to	to	ADP
app01-3400	126	14	the	the	DET
app01-3400	126	15	drawn	draw	VERB
app01-3400	126	16	current	current	NOUN
app01-3400	126	17	assuming	assume	VERB
app01-3400	126	18	a	a	DET
app01-3400	126	19	constant	constant	ADJ
app01-3400	126	20	voltage	voltage	NOUN
app01-3400	126	21	(	(	PUNCT
app01-3400	126	22	p	p	X
app01-3400	126	23	∝	∝	PROPN
app01-3400	126	24	i	i	PROPN
app01-3400	126	25	)	)	PUNCT
app01-3400	126	26	.	.	PUNCT
app01-3400	127	1	secondly	secondly	ADV
app01-3400	127	2	,	,	PUNCT
app01-3400	127	3	the	the	DET
app01-3400	127	4	current	current	NOUN
app01-3400	127	5	is	be	AUX
app01-3400	127	6	proportional	proportional	ADJ
app01-3400	127	7	to	to	ADP
app01-3400	127	8	the	the	DET
app01-3400	127	9	torque	torque	NOUN
app01-3400	127	10	of	of	ADP
app01-3400	127	11	the	the	DET
app01-3400	127	12	servomotor	servomotor	NOUN
app01-3400	127	13	(	(	PUNCT
app01-3400	127	14	i	i	PRON
app01-3400	127	15	∝	∝	PROPN
app01-3400	127	16	τ	τ	PROPN
app01-3400	127	17	)	)	PUNCT
app01-3400	127	18	.	.	PUNCT
app01-3400	128	1	thirdly	thirdly	ADV
app01-3400	128	2	,	,	PUNCT
app01-3400	128	3	the	the	DET
app01-3400	128	4	torque	torque	NOUN
app01-3400	128	5	is	be	AUX
app01-3400	128	6	(	(	PUNCT
app01-3400	128	7	according	accord	VERB
app01-3400	128	8	to	to	ADP
app01-3400	128	9	the	the	DET
app01-3400	128	10	servo	servo	NOUN
app01-3400	128	11	manufacturer	manufacturer	NOUN
app01-3400	128	12	)	)	PUNCT
app01-3400	128	13	proportional	proportional	NOUN
app01-3400	128	14	to	to	ADP
app01-3400	128	15	the	the	DET
app01-3400	128	16	servo	servo	NOUN
app01-3400	128	17	drive	drive	NOUN
app01-3400	128	18	controller	controller	NOUN
app01-3400	128	19	position	position	NOUN
app01-3400	128	20	error	error	NOUN
app01-3400	128	21	e	e	NOUN
app01-3400	128	22	,	,	PUNCT
app01-3400	128	23	(	(	PUNCT
app01-3400	128	24	τ	τ	X
app01-3400	128	25	∝	∝	PROPN
app01-3400	128	26	e	e	PROPN
app01-3400	128	27	)	)	PUNCT
app01-3400	128	28	.	.	PUNCT
app01-3400	129	1	therefore	therefore	ADV
app01-3400	129	2	,	,	PUNCT
app01-3400	129	3	the	the	DET
app01-3400	129	4	power	power	NOUN
app01-3400	129	5	consumption	consumption	NOUN
app01-3400	129	6	(	(	PUNCT
app01-3400	129	7	in	in	ADP
app01-3400	129	8	a	a	DET
app01-3400	129	9	small	small	ADJ
app01-3400	129	10	discrete	discrete	ADJ
app01-3400	129	11	time	time	NOUN
app01-3400	129	12	step	step	NOUN
app01-3400	129	13	)	)	PUNCT
app01-3400	129	14	can	can	AUX
app01-3400	129	15	be	be	AUX
app01-3400	129	16	inferred	infer	VERB
app01-3400	129	17	from	from	ADP
app01-3400	129	18	the	the	DET
app01-3400	129	19	sum	sum	NOUN
app01-3400	129	20	of	of	ADP
app01-3400	129	21	absolute	absolute	ADJ
app01-3400	129	22	values	value	NOUN
app01-3400	129	23	of	of	ADP
app01-3400	129	24	servo	servo	NOUN
app01-3400	129	25	position	position	NOUN
app01-3400	129	26	errors	error	NOUN
app01-3400	129	27	p	p	X
app01-3400	129	28	∝	∝	PROPN
app01-3400	129	29	18∑	18∑	PROPN
app01-3400	129	30	i=1	i=1	PROPN
app01-3400	129	31	|ei|	|ei|	PROPN
app01-3400	129	32	.	.	PUNCT
app01-3400	130	1	(	(	PUNCT
app01-3400	130	2	1	1	X
app01-3400	130	3	)	)	PUNCT
app01-3400	130	4	for	for	ADP
app01-3400	130	5	simplicity	simplicity	NOUN
app01-3400	130	6	,	,	PUNCT
app01-3400	130	7	we	we	PRON
app01-3400	130	8	leave	leave	VERB
app01-3400	130	9	the	the	DET
app01-3400	130	10	units	unit	NOUN
app01-3400	130	11	and	and	CCONJ
app01-3400	130	12	scale	scale	NOUN
app01-3400	130	13	because	because	SCONJ
app01-3400	130	14	we	we	PRON
app01-3400	130	15	only	only	ADV
app01-3400	130	16	need	need	VERB
app01-3400	130	17	to	to	PART
app01-3400	130	18	know	know	VERB
app01-3400	130	19	the	the	DET
app01-3400	130	20	relative	relative	ADJ
app01-3400	130	21	changes	change	NOUN
app01-3400	130	22	in	in	ADP
app01-3400	130	23	the	the	DET
app01-3400	130	24	energy	energy	NOUN
app01-3400	130	25	consumption	consumption	NOUN
app01-3400	130	26	under	under	ADP
app01-3400	130	27	different	different	ADJ
app01-3400	130	28	conditions	condition	NOUN
app01-3400	130	29	.	.	PUNCT
app01-3400	131	1	finally	finally	ADV
app01-3400	131	2	,	,	PUNCT
app01-3400	131	3	the	the	DET
app01-3400	131	4	maximal	maximal	ADJ
app01-3400	131	5	torque	torque	NOUN
app01-3400	131	6	is	be	AUX
app01-3400	131	7	computed	compute	VERB
app01-3400	131	8	similarly	similarly	ADV
app01-3400	131	9	as	as	ADP
app01-3400	131	10	τmax	τmax	ADJ
app01-3400	131	11	∝	∝	PROPN
app01-3400	131	12	max	max	PROPN
app01-3400	131	13	e.	e.	PROPN
app01-3400	131	14	(	(	PUNCT
app01-3400	131	15	2	2	NUM
app01-3400	131	16	)	)	PUNCT
app01-3400	131	17	4.3	4.3	NUM
app01-3400	131	18	.	.	PUNCT
app01-3400	132	1	testing	test	VERB
app01-3400	132	2	scenarios	scenario	NOUN
app01-3400	132	3	the	the	DET
app01-3400	132	4	traversability	traversability	NOUN
app01-3400	132	5	cost	cost	NOUN
app01-3400	132	6	evaluation	evaluation	NOUN
app01-3400	132	7	was	be	AUX
app01-3400	132	8	tested	test	VERB
app01-3400	132	9	on	on	ADP
app01-3400	132	10	three	three	NUM
app01-3400	132	11	different	different	ADJ
app01-3400	132	12	terrains	terrain	NOUN
app01-3400	132	13	shown	show	VERB
app01-3400	132	14	in	in	ADP
app01-3400	132	15	fig	fig	NOUN
app01-3400	132	16	.	.	PUNCT
app01-3400	133	1	2	2	X
app01-3400	133	2	.	.	X
app01-3400	133	3	the	the	DET
app01-3400	133	4	office	office	NOUN
app01-3400	133	5	floor	floor	NOUN
app01-3400	133	6	is	be	AUX
app01-3400	133	7	perfectly	perfectly	ADV
app01-3400	133	8	flat	flat	ADJ
app01-3400	133	9	while	while	SCONJ
app01-3400	133	10	the	the	DET
app01-3400	133	11	wooden	wooden	ADJ
app01-3400	133	12	blocks	block	NOUN
app01-3400	133	13	include	include	VERB
app01-3400	133	14	obstacles	obstacle	NOUN
app01-3400	133	15	with	with	ADP
app01-3400	133	16	height	height	NOUN
app01-3400	133	17	about	about	ADV
app01-3400	133	18	5	5	NUM
app01-3400	133	19	cm	cm	NOUN
app01-3400	133	20	(	(	PUNCT
app01-3400	133	21	for	for	ADP
app01-3400	133	22	comparison	comparison	NOUN
app01-3400	133	23	,	,	PUNCT
app01-3400	133	24	the	the	DET
app01-3400	133	25	leg	leg	NOUN
app01-3400	133	26	femur	femur	NOUN
app01-3400	133	27	-	-	PUNCT
app01-3400	133	28	tibia	tibia	NOUN
app01-3400	133	29	and	and	CCONJ
app01-3400	133	30	tibia	tibia	NOUN
app01-3400	133	31	-	-	PUNCT
app01-3400	133	32	foot	foot	NOUN
app01-3400	133	33	links	link	NOUN
app01-3400	133	34	are	be	AUX
app01-3400	133	35	7	7	NUM
app01-3400	133	36	cm	cm	NOUN
app01-3400	133	37	,	,	PUNCT
app01-3400	133	38	resp	resp	NOUN
app01-3400	133	39	.	.	PUNCT
app01-3400	134	1	13	13	NUM
app01-3400	134	2	cm	cm	NOUN
app01-3400	134	3	long	long	ADV
app01-3400	134	4	)	)	PUNCT
app01-3400	134	5	.	.	PUNCT
app01-3400	135	1	the	the	DET
app01-3400	135	2	third	third	ADJ
app01-3400	135	3	terrain	terrain	NOUN
app01-3400	135	4	contains	contain	VERB
app01-3400	135	5	free	free	ADJ
app01-3400	135	6	wooden	wooden	ADJ
app01-3400	135	7	obstacles	obstacle	NOUN
app01-3400	135	8	(	(	PUNCT
app01-3400	135	9	2	2	NUM
app01-3400	135	10	cm	cm	NOUN
app01-3400	135	11	high	high	ADJ
app01-3400	135	12	)	)	PUNCT
app01-3400	135	13	that	that	PRON
app01-3400	135	14	are	be	AUX
app01-3400	135	15	not	not	PART
app01-3400	135	16	fixed	fix	VERB
app01-3400	135	17	to	to	ADP
app01-3400	135	18	the	the	DET
app01-3400	135	19	floor	floor	NOUN
app01-3400	135	20	and	and	CCONJ
app01-3400	135	21	thus	thus	ADV
app01-3400	135	22	can	can	AUX
app01-3400	135	23	be	be	AUX
app01-3400	135	24	shifted	shift	VERB
app01-3400	135	25	during	during	ADP
app01-3400	135	26	the	the	DET
app01-3400	135	27	robot	robot	NOUN
app01-3400	135	28	traversal	traversal	NOUN
app01-3400	135	29	.	.	PUNCT
app01-3400	136	1	the	the	DET
app01-3400	136	2	trajectory	trajectory	NOUN
app01-3400	136	3	during	during	ADP
app01-3400	136	4	experiments	experiment	NOUN
app01-3400	136	5	was	be	AUX
app01-3400	136	6	equally	equally	ADV
app01-3400	136	7	long	long	ADJ
app01-3400	136	8	on	on	ADP
app01-3400	136	9	all	all	PRON
app01-3400	136	10	of	of	ADP
app01-3400	136	11	the	the	DET
app01-3400	136	12	terrains	terrain	NOUN
app01-3400	136	13	and	and	CCONJ
app01-3400	136	14	the	the	DET
app01-3400	136	15	robot	robot	NOUN
app01-3400	136	16	was	be	AUX
app01-3400	136	17	driven	drive	VERB
app01-3400	136	18	by	by	ADP
app01-3400	136	19	adaptive	adaptive	ADJ
app01-3400	136	20	gait	gait	NOUN
app01-3400	137	1	[	[	X
app01-3400	137	2	22	22	NUM
app01-3400	137	3	]	]	PUNCT
app01-3400	137	4	under	under	ADP
app01-3400	137	5	3	3	NUM
app01-3400	137	6	different	different	ADJ
app01-3400	137	7	configurations	configuration	NOUN
app01-3400	137	8	(	(	PUNCT
app01-3400	137	9	pentapod	pentapod	ADJ
app01-3400	137	10	,	,	PUNCT
app01-3400	137	11	tetrapod	tetrapod	NOUN
app01-3400	137	12	and	and	CCONJ
app01-3400	137	13	tripod	tripod	NOUN
app01-3400	137	14	)	)	PUNCT
app01-3400	137	15	.	.	PUNCT
app01-3400	138	1	office	office	NOUN
app01-3400	138	2	floor	floor	NOUN
app01-3400	138	3	movable	movable	ADJ
app01-3400	138	4	obstacles	obstacle	NOUN
app01-3400	138	5	wooden	wooden	ADJ
app01-3400	138	6	blocks	block	NOUN
app01-3400	138	7	figure	figure	NOUN
app01-3400	138	8	2	2	NUM
app01-3400	138	9	.	.	PUNCT
app01-3400	138	10	terrains	terrain	NOUN
app01-3400	138	11	traversable	traversable	ADJ
app01-3400	138	12	by	by	ADP
app01-3400	138	13	the	the	DET
app01-3400	138	14	adaptive	adaptive	ADJ
app01-3400	138	15	gait	gait	NOUN
app01-3400	138	16	4.4	4.4	NUM
app01-3400	138	17	.	.	PUNCT
app01-3400	139	1	results	result	VERB
app01-3400	139	2	the	the	DET
app01-3400	139	3	measured	measure	VERB
app01-3400	139	4	experimental	experimental	ADJ
app01-3400	139	5	results	result	NOUN
app01-3400	139	6	are	be	AUX
app01-3400	139	7	shown	show	VERB
app01-3400	139	8	in	in	ADP
app01-3400	139	9	table	table	NOUN
app01-3400	139	10	1	1	NUM
app01-3400	139	11	.	.	PUNCT
app01-3400	140	1	as	as	SCONJ
app01-3400	140	2	can	can	AUX
app01-3400	140	3	be	be	AUX
app01-3400	140	4	seen	see	VERB
app01-3400	140	5	from	from	ADP
app01-3400	140	6	the	the	DET
app01-3400	140	7	speed	speed	NOUN
app01-3400	140	8	comparison	comparison	NOUN
app01-3400	140	9	,	,	PUNCT
app01-3400	140	10	the	the	DET
app01-3400	140	11	robot	robot	NOUN
app01-3400	140	12	is	be	AUX
app01-3400	140	13	not	not	PART
app01-3400	140	14	slowed	slow	VERB
app01-3400	140	15	by	by	ADP
app01-3400	140	16	obstacles	obstacle	NOUN
app01-3400	140	17	and	and	CCONJ
app01-3400	140	18	hence	hence	ADV
app01-3400	140	19	the	the	DET
app01-3400	140	20	used	use	VERB
app01-3400	140	21	gait	gait	NOUN
app01-3400	140	22	(	(	PUNCT
app01-3400	140	23	in	in	ADP
app01-3400	140	24	each	each	PRON
app01-3400	140	25	of	of	ADP
app01-3400	140	26	the	the	DET
app01-3400	140	27	three	three	NUM
app01-3400	140	28	configurations	configuration	NOUN
app01-3400	140	29	)	)	PUNCT
app01-3400	140	30	is	be	AUX
app01-3400	140	31	very	very	ADV
app01-3400	140	32	adaptive	adaptive	ADJ
app01-3400	140	33	.	.	PUNCT
app01-3400	141	1	nevertheless	nevertheless	ADV
app01-3400	141	2	,	,	PUNCT
app01-3400	141	3	its	its	PRON
app01-3400	141	4	speed	speed	NOUN
app01-3400	141	5	is	be	AUX
app01-3400	141	6	slow	slow	ADJ
app01-3400	141	7	even	even	ADV
app01-3400	141	8	on	on	ADP
app01-3400	141	9	the	the	DET
app01-3400	141	10	flat	flat	ADJ
app01-3400	141	11	office	office	NOUN
app01-3400	141	12	floor	floor	NOUN
app01-3400	141	13	and	and	CCONJ
app01-3400	141	14	there	there	PRON
app01-3400	141	15	can	can	AUX
app01-3400	141	16	surely	surely	ADV
app01-3400	141	17	be	be	AUX
app01-3400	141	18	found	find	VERB
app01-3400	141	19	a	a	DET
app01-3400	141	20	faster	fast	ADJ
app01-3400	141	21	gait	gait	NOUN
app01-3400	141	22	for	for	ADP
app01-3400	141	23	flat	flat	ADJ
app01-3400	141	24	terrains	terrain	NOUN
app01-3400	141	25	which	which	PRON
app01-3400	141	26	,	,	PUNCT
app01-3400	141	27	however	however	ADV
app01-3400	141	28	,	,	PUNCT
app01-3400	141	29	may	may	AUX
app01-3400	141	30	not	not	PART
app01-3400	141	31	be	be	AUX
app01-3400	141	32	able	able	ADJ
app01-3400	141	33	to	to	PART
app01-3400	141	34	traverse	traverse	VERB
app01-3400	141	35	other	other	ADJ
app01-3400	141	36	terrains	terrain	NOUN
app01-3400	141	37	.	.	PUNCT
app01-3400	142	1	terrain	terrain	NOUN
app01-3400	142	2	office	office	NOUN
app01-3400	142	3	movable	movable	ADJ
app01-3400	142	4	blocks	block	NOUN
app01-3400	142	5	gait	gait	VERB
app01-3400	142	6	5/4/3	5/4/3	NUM
app01-3400	142	7	5/4/3	5/4/3	NUM
app01-3400	142	8	5/4/3	5/4/3	NUM
app01-3400	142	9	speed	speed	NOUN
app01-3400	142	10	[	[	X
app01-3400	142	11	mm	mm	X
app01-3400	142	12	/	/	SYM
app01-3400	142	13	s	s	PROPN
app01-3400	142	14	]	]	X
app01-3400	142	15	9/15/22	9/15/22	PROPN
app01-3400	142	16	9/15/22	9/15/22	PROPN
app01-3400	142	17	9/15/22	9/15/22	PROPN
app01-3400	142	18	work	work	NOUN
app01-3400	143	1	[	[	X
app01-3400	143	2	e	e	X
app01-3400	143	3	/	/	SYM
app01-3400	143	4	mm	mm	NOUN
app01-3400	143	5	]	]	X
app01-3400	143	6	45/28/19	45/28/19	PROPN
app01-3400	143	7	52/32/23	52/32/23	NUM
app01-3400	143	8	47/28/21	47/28/21	NUM
app01-3400	143	9	power	power	NOUN
app01-3400	143	10	[	[	X
app01-3400	143	11	e	e	NOUN
app01-3400	143	12	/	/	SYM
app01-3400	143	13	s	s	PART
app01-3400	143	14	]	]	X
app01-3400	144	1	39/42/43	39/42/43	PROPN
app01-3400	144	2	45/48/51	45/48/51	PROPN
app01-3400	144	3	42/43/48	42/43/48	PROPN
app01-3400	144	4	max	max	PROPN
app01-3400	144	5	torque	torque	NOUN
app01-3400	144	6	47/45/44	47/45/44	PROPN
app01-3400	144	7	53/48/65	53/48/65	PROPN
app01-3400	144	8	62/60/66	62/60/66	NUM
app01-3400	144	9	table	table	NOUN
app01-3400	144	10	1	1	NUM
app01-3400	144	11	.	.	PUNCT
app01-3400	144	12	different	different	ADJ
app01-3400	144	13	cost	cost	NOUN
app01-3400	144	14	modalities	modality	NOUN
app01-3400	144	15	experimentally	experimentally	ADV
app01-3400	144	16	evaluated	evaluate	VERB
app01-3400	144	17	on	on	ADP
app01-3400	144	18	different	different	ADJ
app01-3400	144	19	terrains	terrain	NOUN
app01-3400	144	20	for	for	ADP
app01-3400	144	21	the	the	DET
app01-3400	144	22	same	same	ADJ
app01-3400	144	23	traveled	travel	VERB
app01-3400	144	24	distance	distance	NOUN
app01-3400	144	25	using	use	VERB
app01-3400	144	26	adaptive	adaptive	ADJ
app01-3400	144	27	gait	gait	NOUN
app01-3400	144	28	with	with	ADP
app01-3400	144	29	different	different	ADJ
app01-3400	144	30	number	number	NOUN
app01-3400	144	31	of	of	ADP
app01-3400	144	32	legs	leg	NOUN
app01-3400	144	33	in	in	ADP
app01-3400	144	34	support	support	NOUN
app01-3400	144	35	phase	phase	NOUN
app01-3400	144	36	.	.	PUNCT
app01-3400	145	1	three	three	NUM
app01-3400	145	2	values	value	NOUN
app01-3400	145	3	in	in	ADP
app01-3400	145	4	each	each	DET
app01-3400	145	5	cell	cell	NOUN
app01-3400	145	6	stand	stand	NOUN
app01-3400	145	7	for	for	ADP
app01-3400	145	8	pentapod	pentapod	ADJ
app01-3400	145	9	/	/	SYM
app01-3400	145	10	tetrapod	tetrapod	ADJ
app01-3400	145	11	/	/	SYM
app01-3400	145	12	tripod	tripod	NOUN
app01-3400	145	13	gait	gait	NOUN
app01-3400	145	14	.	.	PUNCT
app01-3400	146	1	37	37	NUM
app01-3400	146	2	j.	j.	PROPN
app01-3400	146	3	mrva	mrva	PROPN
app01-3400	146	4	,	,	PUNCT
app01-3400	146	5	m.	m.	PROPN
app01-3400	146	6	stejskal	stejskal	PROPN
app01-3400	146	7	,	,	PUNCT
app01-3400	146	8	j.	j.	PROPN
app01-3400	146	9	faigl	faigl	PROPN
app01-3400	146	10	acta	acta	PROPN
app01-3400	146	11	polytechnica	polytechnica	PROPN
app01-3400	146	12	ctu	ctu	NOUN
app01-3400	146	13	proceedings	proceeding	NOUN
app01-3400	146	14	if	if	SCONJ
app01-3400	146	15	we	we	PRON
app01-3400	146	16	look	look	VERB
app01-3400	146	17	at	at	ADP
app01-3400	146	18	the	the	DET
app01-3400	146	19	traversability	traversability	NOUN
app01-3400	146	20	cost	cost	NOUN
app01-3400	146	21	regarding	regard	VERB
app01-3400	146	22	different	different	ADJ
app01-3400	146	23	modality	modality	NOUN
app01-3400	146	24	—	—	PUNCT
app01-3400	146	25	the	the	DET
app01-3400	146	26	energy	energy	NOUN
app01-3400	146	27	consumption	consumption	NOUN
app01-3400	146	28	,	,	PUNCT
app01-3400	146	29	we	we	PRON
app01-3400	146	30	can	can	AUX
app01-3400	146	31	see	see	VERB
app01-3400	146	32	that	that	PRON
app01-3400	146	33	traversing	traverse	VERB
app01-3400	146	34	the	the	DET
app01-3400	146	35	flat	flat	ADJ
app01-3400	146	36	terrain	terrain	NOUN
app01-3400	146	37	is	be	AUX
app01-3400	146	38	the	the	DET
app01-3400	146	39	least	least	ADJ
app01-3400	146	40	energy	energy	NOUN
app01-3400	146	41	consuming	consuming	NOUN
app01-3400	146	42	.	.	PUNCT
app01-3400	147	1	however	however	ADV
app01-3400	147	2	,	,	PUNCT
app01-3400	147	3	the	the	DET
app01-3400	147	4	other	other	ADJ
app01-3400	147	5	terrains	terrain	NOUN
app01-3400	147	6	have	have	VERB
app01-3400	147	7	no	no	DET
app01-3400	147	8	more	more	ADJ
app01-3400	147	9	than	than	ADP
app01-3400	147	10	about	about	ADP
app01-3400	147	11	10	10	NUM
app01-3400	147	12	%	%	NOUN
app01-3400	147	13	increase	increase	NOUN
app01-3400	147	14	in	in	ADP
app01-3400	147	15	power	power	NOUN
app01-3400	147	16	consumption	consumption	NOUN
app01-3400	147	17	.	.	PUNCT
app01-3400	148	1	traversing	traverse	VERB
app01-3400	148	2	movable	movable	ADJ
app01-3400	148	3	obstacles	obstacle	NOUN
app01-3400	148	4	causes	cause	VERB
app01-3400	148	5	the	the	DET
app01-3400	148	6	highest	high	ADJ
app01-3400	148	7	energy	energy	NOUN
app01-3400	148	8	consumption	consumption	NOUN
app01-3400	148	9	,	,	PUNCT
app01-3400	148	10	which	which	PRON
app01-3400	148	11	can	can	AUX
app01-3400	148	12	be	be	AUX
app01-3400	148	13	explained	explain	VERB
app01-3400	148	14	considering	consider	VERB
app01-3400	148	15	friction	friction	NOUN
app01-3400	148	16	and	and	CCONJ
app01-3400	148	17	leg	leg	NOUN
app01-3400	148	18	configurations	configuration	NOUN
app01-3400	148	19	.	.	PUNCT
app01-3400	149	1	when	when	SCONJ
app01-3400	149	2	a	a	DET
app01-3400	149	3	leg	leg	NOUN
app01-3400	149	4	slide	slide	NOUN
app01-3400	149	5	sideways	sideways	ADV
app01-3400	149	6	on	on	ADP
app01-3400	149	7	a	a	DET
app01-3400	149	8	floating	float	VERB
app01-3400	149	9	obstacle	obstacle	NOUN
app01-3400	149	10	,	,	PUNCT
app01-3400	149	11	a	a	DET
app01-3400	149	12	more	more	ADJ
app01-3400	149	13	momentum	momentum	NOUN
app01-3400	149	14	is	be	AUX
app01-3400	149	15	created	create	VERB
app01-3400	149	16	on	on	ADP
app01-3400	149	17	the	the	DET
app01-3400	149	18	joints	joint	NOUN
app01-3400	149	19	and	and	CCONJ
app01-3400	149	20	thus	thus	ADV
app01-3400	149	21	more	more	ADJ
app01-3400	149	22	torque	torque	NOUN
app01-3400	149	23	is	be	AUX
app01-3400	149	24	needed	need	VERB
app01-3400	149	25	to	to	PART
app01-3400	149	26	counteract	counteract	VERB
app01-3400	149	27	this	this	DET
app01-3400	149	28	behavior	behavior	NOUN
app01-3400	149	29	.	.	PUNCT
app01-3400	150	1	naturally	naturally	ADV
app01-3400	150	2	,	,	PUNCT
app01-3400	150	3	it	it	PRON
app01-3400	150	4	is	be	AUX
app01-3400	150	5	easier	easy	ADJ
app01-3400	150	6	to	to	PART
app01-3400	150	7	walk	walk	VERB
app01-3400	150	8	with	with	ADP
app01-3400	150	9	legs	leg	NOUN
app01-3400	150	10	under	under	ADP
app01-3400	150	11	the	the	DET
app01-3400	150	12	body	body	NOUN
app01-3400	150	13	than	than	SCONJ
app01-3400	150	14	with	with	ADP
app01-3400	150	15	legs	leg	NOUN
app01-3400	150	16	straddled	straddle	VERB
app01-3400	150	17	.	.	PUNCT
app01-3400	151	1	another	another	DET
app01-3400	151	2	perspective	perspective	NOUN
app01-3400	151	3	of	of	ADP
app01-3400	151	4	the	the	DET
app01-3400	151	5	evaluation	evaluation	NOUN
app01-3400	151	6	is	be	AUX
app01-3400	151	7	by	by	ADP
app01-3400	151	8	comparing	compare	VERB
app01-3400	151	9	the	the	DET
app01-3400	151	10	maximal	maximal	ADJ
app01-3400	151	11	torque	torque	NOUN
app01-3400	151	12	in	in	ADP
app01-3400	151	13	the	the	DET
app01-3400	151	14	servo	servo	NOUN
app01-3400	151	15	drives	drive	NOUN
app01-3400	151	16	measured	measure	VERB
app01-3400	151	17	during	during	ADP
app01-3400	151	18	the	the	DET
app01-3400	151	19	robot	robot	NOUN
app01-3400	151	20	motion	motion	NOUN
app01-3400	151	21	.	.	PUNCT
app01-3400	152	1	we	we	PRON
app01-3400	152	2	can	can	AUX
app01-3400	152	3	see	see	VERB
app01-3400	152	4	that	that	SCONJ
app01-3400	152	5	the	the	DET
app01-3400	152	6	highest	high	ADJ
app01-3400	152	7	torque	torque	NOUN
app01-3400	152	8	was	be	AUX
app01-3400	152	9	measured	measure	VERB
app01-3400	152	10	when	when	SCONJ
app01-3400	152	11	traversing	traverse	VERB
app01-3400	152	12	the	the	DET
app01-3400	152	13	blocks	block	NOUN
app01-3400	152	14	.	.	PUNCT
app01-3400	153	1	this	this	PRON
app01-3400	153	2	indicates	indicate	VERB
app01-3400	153	3	that	that	SCONJ
app01-3400	153	4	such	such	DET
app01-3400	153	5	a	a	DET
app01-3400	153	6	terrain	terrain	NOUN
app01-3400	153	7	causes	cause	VERB
app01-3400	153	8	legs	leg	NOUN
app01-3400	153	9	to	to	PART
app01-3400	153	10	be	be	AUX
app01-3400	153	11	occasionally	occasionally	ADV
app01-3400	153	12	more	more	ADV
app01-3400	153	13	loaded	loaded	ADJ
app01-3400	153	14	than	than	ADP
app01-3400	153	15	others	other	NOUN
app01-3400	153	16	(	(	PUNCT
app01-3400	153	17	e.g.	e.g.	ADV
app01-3400	153	18	,	,	PUNCT
app01-3400	153	19	after	after	ADP
app01-3400	153	20	a	a	DET
app01-3400	153	21	small	small	ADJ
app01-3400	153	22	slip	slip	NOUN
app01-3400	153	23	on	on	ADP
app01-3400	153	24	the	the	DET
app01-3400	153	25	edge	edge	NOUN
app01-3400	153	26	of	of	ADP
app01-3400	153	27	a	a	DET
app01-3400	153	28	block	block	NOUN
app01-3400	153	29	)	)	PUNCT
app01-3400	153	30	,	,	PUNCT
app01-3400	153	31	which	which	PRON
app01-3400	153	32	is	be	AUX
app01-3400	153	33	projected	project	VERB
app01-3400	153	34	also	also	ADV
app01-3400	153	35	into	into	ADP
app01-3400	153	36	the	the	DET
app01-3400	153	37	average	average	ADJ
app01-3400	153	38	energy	energy	NOUN
app01-3400	153	39	consumption	consumption	NOUN
app01-3400	153	40	(	(	PUNCT
app01-3400	153	41	which	which	PRON
app01-3400	153	42	is	be	AUX
app01-3400	153	43	based	base	VERB
app01-3400	153	44	on	on	ADP
app01-3400	153	45	torque	torque	NOUN
app01-3400	153	46	values	value	NOUN
app01-3400	153	47	)	)	PUNCT
app01-3400	153	48	.	.	PUNCT
app01-3400	154	1	regarding	regard	VERB
app01-3400	154	2	the	the	DET
app01-3400	154	3	maximal	maximal	ADJ
app01-3400	154	4	torque	torque	NOUN
app01-3400	154	5	values	value	NOUN
app01-3400	154	6	measured	measure	VERB
app01-3400	154	7	,	,	PUNCT
app01-3400	154	8	we	we	PRON
app01-3400	154	9	can	can	AUX
app01-3400	154	10	also	also	ADV
app01-3400	154	11	see	see	VERB
app01-3400	154	12	that	that	SCONJ
app01-3400	154	13	the	the	DET
app01-3400	154	14	tetrapod	tetrapod	PROPN
app01-3400	154	15	gait	gait	NOUN
app01-3400	154	16	suffers	suffer	VERB
app01-3400	154	17	less	less	ADV
app01-3400	154	18	from	from	ADP
app01-3400	154	19	high	high	ADJ
app01-3400	154	20	torque	torque	NOUN
app01-3400	154	21	values	value	NOUN
app01-3400	154	22	(	(	PUNCT
app01-3400	154	23	caused	cause	VERB
app01-3400	154	24	mainly	mainly	ADV
app01-3400	154	25	by	by	ADP
app01-3400	154	26	slippages	slippage	NOUN
app01-3400	154	27	)	)	PUNCT
app01-3400	154	28	,	,	PUNCT
app01-3400	154	29	such	such	ADJ
app01-3400	154	30	that	that	SCONJ
app01-3400	154	31	the	the	DET
app01-3400	154	32	impact	impact	NOUN
app01-3400	154	33	after	after	SCONJ
app01-3400	154	34	a	a	DET
app01-3400	154	35	slippage	slippage	NOUN
app01-3400	154	36	is	be	AUX
app01-3400	154	37	not	not	PART
app01-3400	154	38	as	as	ADV
app01-3400	154	39	big	big	ADJ
app01-3400	154	40	as	as	ADP
app01-3400	154	41	for	for	ADP
app01-3400	154	42	the	the	DET
app01-3400	154	43	pentapod	pentapod	ADJ
app01-3400	154	44	or	or	CCONJ
app01-3400	154	45	tripod	tripod	NOUN
app01-3400	154	46	gait	gait	NOUN
app01-3400	154	47	.	.	PUNCT
app01-3400	155	1	5	5	X
app01-3400	155	2	.	.	X
app01-3400	155	3	conclusion	conclusion	NOUN
app01-3400	155	4	we	we	PRON
app01-3400	155	5	have	have	AUX
app01-3400	155	6	shown	show	VERB
app01-3400	155	7	that	that	SCONJ
app01-3400	155	8	the	the	DET
app01-3400	155	9	evaluation	evaluation	NOUN
app01-3400	155	10	of	of	ADP
app01-3400	155	11	traversability	traversability	NOUN
app01-3400	155	12	cost	cost	NOUN
app01-3400	155	13	,	,	PUNCT
app01-3400	155	14	which	which	PRON
app01-3400	155	15	is	be	AUX
app01-3400	155	16	an	an	DET
app01-3400	155	17	important	important	ADJ
app01-3400	155	18	part	part	NOUN
app01-3400	155	19	needed	need	VERB
app01-3400	155	20	for	for	ADP
app01-3400	155	21	pathplanning	pathplanne	VERB
app01-3400	155	22	,	,	PUNCT
app01-3400	155	23	depends	depend	VERB
app01-3400	155	24	on	on	ADP
app01-3400	155	25	the	the	DET
app01-3400	155	26	modality	modality	NOUN
app01-3400	155	27	of	of	ADP
app01-3400	155	28	sensory	sensory	ADJ
app01-3400	155	29	data	datum	NOUN
app01-3400	155	30	as	as	ADV
app01-3400	155	31	well	well	ADV
app01-3400	155	32	as	as	ADP
app01-3400	155	33	on	on	ADP
app01-3400	155	34	the	the	DET
app01-3400	155	35	modality	modality	NOUN
app01-3400	155	36	of	of	ADP
app01-3400	155	37	the	the	DET
app01-3400	155	38	cost	cost	NOUN
app01-3400	155	39	itself	itself	PRON
app01-3400	155	40	.	.	PUNCT
app01-3400	156	1	each	each	DET
app01-3400	156	2	cost	cost	NOUN
app01-3400	156	3	modality	modality	NOUN
app01-3400	156	4	represents	represent	VERB
app01-3400	156	5	a	a	DET
app01-3400	156	6	different	different	ADJ
app01-3400	156	7	perspective	perspective	NOUN
app01-3400	156	8	of	of	ADP
app01-3400	156	9	evaluating	evaluate	VERB
app01-3400	156	10	the	the	DET
app01-3400	156	11	robot	robot	NOUN
app01-3400	156	12	performance	performance	NOUN
app01-3400	156	13	and	and	CCONJ
app01-3400	156	14	we	we	PRON
app01-3400	156	15	show	show	VERB
app01-3400	156	16	how	how	SCONJ
app01-3400	156	17	sensory	sensory	ADJ
app01-3400	156	18	data	datum	NOUN
app01-3400	156	19	can	can	AUX
app01-3400	156	20	be	be	AUX
app01-3400	156	21	transformed	transform	VERB
app01-3400	156	22	into	into	ADP
app01-3400	156	23	the	the	DET
app01-3400	156	24	traversability	traversability	NOUN
app01-3400	156	25	cost	cost	NOUN
app01-3400	156	26	estimation	estimation	NOUN
app01-3400	156	27	.	.	PUNCT
app01-3400	157	1	while	while	SCONJ
app01-3400	157	2	different	different	ADJ
app01-3400	157	3	situations	situation	NOUN
app01-3400	157	4	need	need	VERB
app01-3400	157	5	different	different	ADJ
app01-3400	157	6	cost	cost	NOUN
app01-3400	157	7	modalities	modality	NOUN
app01-3400	157	8	to	to	PART
app01-3400	157	9	be	be	AUX
app01-3400	157	10	considered	consider	VERB
app01-3400	157	11	,	,	PUNCT
app01-3400	157	12	in	in	ADP
app01-3400	157	13	general	general	ADJ
app01-3400	157	14	,	,	PUNCT
app01-3400	157	15	we	we	PRON
app01-3400	157	16	need	need	VERB
app01-3400	157	17	to	to	PART
app01-3400	157	18	find	find	VERB
app01-3400	157	19	a	a	DET
app01-3400	157	20	trade	trade	NOUN
app01-3400	157	21	-	-	PUNCT
app01-3400	157	22	off	off	NOUN
app01-3400	157	23	between	between	ADP
app01-3400	157	24	them	they	PRON
app01-3400	157	25	to	to	PART
app01-3400	157	26	assess	assess	VERB
app01-3400	157	27	the	the	DET
app01-3400	157	28	cost	cost	NOUN
app01-3400	157	29	more	more	ADV
app01-3400	157	30	appropriately	appropriately	ADV
app01-3400	157	31	.	.	PUNCT
app01-3400	158	1	we	we	PRON
app01-3400	158	2	present	present	VERB
app01-3400	158	3	a	a	DET
app01-3400	158	4	use	use	NOUN
app01-3400	158	5	case	case	NOUN
app01-3400	158	6	of	of	ADP
app01-3400	158	7	the	the	DET
app01-3400	158	8	proposed	propose	VERB
app01-3400	158	9	idea	idea	NOUN
app01-3400	158	10	in	in	ADP
app01-3400	158	11	realexperimental	realexperimental	ADJ
app01-3400	158	12	evaluation	evaluation	NOUN
app01-3400	158	13	with	with	ADP
app01-3400	158	14	a	a	DET
app01-3400	158	15	hexapod	hexapod	NOUN
app01-3400	158	16	walking	walking	NOUN
app01-3400	158	17	robot	robot	NOUN
app01-3400	158	18	traversing	traverse	VERB
app01-3400	158	19	terrains	terrain	NOUN
app01-3400	158	20	with	with	ADP
app01-3400	158	21	various	various	ADJ
app01-3400	158	22	difficulty	difficulty	NOUN
app01-3400	158	23	.	.	PUNCT
app01-3400	159	1	using	use	VERB
app01-3400	159	2	only	only	ADV
app01-3400	159	3	a	a	DET
app01-3400	159	4	single	single	ADJ
app01-3400	159	5	gait	gait	NOUN
app01-3400	159	6	for	for	ADP
app01-3400	159	7	all	all	DET
app01-3400	159	8	terrains	terrain	NOUN
app01-3400	159	9	might	might	AUX
app01-3400	159	10	look	look	VERB
app01-3400	159	11	appropriate	appropriate	ADJ
app01-3400	159	12	according	accord	VERB
app01-3400	159	13	to	to	ADP
app01-3400	159	14	the	the	DET
app01-3400	159	15	measured	measured	ADJ
app01-3400	159	16	speed	speed	NOUN
app01-3400	159	17	,	,	PUNCT
app01-3400	159	18	but	but	CCONJ
app01-3400	159	19	considering	consider	VERB
app01-3400	159	20	another	another	DET
app01-3400	159	21	perspective	perspective	NOUN
app01-3400	159	22	can	can	AUX
app01-3400	159	23	unveil	unveil	VERB
app01-3400	159	24	the	the	DET
app01-3400	159	25	potential	potential	ADJ
app01-3400	159	26	risk	risk	NOUN
app01-3400	159	27	of	of	ADP
app01-3400	159	28	servo	servo	NOUN
app01-3400	159	29	damage	damage	NOUN
app01-3400	159	30	and	and	CCONJ
app01-3400	159	31	switching	switch	VERB
app01-3400	159	32	to	to	ADP
app01-3400	159	33	another	another	DET
app01-3400	159	34	gait	gait	NOUN
app01-3400	159	35	(	(	PUNCT
app01-3400	159	36	slower	slow	ADJ
app01-3400	159	37	,	,	PUNCT
app01-3400	159	38	but	but	CCONJ
app01-3400	159	39	not	not	PART
app01-3400	159	40	the	the	DET
app01-3400	159	41	slowest	slow	ADJ
app01-3400	159	42	)	)	PUNCT
app01-3400	159	43	would	would	AUX
app01-3400	159	44	be	be	AUX
app01-3400	159	45	a	a	DET
app01-3400	159	46	more	more	ADV
app01-3400	159	47	suitable	suitable	ADJ
app01-3400	159	48	solution	solution	NOUN
app01-3400	159	49	.	.	PUNCT
app01-3400	160	1	getting	get	VERB
app01-3400	160	2	more	more	ADJ
app01-3400	160	3	into	into	ADP
app01-3400	160	4	the	the	DET
app01-3400	160	5	problem	problem	NOUN
app01-3400	160	6	of	of	ADP
app01-3400	160	7	traversability	traversability	NOUN
app01-3400	160	8	cost	cost	NOUN
app01-3400	160	9	estimation	estimation	NOUN
app01-3400	160	10	in	in	ADP
app01-3400	160	11	the	the	DET
app01-3400	160	12	future	future	ADJ
app01-3400	160	13	work	work	NOUN
app01-3400	160	14	,	,	PUNCT
app01-3400	160	15	we	we	PRON
app01-3400	160	16	would	would	AUX
app01-3400	160	17	like	like	VERB
app01-3400	160	18	to	to	PART
app01-3400	160	19	take	take	VERB
app01-3400	160	20	into	into	ADP
app01-3400	160	21	account	account	NOUN
app01-3400	160	22	another	another	DET
app01-3400	160	23	modality	modality	NOUN
app01-3400	160	24	—	—	PUNCT
app01-3400	160	25	a	a	DET
app01-3400	160	26	gait	gait	ADJ
app01-3400	160	27	modality	modality	NOUN
app01-3400	160	28	.	.	PUNCT
app01-3400	161	1	combined	combine	VERB
app01-3400	161	2	all	all	DET
app01-3400	161	3	modalities	modality	NOUN
app01-3400	161	4	together	together	ADV
app01-3400	161	5	,	,	PUNCT
app01-3400	161	6	we	we	PRON
app01-3400	161	7	can	can	AUX
app01-3400	161	8	better	well	ADV
app01-3400	161	9	model	model	VERB
app01-3400	161	10	the	the	DET
app01-3400	161	11	perception	perception	NOUN
app01-3400	161	12	of	of	ADP
app01-3400	161	13	the	the	DET
app01-3400	161	14	robot	robot	NOUN
app01-3400	161	15	which	which	PRON
app01-3400	161	16	is	be	AUX
app01-3400	161	17	a	a	DET
app01-3400	161	18	key	key	ADJ
app01-3400	161	19	factor	factor	NOUN
app01-3400	161	20	in	in	ADP
app01-3400	161	21	assessing	assess	VERB
app01-3400	161	22	the	the	DET
app01-3400	161	23	traversability	traversability	NOUN
app01-3400	161	24	costs	cost	NOUN
app01-3400	161	25	to	to	ADP
app01-3400	161	26	different	different	ADJ
app01-3400	161	27	terrain	terrain	NOUN
app01-3400	161	28	areas	area	NOUN
app01-3400	161	29	.	.	PUNCT
app01-3400	162	1	moreover	moreover	ADV
app01-3400	162	2	,	,	PUNCT
app01-3400	162	3	the	the	DET
app01-3400	162	4	perception	perception	NOUN
app01-3400	162	5	can	can	AUX
app01-3400	162	6	be	be	AUX
app01-3400	162	7	connected	connect	VERB
app01-3400	162	8	to	to	ADP
app01-3400	162	9	learning	learn	VERB
app01-3400	162	10	and	and	CCONJ
app01-3400	162	11	mapping	mapping	NOUN
app01-3400	162	12	between	between	ADP
app01-3400	162	13	the	the	DET
app01-3400	162	14	terrain	terrain	NOUN
app01-3400	162	15	features	feature	NOUN
app01-3400	162	16	and	and	CCONJ
app01-3400	162	17	corresponding	correspond	VERB
app01-3400	162	18	costs	cost	NOUN
app01-3400	162	19	can	can	AUX
app01-3400	162	20	be	be	AUX
app01-3400	162	21	found	find	VERB
app01-3400	162	22	automatically	automatically	ADV
app01-3400	162	23	.	.	PUNCT
app01-3400	163	1	acknowledgements	acknowledgement	NOUN
app01-3400	163	2	the	the	DET
app01-3400	163	3	presented	present	VERB
app01-3400	163	4	work	work	NOUN
app01-3400	163	5	has	have	AUX
app01-3400	163	6	been	be	AUX
app01-3400	163	7	supported	support	VERB
app01-3400	163	8	by	by	ADP
app01-3400	163	9	the	the	DET
app01-3400	163	10	czech	czech	PROPN
app01-3400	163	11	science	science	PROPN
app01-3400	163	12	foundation	foundation	PROPN
app01-3400	163	13	(	(	PUNCT
app01-3400	163	14	gačr	gačr	NOUN
app01-3400	163	15	)	)	PUNCT
app01-3400	163	16	under	under	ADP
app01-3400	163	17	research	research	NOUN
app01-3400	163	18	project	project	NOUN
app01-3400	163	19	no	no	NOUN
app01-3400	163	20	.	.	PUNCT
app01-3400	163	21	1509600y	1509600y	NUM
app01-3400	163	22	.	.	PUNCT
app01-3400	164	1	the	the	DET
app01-3400	164	2	work	work	NOUN
app01-3400	164	3	of	of	ADP
app01-3400	164	4	jakub	jakub	PROPN
app01-3400	164	5	mrva	mrva	PROPN
app01-3400	164	6	has	have	AUX
app01-3400	164	7	been	be	AUX
app01-3400	164	8	also	also	ADV
app01-3400	164	9	supported	support	VERB
app01-3400	164	10	by	by	ADP
app01-3400	164	11	the	the	DET
app01-3400	164	12	grant	grant	PROPN
app01-3400	164	13	agency	agency	NOUN
app01-3400	164	14	of	of	ADP
app01-3400	164	15	the	the	DET
app01-3400	164	16	czech	czech	PROPN
app01-3400	164	17	technical	technical	PROPN
app01-3400	164	18	university	university	PROPN
app01-3400	164	19	in	in	ADP
app01-3400	164	20	prague	prague	PROPN
app01-3400	164	21	,	,	PUNCT
app01-3400	164	22	grant	grant	VERB
app01-3400	164	23	no	no	INTJ
app01-3400	164	24	.	.	PUNCT
app01-3400	165	1	sgs15/208	sgs15/208	ADJ
app01-3400	165	2	/	/	SYM
app01-3400	165	3	ohk3/3t/13	ohk3/3t/13	ADJ
app01-3400	165	4	references	reference	NOUN
app01-3400	165	5	[	[	X
app01-3400	165	6	1	1	NUM
app01-3400	165	7	]	]	PUNCT
app01-3400	165	8	p.	p.	NOUN
app01-3400	165	9	papadakis	papadakis	PROPN
app01-3400	165	10	.	.	PUNCT
app01-3400	166	1	terrain	terrain	NOUN
app01-3400	166	2	traversability	traversability	NOUN
app01-3400	166	3	analysis	analysis	NOUN
app01-3400	166	4	methods	method	NOUN
app01-3400	166	5	for	for	ADP
app01-3400	166	6	unmanned	unmanned	ADJ
app01-3400	166	7	ground	ground	NOUN
app01-3400	166	8	vehicles	vehicle	NOUN
app01-3400	166	9	:	:	PUNCT
app01-3400	166	10	a	a	DET
app01-3400	166	11	survey	survey	NOUN
app01-3400	166	12	.	.	PUNCT
app01-3400	167	1	engineering	engineering	NOUN
app01-3400	167	2	applications	application	NOUN
app01-3400	167	3	of	of	ADP
app01-3400	167	4	artificial	artificial	ADJ
app01-3400	167	5	intelligence	intelligence	NOUN
app01-3400	167	6	26(4):1373–1385	26(4):1373–1385	NUM
app01-3400	167	7	,	,	PUNCT
app01-3400	167	8	2013	2013	NUM
app01-3400	167	9	.	.	PUNCT
app01-3400	168	1	doi:10.1016	doi:10.1016	PROPN
app01-3400	168	2	/	/	SYM
app01-3400	168	3	j.engappai.2013.01.006	j.engappai.2013.01.006	PROPN
app01-3400	168	4	.	.	PUNCT
app01-3400	169	1	[	[	X
app01-3400	169	2	2	2	NUM
app01-3400	169	3	]	]	PUNCT
app01-3400	169	4	l.	l.	PROPN
app01-3400	169	5	d.	d.	PROPN
app01-3400	169	6	jackel	jackel	PROPN
app01-3400	169	7	,	,	PUNCT
app01-3400	169	8	e.	e.	PROPN
app01-3400	169	9	krotkov	krotkov	PROPN
app01-3400	169	10	,	,	PUNCT
app01-3400	169	11	m.	m.	NOUN
app01-3400	169	12	perschbacher	perschbacher	NOUN
app01-3400	169	13	,	,	PUNCT
app01-3400	169	14	et	et	PROPN
app01-3400	169	15	al	al	PROPN
app01-3400	169	16	.	.	PUNCT
app01-3400	170	1	the	the	DET
app01-3400	170	2	darpa	darpa	PROPN
app01-3400	170	3	lagr	lagr	PROPN
app01-3400	170	4	program	program	NOUN
app01-3400	170	5	:	:	PUNCT
app01-3400	170	6	goals	goal	NOUN
app01-3400	170	7	,	,	PUNCT
app01-3400	170	8	challenges	challenge	NOUN
app01-3400	170	9	,	,	PUNCT
app01-3400	170	10	methodology	methodology	NOUN
app01-3400	170	11	,	,	PUNCT
app01-3400	170	12	and	and	CCONJ
app01-3400	170	13	phase	phase	NOUN
app01-3400	170	14	i	i	PRON
app01-3400	170	15	results	result	VERB
app01-3400	170	16	.	.	PUNCT
app01-3400	171	1	journal	journal	NOUN
app01-3400	171	2	of	of	ADP
app01-3400	171	3	field	field	NOUN
app01-3400	171	4	robotics	robotic	NOUN
app01-3400	171	5	23(11	23(11	NUM
app01-3400	171	6	-	-	SYM
app01-3400	171	7	12):945–973	12):945–973	NUM
app01-3400	171	8	,	,	PUNCT
app01-3400	171	9	2006	2006	NUM
app01-3400	171	10	.	.	PUNCT
app01-3400	172	1	doi:10.1002	doi:10.1002	NOUN
app01-3400	172	2	/	/	SYM
app01-3400	172	3	rob.20161	rob.20161	NOUN
app01-3400	172	4	.	.	PUNCT
app01-3400	173	1	[	[	X
app01-3400	173	2	3	3	NUM
app01-3400	173	3	]	]	PUNCT
app01-3400	173	4	m.	m.	NOUN
app01-3400	173	5	bajracharya	bajracharya	NOUN
app01-3400	173	6	,	,	PUNCT
app01-3400	173	7	a.	a.	PROPN
app01-3400	173	8	howard	howard	PROPN
app01-3400	173	9	,	,	PUNCT
app01-3400	173	10	l.	l.	PROPN
app01-3400	173	11	h.	h.	PROPN
app01-3400	173	12	matthies	matthies	PROPN
app01-3400	173	13	,	,	PUNCT
app01-3400	173	14	et	et	PROPN
app01-3400	173	15	al	al	PROPN
app01-3400	173	16	.	.	PROPN
app01-3400	174	1	autonomous	autonomous	ADJ
app01-3400	174	2	off	off	ADP
app01-3400	174	3	-	-	PUNCT
app01-3400	174	4	road	road	NOUN
app01-3400	174	5	navigation	navigation	NOUN
app01-3400	174	6	with	with	ADP
app01-3400	174	7	end	end	NOUN
app01-3400	174	8	-	-	PUNCT
app01-3400	174	9	to	to	ADP
app01-3400	174	10	-	-	PUNCT
app01-3400	174	11	end	end	NOUN
app01-3400	174	12	learning	learning	NOUN
app01-3400	174	13	for	for	ADP
app01-3400	174	14	the	the	DET
app01-3400	174	15	lagr	lagr	PROPN
app01-3400	174	16	program	program	NOUN
app01-3400	174	17	.	.	PUNCT
app01-3400	175	1	journal	journal	PROPN
app01-3400	175	2	of	of	ADP
app01-3400	175	3	field	field	NOUN
app01-3400	175	4	robotics	robotic	NOUN
app01-3400	175	5	26(1):3–25	26(1):3–25	ADP
app01-3400	175	6	,	,	PUNCT
app01-3400	175	7	2009	2009	NUM
app01-3400	175	8	.	.	PUNCT
app01-3400	176	1	doi:10.1002	doi:10.1002	NOUN
app01-3400	176	2	/	/	SYM
app01-3400	176	3	rob.20269	rob.20269	NOUN
app01-3400	176	4	.	.	PUNCT
app01-3400	177	1	[	[	X
app01-3400	177	2	4	4	X
app01-3400	177	3	]	]	X
app01-3400	177	4	m.	m.	NOUN
app01-3400	177	5	shneier	shneier	PROPN
app01-3400	177	6	,	,	PUNCT
app01-3400	177	7	t.	t.	PROPN
app01-3400	177	8	chang	chang	PROPN
app01-3400	177	9	,	,	PUNCT
app01-3400	177	10	t.	t.	PROPN
app01-3400	177	11	hong	hong	PROPN
app01-3400	177	12	,	,	PUNCT
app01-3400	177	13	et	et	PROPN
app01-3400	177	14	al	al	PROPN
app01-3400	177	15	.	.	PUNCT
app01-3400	178	1	learning	learn	VERB
app01-3400	178	2	traversability	traversability	NOUN
app01-3400	178	3	models	model	NOUN
app01-3400	178	4	for	for	ADP
app01-3400	178	5	autonomous	autonomous	ADJ
app01-3400	178	6	mobile	mobile	ADJ
app01-3400	178	7	vehicles	vehicle	NOUN
app01-3400	178	8	.	.	PUNCT
app01-3400	179	1	autonomous	autonomous	ADJ
app01-3400	179	2	robots	robot	NOUN
app01-3400	179	3	24(1):69–86	24(1):69–86	NUM
app01-3400	179	4	,	,	PUNCT
app01-3400	179	5	2008	2008	NUM
app01-3400	179	6	.	.	PUNCT
app01-3400	180	1	doi:10.1007	doi:10.1007	VERB
app01-3400	180	2	/	/	SYM
app01-3400	180	3	s10514	s10514	NOUN
app01-3400	180	4	-	-	PUNCT
app01-3400	180	5	007	007	NUM
app01-3400	180	6	-	-	PUNCT
app01-3400	180	7	9063	9063	NUM
app01-3400	180	8	-	-	SYM
app01-3400	180	9	6	6	NUM
app01-3400	180	10	.	.	PUNCT
app01-3400	181	1	[	[	X
app01-3400	181	2	5	5	X
app01-3400	181	3	]	]	X
app01-3400	181	4	d.	d.	PROPN
app01-3400	181	5	kim	kim	PROPN
app01-3400	181	6	,	,	PUNCT
app01-3400	181	7	j.	j.	PROPN
app01-3400	181	8	sun	sun	PROPN
app01-3400	181	9	,	,	PUNCT
app01-3400	181	10	s.	s.	PROPN
app01-3400	181	11	m.	m.	PROPN
app01-3400	182	1	oh	oh	INTJ
app01-3400	182	2	,	,	PUNCT
app01-3400	182	3	et	et	PROPN
app01-3400	182	4	al	al	PROPN
app01-3400	182	5	.	.	PROPN
app01-3400	183	1	traversability	traversability	PROPN
app01-3400	183	2	classification	classification	NOUN
app01-3400	183	3	using	use	VERB
app01-3400	183	4	unsupervised	unsupervised	ADJ
app01-3400	183	5	on	on	ADP
app01-3400	183	6	-	-	PUNCT
app01-3400	183	7	line	line	NOUN
app01-3400	183	8	visual	visual	ADJ
app01-3400	183	9	learning	learning	NOUN
app01-3400	183	10	for	for	ADP
app01-3400	183	11	outdoor	outdoor	ADJ
app01-3400	183	12	robot	robot	NOUN
app01-3400	183	13	navigation	navigation	NOUN
app01-3400	183	14	.	.	PUNCT
app01-3400	184	1	in	in	ADP
app01-3400	184	2	ieee	ieee	PROPN
app01-3400	184	3	international	international	ADJ
app01-3400	184	4	conference	conference	NOUN
app01-3400	184	5	on	on	ADP
app01-3400	184	6	robotics	robotic	NOUN
app01-3400	184	7	and	and	CCONJ
app01-3400	184	8	automation	automation	NOUN
app01-3400	184	9	(	(	PUNCT
app01-3400	184	10	icra	icra	PROPN
app01-3400	184	11	)	)	PUNCT
app01-3400	184	12	,	,	PUNCT
app01-3400	184	13	pp	pp	ADP
app01-3400	184	14	.	.	PUNCT
app01-3400	185	1	518–525	518–525	NUM
app01-3400	185	2	.	.	PUNCT
app01-3400	185	3	2006	2006	NUM
app01-3400	185	4	.	.	PUNCT
app01-3400	186	1	doi:10.1109	doi:10.1109	VERB
app01-3400	186	2	/	/	SYM
app01-3400	186	3	robot.2006.1641763	robot.2006.1641763	PROPN
app01-3400	186	4	.	.	PUNCT
app01-3400	187	1	[	[	X
app01-3400	187	2	6	6	NUM
app01-3400	187	3	]	]	PUNCT
app01-3400	187	4	d.	d.	PROPN
app01-3400	187	5	belter	belter	PROPN
app01-3400	187	6	,	,	PUNCT
app01-3400	187	7	p.	p.	NOUN
app01-3400	187	8	skrzypczyński	skrzypczyński	NOUN
app01-3400	187	9	.	.	PUNCT
app01-3400	188	1	rough	rough	ADJ
app01-3400	188	2	terrain	terrain	NOUN
app01-3400	188	3	mapping	mapping	NOUN
app01-3400	188	4	and	and	CCONJ
app01-3400	188	5	classification	classification	NOUN
app01-3400	188	6	for	for	ADP
app01-3400	188	7	foothold	foothold	ADJ
app01-3400	188	8	selection	selection	NOUN
app01-3400	188	9	in	in	ADP
app01-3400	188	10	a	a	DET
app01-3400	188	11	walking	walking	NOUN
app01-3400	188	12	robot	robot	NOUN
app01-3400	188	13	.	.	PUNCT
app01-3400	189	1	journal	journal	PROPN
app01-3400	189	2	of	of	ADP
app01-3400	189	3	field	field	NOUN
app01-3400	189	4	robotics	robotic	NOUN
app01-3400	189	5	28(4):497–528	28(4):497–528	NUM
app01-3400	189	6	,	,	PUNCT
app01-3400	189	7	2011	2011	NUM
app01-3400	189	8	.	.	PUNCT
app01-3400	190	1	doi:10.1002	doi:10.1002	NOUN
app01-3400	190	2	/	/	SYM
app01-3400	190	3	rob.20397	rob.20397	NOUN
app01-3400	190	4	.	.	PUNCT
app01-3400	191	1	[	[	X
app01-3400	191	2	7	7	X
app01-3400	191	3	]	]	X
app01-3400	191	4	d.	d.	PROPN
app01-3400	191	5	belter	belter	PROPN
app01-3400	191	6	,	,	PUNCT
app01-3400	191	7	p.	p.	PROPN
app01-3400	191	8	łabęcki	łabęcki	PROPN
app01-3400	191	9	,	,	PUNCT
app01-3400	191	10	p.	p.	NOUN
app01-3400	191	11	skrzypczyński	skrzypczyński	NOUN
app01-3400	191	12	.	.	PUNCT
app01-3400	192	1	an	an	DET
app01-3400	192	2	exploration	exploration	NOUN
app01-3400	192	3	-	-	PUNCT
app01-3400	192	4	based	base	VERB
app01-3400	192	5	approach	approach	NOUN
app01-3400	192	6	to	to	ADP
app01-3400	192	7	terrain	terrain	NOUN
app01-3400	192	8	traversability	traversability	NOUN
app01-3400	192	9	assessment	assessment	NOUN
app01-3400	192	10	for	for	ADP
app01-3400	192	11	a	a	DET
app01-3400	192	12	walking	walking	NOUN
app01-3400	192	13	robot	robot	NOUN
app01-3400	192	14	.	.	PUNCT
app01-3400	193	1	in	in	ADP
app01-3400	193	2	ieee	ieee	PROPN
app01-3400	193	3	international	international	ADJ
app01-3400	193	4	symposium	symposium	NOUN
app01-3400	193	5	on	on	ADP
app01-3400	193	6	safety	safety	NOUN
app01-3400	193	7	,	,	PUNCT
app01-3400	193	8	security	security	NOUN
app01-3400	193	9	,	,	PUNCT
app01-3400	193	10	and	and	CCONJ
app01-3400	193	11	rescue	rescue	NOUN
app01-3400	193	12	robotics	robotic	NOUN
app01-3400	193	13	(	(	PUNCT
app01-3400	193	14	ssrr	ssrr	NOUN
app01-3400	193	15	)	)	PUNCT
app01-3400	193	16	.	.	PUNCT
app01-3400	194	1	2013	2013	NUM
app01-3400	194	2	.	.	PUNCT
app01-3400	195	1	doi:10.1109	doi:10.1109	VERB
app01-3400	195	2	/	/	SYM
app01-3400	195	3	ssrr.2013.6719331	ssrr.2013.6719331	PROPN
app01-3400	195	4	.	.	PUNCT
app01-3400	196	1	[	[	X
app01-3400	196	2	8	8	NUM
app01-3400	196	3	]	]	PUNCT
app01-3400	196	4	a.	a.	NOUN
app01-3400	196	5	howard	howard	PROPN
app01-3400	196	6	,	,	PUNCT
app01-3400	196	7	m.	m.	NOUN
app01-3400	196	8	turmon	turmon	PROPN
app01-3400	196	9	,	,	PUNCT
app01-3400	196	10	l.	l.	PROPN
app01-3400	196	11	matthies	matthies	PROPN
app01-3400	196	12	,	,	PUNCT
app01-3400	196	13	et	et	PROPN
app01-3400	196	14	al	al	PROPN
app01-3400	196	15	.	.	PROPN
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app01-3400	197	2	learned	learn	VERB
app01-3400	197	3	traversability	traversability	NOUN
app01-3400	197	4	for	for	ADP
app01-3400	197	5	robot	robot	NOUN
app01-3400	197	6	navigation	navigation	NOUN
app01-3400	197	7	:	:	PUNCT
app01-3400	197	8	from	from	ADP
app01-3400	197	9	underfoot	underfoot	NOUN
app01-3400	197	10	to	to	ADP
app01-3400	197	11	the	the	DET
app01-3400	197	12	far	far	ADJ
app01-3400	197	13	field	field	NOUN
app01-3400	197	14	.	.	PUNCT
app01-3400	198	1	journal	journal	NOUN
app01-3400	198	2	of	of	ADP
app01-3400	198	3	field	field	NOUN
app01-3400	198	4	robotics	robotic	NOUN
app01-3400	198	5	23(11	23(11	NUM
app01-3400	198	6	-	-	SYM
app01-3400	198	7	12):1005–1017	12):1005–1017	NUM
app01-3400	198	8	,	,	PUNCT
app01-3400	198	9	2006	2006	NUM
app01-3400	198	10	.	.	PUNCT
app01-3400	199	1	doi:10.1002	doi:10.1002	NOUN
app01-3400	199	2	/	/	SYM
app01-3400	199	3	rob.20168	rob.20168	NOUN
app01-3400	199	4	.	.	PUNCT
app01-3400	200	1	[	[	X
app01-3400	200	2	9	9	NUM
app01-3400	200	3	]	]	X
app01-3400	200	4	d.	d.	PROPN
app01-3400	200	5	sadhukhan	sadhukhan	PROPN
app01-3400	200	6	,	,	PUNCT
app01-3400	200	7	c.	c.	PROPN
app01-3400	200	8	moore	moore	PROPN
app01-3400	200	9	,	,	PUNCT
app01-3400	200	10	e.	e.	PROPN
app01-3400	200	11	collins	collins	PROPN
app01-3400	200	12	.	.	PUNCT
app01-3400	200	13	terrain	terrain	NOUN
app01-3400	200	14	estimation	estimation	NOUN
app01-3400	200	15	using	use	VERB
app01-3400	200	16	internal	internal	ADJ
app01-3400	200	17	sensors	sensor	NOUN
app01-3400	200	18	.	.	PUNCT
app01-3400	201	1	in	in	ADP
app01-3400	201	2	proceedings	proceeding	NOUN
app01-3400	201	3	of	of	ADP
app01-3400	201	4	the	the	DET
app01-3400	201	5	10th	10th	ADJ
app01-3400	201	6	iasted	iasted	ADJ
app01-3400	201	7	international	international	ADJ
app01-3400	201	8	conference	conference	NOUN
app01-3400	201	9	on	on	ADP
app01-3400	201	10	robotics	robotic	NOUN
app01-3400	201	11	and	and	CCONJ
app01-3400	201	12	applications	application	NOUN
app01-3400	201	13	(	(	PUNCT
app01-3400	201	14	ra	ra	NOUN
app01-3400	201	15	)	)	PUNCT
app01-3400	201	16	.	.	PUNCT
app01-3400	202	1	2004	2004	NUM
app01-3400	202	2	.	.	PUNCT
app01-3400	203	1	[	[	X
app01-3400	203	2	10	10	NUM
app01-3400	203	3	]	]	X
app01-3400	203	4	b.	b.	PROPN
app01-3400	203	5	park	park	PROPN
app01-3400	203	6	,	,	PUNCT
app01-3400	203	7	j.	j.	PROPN
app01-3400	203	8	kim	kim	PROPN
app01-3400	203	9	,	,	PUNCT
app01-3400	203	10	j.	j.	PROPN
app01-3400	203	11	lee	lee	PROPN
app01-3400	203	12	.	.	PROPN
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app01-3400	203	15	extraction	extraction	NOUN
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app01-3400	203	19	mobile	mobile	ADJ
app01-3400	203	20	robots	robot	NOUN
app01-3400	203	21	utilizing	utilize	VERB
app01-3400	203	22	contact	contact	NOUN
app01-3400	203	23	sensors	sensor	NOUN
app01-3400	203	24	on	on	ADP
app01-3400	203	25	rough	rough	ADJ
app01-3400	203	26	terrain	terrain	NOUN
app01-3400	203	27	.	.	PUNCT
app01-3400	204	1	procedia	procedia	NOUN
app01-3400	204	2	engineering	engineering	PROPN
app01-3400	204	3	41:846–853	41:846–853	PROPN
app01-3400	204	4	,	,	PUNCT
app01-3400	204	5	2012	2012	NUM
app01-3400	204	6	.	.	PUNCT
app01-3400	205	1	doi:10.1016	doi:10.1016	PROPN
app01-3400	205	2	/	/	SYM
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app01-3400	205	4	.	.	PUNCT
app01-3400	206	1	[	[	X
app01-3400	206	2	11	11	NUM
app01-3400	206	3	]	]	X
app01-3400	206	4	g.	g.	PROPN
app01-3400	206	5	best	well	ADV
app01-3400	206	6	,	,	PUNCT
app01-3400	206	7	p.	p.	PROPN
app01-3400	206	8	moghadam	moghadam	PROPN
app01-3400	206	9	,	,	PUNCT
app01-3400	206	10	n.	n.	PROPN
app01-3400	206	11	kottege	kottege	PROPN
app01-3400	206	12	,	,	PUNCT
app01-3400	206	13	l.	l.	PROPN
app01-3400	206	14	kleeman	kleeman	PROPN
app01-3400	206	15	.	.	PUNCT
app01-3400	207	1	terrain	terrain	NOUN
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app01-3400	207	6	robot	robot	NOUN
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app01-3400	208	1	in	in	ADP
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app01-3400	208	6	conference	conference	NOUN
app01-3400	208	7	on	on	ADP
app01-3400	208	8	robotics	robotic	NOUN
app01-3400	208	9	and	and	CCONJ
app01-3400	208	10	automation	automation	NOUN
app01-3400	208	11	(	(	PUNCT
app01-3400	208	12	acra	acra	PROPN
app01-3400	208	13	)	)	PUNCT
app01-3400	208	14	.	.	PUNCT
app01-3400	209	1	2013	2013	NUM
app01-3400	209	2	.	.	PUNCT
app01-3400	210	1	[	[	X
app01-3400	210	2	12	12	NUM
app01-3400	210	3	]	]	PUNCT
app01-3400	210	4	j.	j.	PROPN
app01-3400	210	5	mrva	mrva	PROPN
app01-3400	210	6	,	,	PUNCT
app01-3400	210	7	j.	j.	PROPN
app01-3400	210	8	faigl	faigl	PROPN
app01-3400	210	9	.	.	PUNCT
app01-3400	211	1	feature	feature	NOUN
app01-3400	211	2	extraction	extraction	NOUN
app01-3400	211	3	for	for	ADP
app01-3400	211	4	terrain	terrain	NOUN
app01-3400	211	5	classification	classification	NOUN
app01-3400	211	6	with	with	ADP
app01-3400	211	7	crawling	crawl	VERB
app01-3400	211	8	robots	robot	NOUN
app01-3400	211	9	.	.	PUNCT
app01-3400	212	1	in	in	ADP
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app01-3400	212	7	on	on	ADP
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app01-3400	212	10	–	–	PUNCT
app01-3400	212	11	applications	application	NOUN
app01-3400	212	12	and	and	CCONJ
app01-3400	212	13	theory	theory	NOUN
app01-3400	212	14	(	(	PUNCT
app01-3400	212	15	itat	itat	ADJ
app01-3400	212	16	)	)	PUNCT
app01-3400	212	17	.	.	PUNCT
app01-3400	213	1	2015	2015	NUM
app01-3400	213	2	.	.	PUNCT
app01-3400	214	1	[	[	X
app01-3400	214	2	13	13	NUM
app01-3400	214	3	]	]	X
app01-3400	214	4	e.	e.	PROPN
app01-3400	214	5	krotkov	krotkov	PROPN
app01-3400	214	6	.	.	PUNCT
app01-3400	215	1	active	active	ADJ
app01-3400	215	2	perception	perception	NOUN
app01-3400	215	3	for	for	ADP
app01-3400	215	4	legged	legged	ADJ
app01-3400	215	5	locomotion	locomotion	NOUN
app01-3400	215	6	:	:	PUNCT
app01-3400	215	7	every	every	DET
app01-3400	215	8	step	step	NOUN
app01-3400	215	9	is	be	AUX
app01-3400	215	10	an	an	DET
app01-3400	215	11	experiment	experiment	NOUN
app01-3400	215	12	.	.	PUNCT
app01-3400	216	1	in	in	ADP
app01-3400	216	2	proceedings	proceeding	NOUN
app01-3400	216	3	of	of	ADP
app01-3400	216	4	the	the	DET
app01-3400	216	5	5th	5th	ADJ
app01-3400	216	6	ieee	ieee	NOUN
app01-3400	216	7	international	international	ADJ
app01-3400	216	8	symposium	symposium	NOUN
app01-3400	216	9	on	on	ADP
app01-3400	216	10	intelligent	intelligent	ADJ
app01-3400	216	11	control	control	NOUN
app01-3400	216	12	,	,	PUNCT
app01-3400	216	13	pp	pp	ADJ
app01-3400	216	14	.	.	PUNCT
app01-3400	217	1	227–232	227–232	NUM
app01-3400	217	2	.	.	NOUN
app01-3400	217	3	1990	1990	NUM
app01-3400	217	4	.	.	PUNCT
app01-3400	218	1	38	38	NUM
app01-3400	218	2	http://dx.doi.org/10.1016/j.engappai.2013.01.006	http://dx.doi.org/10.1016/j.engappai.2013.01.006	PROPN
app01-3400	218	3	http://dx.doi.org/10.1002/rob.20161	http://dx.doi.org/10.1002/rob.20161	PROPN
app01-3400	218	4	http://dx.doi.org/10.1002/rob.20269	http://dx.doi.org/10.1002/rob.20269	PROPN
app01-3400	218	5	http://dx.doi.org/10.1007/s10514-007-9063-6	http://dx.doi.org/10.1007/s10514-007-9063-6	X
app01-3400	218	6	http://dx.doi.org/10.1109/robot.2006.1641763	http://dx.doi.org/10.1109/robot.2006.1641763	PROPN
app01-3400	218	7	http://dx.doi.org/10.1002/rob.20397	http://dx.doi.org/10.1002/rob.20397	PROPN
app01-3400	218	8	http://dx.doi.org/10.1109/ssrr.2013.6719331	http://dx.doi.org/10.1109/ssrr.2013.6719331	PROPN
app01-3400	218	9	http://dx.doi.org/10.1002/rob.20168	http://dx.doi.org/10.1002/rob.20168	NOUN
app01-3400	218	10	http://dx.doi.org/10.1016/j.proeng.2012.07.253	http://dx.doi.org/10.1016/j.proeng.2012.07.253	PROPN
app01-3400	218	11	vol	vol	NOUN
app01-3400	218	12	.	.	PUNCT
app01-3400	219	1	2/2015	2/2015	NUM
app01-3400	220	1	[	[	X
app01-3400	220	2	14	14	NUM
app01-3400	220	3	]	]	X
app01-3400	220	4	e.	e.	PROPN
app01-3400	220	5	krotkov	krotkov	PROPN
app01-3400	220	6	,	,	PUNCT
app01-3400	220	7	r.	r.	PROPN
app01-3400	220	8	simmons	simmons	PROPN
app01-3400	220	9	.	.	PUNCT
app01-3400	221	1	perception	perception	NOUN
app01-3400	221	2	,	,	PUNCT
app01-3400	221	3	planning	planning	NOUN
app01-3400	221	4	,	,	PUNCT
app01-3400	221	5	and	and	CCONJ
app01-3400	221	6	control	control	NOUN
app01-3400	221	7	for	for	ADP
app01-3400	221	8	autonomous	autonomous	ADJ
app01-3400	221	9	walking	walking	NOUN
app01-3400	221	10	with	with	ADP
app01-3400	221	11	the	the	DET
app01-3400	221	12	ambler	ambler	PROPN
app01-3400	221	13	planetary	planetary	PROPN
app01-3400	221	14	rover	rover	PROPN
app01-3400	221	15	.	.	PUNCT
app01-3400	222	1	the	the	DET
app01-3400	222	2	international	international	ADJ
app01-3400	222	3	journal	journal	NOUN
app01-3400	222	4	of	of	ADP
app01-3400	222	5	robotics	robotic	NOUN
app01-3400	222	6	research	research	NOUN
app01-3400	222	7	15(2):155–180	15(2):155–180	NUM
app01-3400	222	8	,	,	PUNCT
app01-3400	222	9	1996	1996	NUM
app01-3400	222	10	.	.	PUNCT
app01-3400	223	1	doi:10.1177/027836499601500204	doi:10.1177/027836499601500204	NOUN
app01-3400	223	2	.	.	PUNCT
app01-3400	224	1	[	[	X
app01-3400	224	2	15	15	NUM
app01-3400	224	3	]	]	X
app01-3400	224	4	m.	m.	NOUN
app01-3400	224	5	görner	görner	NOUN
app01-3400	224	6	,	,	PUNCT
app01-3400	224	7	a.	a.	PROPN
app01-3400	224	8	chilian	chilian	PROPN
app01-3400	224	9	,	,	PUNCT
app01-3400	224	10	h.	h.	PROPN
app01-3400	224	11	hirschmüller	hirschmüller	PROPN
app01-3400	224	12	.	.	PUNCT
app01-3400	225	1	towards	towards	ADP
app01-3400	225	2	an	an	DET
app01-3400	225	3	autonomous	autonomous	ADJ
app01-3400	225	4	walking	walking	NOUN
app01-3400	225	5	robot	robot	NOUN
app01-3400	225	6	for	for	ADP
app01-3400	225	7	planetary	planetary	ADJ
app01-3400	225	8	surfaces	surface	NOUN
app01-3400	225	9	.	.	PUNCT
app01-3400	226	1	in	in	ADP
app01-3400	226	2	proceedings	proceeding	NOUN
app01-3400	226	3	of	of	ADP
app01-3400	226	4	the	the	DET
app01-3400	226	5	10th	10th	ADJ
app01-3400	226	6	international	international	ADJ
app01-3400	226	7	symposium	symposium	NOUN
app01-3400	226	8	on	on	ADP
app01-3400	226	9	artificial	artificial	ADJ
app01-3400	226	10	intelligence	intelligence	NOUN
app01-3400	226	11	,	,	PUNCT
app01-3400	226	12	robotics	robotic	NOUN
app01-3400	226	13	and	and	CCONJ
app01-3400	226	14	automation	automation	NOUN
app01-3400	226	15	in	in	ADP
app01-3400	226	16	space	space	NOUN
app01-3400	226	17	(	(	PUNCT
app01-3400	226	18	i	i	NOUN
app01-3400	226	19	-	-	PUNCT
app01-3400	226	20	sairas	saira	NOUN
app01-3400	226	21	)	)	PUNCT
app01-3400	226	22	.	.	PUNCT
app01-3400	227	1	2010	2010	NUM
app01-3400	227	2	.	.	PUNCT
app01-3400	228	1	[	[	X
app01-3400	228	2	16	16	NUM
app01-3400	228	3	]	]	PUNCT
app01-3400	228	4	m.	m.	NOUN
app01-3400	228	5	hoffmann	hoffmann	PROPN
app01-3400	228	6	,	,	PUNCT
app01-3400	228	7	k.	k.	PROPN
app01-3400	228	8	štěpánová	štěpánová	PROPN
app01-3400	228	9	,	,	PUNCT
app01-3400	228	10	m.	m.	NOUN
app01-3400	228	11	reinstein	reinstein	PROPN
app01-3400	228	12	.	.	PUNCT
app01-3400	229	1	the	the	DET
app01-3400	229	2	effect	effect	NOUN
app01-3400	229	3	of	of	ADP
app01-3400	229	4	motor	motor	NOUN
app01-3400	229	5	action	action	NOUN
app01-3400	229	6	and	and	CCONJ
app01-3400	229	7	different	different	ADJ
app01-3400	229	8	sensory	sensory	ADJ
app01-3400	229	9	modalities	modality	NOUN
app01-3400	229	10	on	on	ADP
app01-3400	229	11	terrain	terrain	NOUN
app01-3400	229	12	classification	classification	NOUN
app01-3400	229	13	in	in	ADP
app01-3400	229	14	a	a	DET
app01-3400	229	15	quadruped	quadruped	NOUN
app01-3400	229	16	robot	robot	NOUN
app01-3400	229	17	running	run	VERB
app01-3400	229	18	with	with	ADP
app01-3400	229	19	multiple	multiple	ADJ
app01-3400	229	20	gaits	gait	NOUN
app01-3400	229	21	.	.	PUNCT
app01-3400	230	1	robotics	robotic	NOUN
app01-3400	230	2	and	and	CCONJ
app01-3400	230	3	autonomous	autonomous	ADJ
app01-3400	230	4	systems	system	NOUN
app01-3400	230	5	62(12):1790–1798	62(12):1790–1798	NUM
app01-3400	230	6	,	,	PUNCT
app01-3400	230	7	2014	2014	NUM
app01-3400	230	8	.	.	PUNCT
app01-3400	231	1	doi:10.1016	doi:10.1016	PROPN
app01-3400	231	2	/	/	SYM
app01-3400	231	3	j.robot.2014.07.006	j.robot.2014.07.006	PROPN
app01-3400	231	4	.	.	PUNCT
app01-3400	232	1	[	[	X
app01-3400	232	2	17	17	NUM
app01-3400	232	3	]	]	PUNCT
app01-3400	232	4	m.	m.	NOUN
app01-3400	232	5	hoffmann	hoffmann	PROPN
app01-3400	232	6	,	,	PUNCT
app01-3400	232	7	n.	n.	PROPN
app01-3400	232	8	m.	m.	PROPN
app01-3400	232	9	schmidt	schmidt	PROPN
app01-3400	232	10	,	,	PUNCT
app01-3400	232	11	r.	r.	PROPN
app01-3400	232	12	pfeifer	pfeifer	PROPN
app01-3400	232	13	,	,	PUNCT
app01-3400	232	14	et	et	PROPN
app01-3400	232	15	al	al	PROPN
app01-3400	232	16	.	.	PUNCT
app01-3400	232	17	using	use	VERB
app01-3400	232	18	sensorimotor	sensorimotor	NOUN
app01-3400	232	19	contingencies	contingency	NOUN
app01-3400	232	20	for	for	ADP
app01-3400	232	21	terrain	terrain	NOUN
app01-3400	232	22	discrimination	discrimination	NOUN
app01-3400	232	23	and	and	CCONJ
app01-3400	232	24	adaptive	adaptive	ADJ
app01-3400	232	25	walking	walking	NOUN
app01-3400	232	26	behavior	behavior	NOUN
app01-3400	232	27	in	in	ADP
app01-3400	232	28	the	the	DET
app01-3400	232	29	quadruped	quadruped	NOUN
app01-3400	232	30	robot	robot	NOUN
app01-3400	232	31	puppy	puppy	NOUN
app01-3400	232	32	.	.	PUNCT
app01-3400	233	1	in	in	ADP
app01-3400	233	2	t.	t.	PROPN
app01-3400	233	3	ziemke	ziemke	PROPN
app01-3400	233	4	,	,	PUNCT
app01-3400	233	5	c.	c.	PROPN
app01-3400	233	6	balkenius	balkenius	PROPN
app01-3400	233	7	,	,	PUNCT
app01-3400	233	8	j.	j.	PROPN
app01-3400	233	9	hallam	hallam	PROPN
app01-3400	233	10	(	(	PUNCT
app01-3400	233	11	eds	eds	PROPN
app01-3400	233	12	.	.	PUNCT
app01-3400	233	13	)	)	PUNCT
app01-3400	233	14	,	,	PUNCT
app01-3400	233	15	from	from	ADP
app01-3400	233	16	animals	animal	NOUN
app01-3400	233	17	to	to	ADP
app01-3400	233	18	animats	animat	NOUN
app01-3400	233	19	12	12	NUM
app01-3400	233	20	:	:	PUNCT
app01-3400	233	21	proceedings	proceeding	NOUN
app01-3400	233	22	of	of	ADP
app01-3400	233	23	the	the	DET
app01-3400	233	24	12th	12th	ADJ
app01-3400	233	25	international	international	ADJ
app01-3400	233	26	conference	conference	NOUN
app01-3400	233	27	on	on	ADP
app01-3400	233	28	simulation	simulation	NOUN
app01-3400	233	29	of	of	ADP
app01-3400	233	30	adaptive	adaptive	ADJ
app01-3400	233	31	behavior	behavior	NOUN
app01-3400	233	32	(	(	PUNCT
app01-3400	233	33	sab	sab	ADJ
app01-3400	233	34	)	)	PUNCT
app01-3400	233	35	,	,	PUNCT
app01-3400	233	36	vol	vol	NOUN
app01-3400	233	37	.	.	PUNCT
app01-3400	233	38	7426	7426	NUM
app01-3400	233	39	,	,	PUNCT
app01-3400	233	40	pp	pp	ADV
app01-3400	233	41	.	.	PUNCT
app01-3400	234	1	54–64	54–64	NUM
app01-3400	234	2	.	.	PUNCT
app01-3400	234	3	springer	springer	NOUN
app01-3400	234	4	,	,	PUNCT
app01-3400	234	5	2012	2012	NUM
app01-3400	234	6	.	.	PUNCT
app01-3400	235	1	[	[	X
app01-3400	235	2	18	18	NUM
app01-3400	235	3	]	]	X
app01-3400	235	4	p.	p.	PROPN
app01-3400	235	5	hart	hart	PROPN
app01-3400	235	6	,	,	PUNCT
app01-3400	235	7	n.	n.	PROPN
app01-3400	235	8	nilsson	nilsson	PROPN
app01-3400	235	9	,	,	PUNCT
app01-3400	235	10	b.	b.	PROPN
app01-3400	235	11	raphael	raphael	PROPN
app01-3400	235	12	.	.	PUNCT
app01-3400	236	1	a	a	DET
app01-3400	236	2	formal	formal	ADJ
app01-3400	236	3	basis	basis	NOUN
app01-3400	236	4	for	for	ADP
app01-3400	236	5	the	the	DET
app01-3400	236	6	heuristic	heuristic	ADJ
app01-3400	236	7	determination	determination	NOUN
app01-3400	236	8	of	of	ADP
app01-3400	236	9	minimum	minimum	ADJ
app01-3400	236	10	cost	cost	NOUN
app01-3400	236	11	paths	path	NOUN
app01-3400	236	12	.	.	PUNCT
app01-3400	237	1	ieee	ieee	NOUN
app01-3400	237	2	transactions	transaction	NOUN
app01-3400	237	3	on	on	ADP
app01-3400	237	4	systems	system	NOUN
app01-3400	237	5	science	science	NOUN
app01-3400	237	6	and	and	CCONJ
app01-3400	237	7	cybernetics	cybernetic	NOUN
app01-3400	237	8	4(2):100–107	4(2):100–107	PROPN
app01-3400	237	9	,	,	PUNCT
app01-3400	237	10	1968	1968	NUM
app01-3400	237	11	.	.	PUNCT
app01-3400	238	1	doi:10.1109	doi:10.1109	VERB
app01-3400	238	2	/	/	SYM
app01-3400	238	3	tssc.1968.300136	tssc.1968.300136	NOUN
app01-3400	238	4	.	.	PUNCT
app01-3400	239	1	[	[	X
app01-3400	239	2	19	19	NUM
app01-3400	239	3	]	]	PUNCT
app01-3400	239	4	a.	a.	NOUN
app01-3400	239	5	stentz	stentz	PROPN
app01-3400	239	6	.	.	PUNCT
app01-3400	240	1	optimal	optimal	ADJ
app01-3400	240	2	and	and	CCONJ
app01-3400	240	3	efficient	efficient	ADJ
app01-3400	240	4	path	path	NOUN
app01-3400	240	5	planning	planning	NOUN
app01-3400	240	6	for	for	ADP
app01-3400	240	7	unknown	unknown	ADJ
app01-3400	240	8	and	and	CCONJ
app01-3400	240	9	dynamic	dynamic	ADJ
app01-3400	240	10	environments	environment	NOUN
app01-3400	240	11	.	.	PUNCT
app01-3400	241	1	technical	technical	ADJ
app01-3400	241	2	report	report	PROPN
app01-3400	241	3	cmu	cmu	PROPN
app01-3400	241	4	-	-	PUNCT
app01-3400	241	5	ri	ri	NOUN
app01-3400	241	6	-	-	PUNCT
app01-3400	241	7	tr-93	tr-93	X
app01-3400	241	8	-	-	PUNCT
app01-3400	241	9	20	20	NUM
app01-3400	241	10	,	,	PUNCT
app01-3400	241	11	carnegie	carnegie	NOUN
app01-3400	241	12	mellon	mellon	PROPN
app01-3400	241	13	robotics	robotic	NOUN
app01-3400	241	14	intitute	intitute	NOUN
app01-3400	241	15	,	,	PUNCT
app01-3400	241	16	1993	1993	NUM
app01-3400	241	17	.	.	PUNCT
app01-3400	242	1	[	[	X
app01-3400	242	2	20	20	NUM
app01-3400	242	3	]	]	X
app01-3400	242	4	c.	c.	PROPN
app01-3400	242	5	cunningham	cunningham	PROPN
app01-3400	242	6	,	,	PUNCT
app01-3400	242	7	i.	i.	PROPN
app01-3400	242	8	nesnas	nesnas	PROPN
app01-3400	242	9	,	,	PUNCT
app01-3400	242	10	w.	w.	PROPN
app01-3400	242	11	whittaker	whittaker	PROPN
app01-3400	242	12	.	.	PUNCT
app01-3400	243	1	terrain	terrain	NOUN
app01-3400	243	2	traversability	traversability	NOUN
app01-3400	243	3	prediction	prediction	NOUN
app01-3400	243	4	by	by	ADP
app01-3400	243	5	imaging	image	VERB
app01-3400	243	6	thermal	thermal	ADJ
app01-3400	243	7	transients	transient	NOUN
app01-3400	243	8	.	.	PUNCT
app01-3400	244	1	in	in	ADP
app01-3400	244	2	ieee	ieee	PROPN
app01-3400	244	3	international	international	ADJ
app01-3400	244	4	conference	conference	NOUN
app01-3400	244	5	on	on	ADP
app01-3400	244	6	robotics	robotic	NOUN
app01-3400	244	7	and	and	CCONJ
app01-3400	244	8	automation	automation	NOUN
app01-3400	244	9	(	(	PUNCT
app01-3400	244	10	icra	icra	PROPN
app01-3400	244	11	)	)	PUNCT
app01-3400	244	12	,	,	PUNCT
app01-3400	244	13	pp	pp	PROPN
app01-3400	244	14	.	.	PUNCT
app01-3400	244	15	3947–3952	3947–3952	NUM
app01-3400	244	16	.	.	PUNCT
app01-3400	244	17	2015	2015	NUM
app01-3400	244	18	.	.	PUNCT
app01-3400	245	1	doi:10.1109	doi:10.1109	VERB
app01-3400	245	2	/	/	SYM
app01-3400	245	3	icra.2015.7139750	icra.2015.7139750	PROPN
app01-3400	245	4	.	.	PUNCT
app01-3400	246	1	[	[	X
app01-3400	246	2	21	21	NUM
app01-3400	246	3	]	]	X
app01-3400	246	4	n.	n.	PROPN
app01-3400	246	5	kottege	kottege	NOUN
app01-3400	246	6	,	,	PUNCT
app01-3400	246	7	c.	c.	PROPN
app01-3400	246	8	parkinson	parkinson	NOUN
app01-3400	246	9	,	,	PUNCT
app01-3400	246	10	p.	p.	PROPN
app01-3400	246	11	moghadam	moghadam	PROPN
app01-3400	246	12	,	,	PUNCT
app01-3400	246	13	et	et	PROPN
app01-3400	246	14	al	al	PROPN
app01-3400	246	15	.	.	PROPN
app01-3400	246	16	energetics	energetic	NOUN
app01-3400	246	17	-	-	PUNCT
app01-3400	246	18	informed	inform	VERB
app01-3400	246	19	hexapod	hexapod	ADJ
app01-3400	246	20	gait	gait	ADJ
app01-3400	246	21	transitions	transition	NOUN
app01-3400	246	22	across	across	ADP
app01-3400	246	23	terrains	terrain	NOUN
app01-3400	246	24	.	.	PUNCT
app01-3400	247	1	in	in	ADP
app01-3400	247	2	ieee	ieee	PROPN
app01-3400	247	3	international	international	ADJ
app01-3400	247	4	conference	conference	NOUN
app01-3400	247	5	on	on	ADP
app01-3400	247	6	robotics	robotic	NOUN
app01-3400	247	7	and	and	CCONJ
app01-3400	247	8	automation	automation	NOUN
app01-3400	247	9	(	(	PUNCT
app01-3400	247	10	icra	icra	PROPN
app01-3400	247	11	)	)	PUNCT
app01-3400	247	12	,	,	PUNCT
app01-3400	247	13	pp	pp	PROPN
app01-3400	247	14	.	.	PUNCT
app01-3400	248	1	5140–5147	5140–5147	NUM
app01-3400	248	2	.	.	PUNCT
app01-3400	249	1	2015	2015	NUM
app01-3400	249	2	.	.	PUNCT
app01-3400	250	1	doi:10.1109	doi:10.1109	VERB
app01-3400	250	2	/	/	SYM
app01-3400	250	3	icra.2015.7139915	icra.2015.7139915	PROPN
app01-3400	250	4	.	.	PUNCT
app01-3400	251	1	[	[	X
app01-3400	251	2	22	22	NUM
app01-3400	251	3	]	]	PUNCT
app01-3400	251	4	j.	j.	PROPN
app01-3400	251	5	mrva	mrva	PROPN
app01-3400	251	6	,	,	PUNCT
app01-3400	251	7	j.	j.	PROPN
app01-3400	251	8	faigl	faigl	PROPN
app01-3400	251	9	.	.	PUNCT
app01-3400	252	1	tactile	tactile	ADJ
app01-3400	252	2	sensing	sense	VERB
app01-3400	252	3	with	with	ADP
app01-3400	252	4	servo	servo	NOUN
app01-3400	252	5	drives	drive	VERB
app01-3400	252	6	feedback	feedback	NOUN
app01-3400	252	7	only	only	ADV
app01-3400	252	8	for	for	ADP
app01-3400	252	9	blind	blind	ADJ
app01-3400	252	10	hexapod	hexapod	NOUN
app01-3400	252	11	walking	walking	NOUN
app01-3400	252	12	robot	robot	NOUN
app01-3400	252	13	.	.	PUNCT
app01-3400	253	1	in	in	ADP
app01-3400	253	2	proceedings	proceeding	NOUN
app01-3400	253	3	of	of	ADP
app01-3400	253	4	the	the	DET
app01-3400	253	5	10th	10th	ADJ
app01-3400	253	6	international	international	ADJ
app01-3400	253	7	workshop	workshop	NOUN
app01-3400	253	8	on	on	ADP
app01-3400	253	9	robot	robot	NOUN
app01-3400	253	10	motion	motion	NOUN
app01-3400	253	11	and	and	CCONJ
app01-3400	253	12	control	control	NOUN
app01-3400	253	13	(	(	PUNCT
app01-3400	253	14	romoco	romoco	ADJ
app01-3400	253	15	)	)	PUNCT
app01-3400	253	16	,	,	PUNCT
app01-3400	253	17	pp	pp	ADP
app01-3400	253	18	.	.	PUNCT
app01-3400	254	1	240–245	240–245	NUM
app01-3400	254	2	.	.	PUNCT
app01-3400	254	3	2015	2015	NUM
app01-3400	254	4	.	.	PUNCT
app01-3400	255	1	doi:10.1109	doi:10.1109	VERB
app01-3400	255	2	/	/	SYM
app01-3400	255	3	romoco.2015.7219742	romoco.2015.7219742	NOUN
app01-3400	255	4	.	.	PUNCT
app01-3400	256	1	39	39	NUM
app01-3400	256	2	http://dx.doi.org/10.1177/027836499601500204	http://dx.doi.org/10.1177/027836499601500204	NOUN
app01-3400	256	3	http://dx.doi.org/10.1016/j.robot.2014.07.006	http://dx.doi.org/10.1016/j.robot.2014.07.006	NOUN
app01-3400	256	4	http://dx.doi.org/10.1109/tssc.1968.300136	http://dx.doi.org/10.1109/tssc.1968.300136	NOUN
app01-3400	256	5	http://dx.doi.org/10.1109/icra.2015.7139750	http://dx.doi.org/10.1109/icra.2015.7139750	AUX
app01-3400	256	6	http://dx.doi.org/10.1109/icra.2015.7139915	http://dx.doi.org/10.1109/icra.2015.7139915	VERB
app01-3400	256	7	http://dx.doi.org/10.1109/romoco.2015.7219742	http://dx.doi.org/10.1109/romoco.2015.7219742	PROPN
app01-3400	256	8	acta	acta	PROPN
app01-3400	256	9	polytechnica	polytechnica	PROPN
app01-3400	256	10	ctu	ctu	PROPN
app01-3400	256	11	proceedings	proceeding	NOUN
app01-3400	256	12	2:34–39	2:34–39	NUM
app01-3400	256	13	,	,	PUNCT
app01-3400	256	14	2015	2015	NUM
app01-3400	256	15	1	1	NUM
app01-3400	256	16	introduction	introduction	NOUN
app01-3400	256	17	2	2	NUM
app01-3400	256	18	related	relate	VERB
app01-3400	256	19	work	work	NOUN
app01-3400	256	20	2.1	2.1	NUM
app01-3400	256	21	exteroceptive	exteroceptive	ADJ
app01-3400	256	22	sensing	sense	VERB
app01-3400	256	23	2.2	2.2	NUM
app01-3400	256	24	proprioceptive	proprioceptive	ADJ
app01-3400	256	25	sensing	sense	VERB
app01-3400	256	26	3	3	NUM
app01-3400	256	27	problem	problem	NOUN
app01-3400	256	28	statement	statement	NOUN
app01-3400	256	29	3.1	3.1	NUM
app01-3400	256	30	terrain	terrain	NOUN
app01-3400	256	31	-	-	PUNCT
app01-3400	256	32	sensor	sensor	NOUN
app01-3400	256	33	modalities	modality	NOUN
app01-3400	256	34	3.2	3.2	NUM
app01-3400	256	35	cost	cost	NOUN
app01-3400	256	36	modalities	modality	NOUN
app01-3400	256	37	4	4	NUM
app01-3400	256	38	use	use	NOUN
app01-3400	256	39	case	case	NOUN
app01-3400	256	40	4.1	4.1	NUM
app01-3400	256	41	used	use	VERB
app01-3400	256	42	hexapod	hexapod	NOUN
app01-3400	256	43	platform	platform	NOUN
app01-3400	256	44	4.2	4.2	NUM
app01-3400	256	45	methodology	methodology	NOUN
app01-3400	256	46	of	of	ADP
app01-3400	256	47	cost	cost	NOUN
app01-3400	256	48	evaluation	evaluation	NOUN
app01-3400	256	49	4.3	4.3	NUM
app01-3400	256	50	testing	testing	NOUN
app01-3400	256	51	scenarios	scenario	NOUN
app01-3400	256	52	4.4	4.4	NUM
app01-3400	256	53	results	result	VERB
app01-3400	256	54	5	5	NUM
app01-3400	256	55	conclusion	conclusion	NOUN
app01-3400	256	56	acknowledgements	acknowledgement	NOUN
app01-3400	256	57	references	reference	NOUN