id	sid	tid	token	lemma	pos
app01-3925	1	1	acta	acta	PROPN
app01-3925	1	2	polytechnica	polytechnica	PROPN
app01-3925	1	3	ctu	ctu	PROPN
app01-3925	1	4	proceedings	proceeding	NOUN
app01-3925	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3925	1	6	/	/	SYM
app01-3925	1	7	app.2016.6.0006	app.2016.6.0006	PROPN
app01-3925	1	8	acta	acta	PROPN
app01-3925	1	9	polytechnica	polytechnica	PROPN
app01-3925	1	10	ctu	ctu	NOUN
app01-3925	1	11	proceedings	proceeding	NOUN
app01-3925	1	12	6:6–10	6:6–10	NUM
app01-3925	1	13	,	,	PUNCT
app01-3925	1	14	2016	2016	NUM
app01-3925	1	15	©	©	PROPN
app01-3925	1	16	czech	czech	PROPN
app01-3925	1	17	technical	technical	PROPN
app01-3925	1	18	university	university	PROPN
app01-3925	1	19	in	in	ADP
app01-3925	1	20	prague	prague	PROPN
app01-3925	1	21	,	,	PUNCT
app01-3925	1	22	2016	2016	NUM
app01-3925	1	23	available	available	ADJ
app01-3925	1	24	online	online	ADV
app01-3925	1	25	at	at	ADP
app01-3925	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3925	1	27	on	on	ADP
app01-3925	1	28	evaluation	evaluation	NOUN
app01-3925	1	29	of	of	ADP
app01-3925	1	30	motion	motion	NOUN
app01-3925	1	31	gaits	gait	NOUN
app01-3925	1	32	energy	energy	NOUN
app01-3925	1	33	efficiency	efficiency	NOUN
app01-3925	1	34	with	with	ADP
app01-3925	1	35	a	a	DET
app01-3925	1	36	hexapod	hexapod	NOUN
app01-3925	1	37	crawling	crawling	NOUN
app01-3925	1	38	robot	robot	NOUN
app01-3925	1	39	lukáš	lukáš	ADJ
app01-3925	1	40	černý∗	černý∗	NOUN
app01-3925	1	41	,	,	PUNCT
app01-3925	1	42	petr	petr	PROPN
app01-3925	1	43	čížek	čížek	PROPN
app01-3925	1	44	,	,	PUNCT
app01-3925	1	45	jan	jan	PROPN
app01-3925	1	46	faigl	faigl	PROPN
app01-3925	1	47	czech	czech	PROPN
app01-3925	1	48	technical	technical	PROPN
app01-3925	1	49	university	university	PROPN
app01-3925	1	50	,	,	PUNCT
app01-3925	1	51	faculty	faculty	NOUN
app01-3925	1	52	of	of	ADP
app01-3925	1	53	electrical	electrical	ADJ
app01-3925	1	54	engineering	engineering	NOUN
app01-3925	1	55	,	,	PUNCT
app01-3925	1	56	technicka	technicka	NOUN
app01-3925	1	57	2	2	NUM
app01-3925	1	58	,	,	PUNCT
app01-3925	1	59	prague	prague	NOUN
app01-3925	1	60	,	,	PUNCT
app01-3925	1	61	czech	czech	PROPN
app01-3925	1	62	republic	republic	NOUN
app01-3925	1	63	∗	∗	NOUN
app01-3925	1	64	corresponding	correspond	VERB
app01-3925	1	65	author	author	NOUN
app01-3925	1	66	:	:	PUNCT
app01-3925	1	67	cernylu6@fel.cvut.cz	cernylu6@fel.cvut.cz	NOUN
app01-3925	1	68	abstract	abstract	ADJ
app01-3925	1	69	.	.	PUNCT
app01-3925	2	1	in	in	ADP
app01-3925	2	2	this	this	DET
app01-3925	2	3	work	work	NOUN
app01-3925	2	4	,	,	PUNCT
app01-3925	2	5	we	we	PRON
app01-3925	2	6	are	be	AUX
app01-3925	2	7	concerning	concern	VERB
app01-3925	2	8	the	the	DET
app01-3925	2	9	problem	problem	NOUN
app01-3925	2	10	of	of	ADP
app01-3925	2	11	energy	energy	NOUN
app01-3925	2	12	efficient	efficient	ADJ
app01-3925	2	13	locomotion	locomotion	NOUN
app01-3925	2	14	of	of	ADP
app01-3925	2	15	a	a	DET
app01-3925	2	16	hexapod	hexapod	NOUN
app01-3925	2	17	crawling	crawling	NOUN
app01-3925	2	18	robot	robot	NOUN
app01-3925	2	19	.	.	PUNCT
app01-3925	3	1	we	we	PRON
app01-3925	3	2	are	be	AUX
app01-3925	3	3	emphasizing	emphasize	VERB
app01-3925	3	4	a	a	DET
app01-3925	3	5	practical	practical	ADJ
app01-3925	3	6	verification	verification	NOUN
app01-3925	3	7	and	and	CCONJ
app01-3925	3	8	deployment	deployment	NOUN
app01-3925	3	9	on	on	ADP
app01-3925	3	10	a	a	DET
app01-3925	3	11	real	real	ADJ
app01-3925	3	12	walking	walking	NOUN
app01-3925	3	13	robot	robot	NOUN
app01-3925	3	14	to	to	PART
app01-3925	3	15	evaluate	evaluate	VERB
app01-3925	3	16	relations	relation	NOUN
app01-3925	3	17	between	between	ADP
app01-3925	3	18	the	the	DET
app01-3925	3	19	energy	energy	NOUN
app01-3925	3	20	consumption	consumption	NOUN
app01-3925	3	21	,	,	PUNCT
app01-3925	3	22	motion	motion	NOUN
app01-3925	3	23	speed	speed	NOUN
app01-3925	3	24	,	,	PUNCT
app01-3925	3	25	and	and	CCONJ
app01-3925	3	26	terrain	terrain	NOUN
app01-3925	3	27	type	type	NOUN
app01-3925	3	28	with	with	ADP
app01-3925	3	29	a	a	DET
app01-3925	3	30	particular	particular	ADJ
app01-3925	3	31	motion	motion	NOUN
app01-3925	3	32	gait	gait	NOUN
app01-3925	3	33	.	.	PUNCT
app01-3925	4	1	the	the	DET
app01-3925	4	2	tripod	tripod	NOUN
app01-3925	4	3	,	,	PUNCT
app01-3925	4	4	tetrapod	tetrapod	NOUN
app01-3925	4	5	,	,	PUNCT
app01-3925	4	6	and	and	CCONJ
app01-3925	4	7	pentapod	pentapod	ADJ
app01-3925	4	8	motion	motion	NOUN
app01-3925	4	9	gaits	gait	NOUN
app01-3925	4	10	are	be	AUX
app01-3925	4	11	considered	consider	VERB
app01-3925	4	12	in	in	ADP
app01-3925	4	13	the	the	DET
app01-3925	4	14	presented	present	VERB
app01-3925	4	15	evaluation	evaluation	NOUN
app01-3925	4	16	report	report	NOUN
app01-3925	4	17	.	.	PUNCT
app01-3925	5	1	keywords	keyword	NOUN
app01-3925	5	2	:	:	PUNCT
app01-3925	5	3	rgb	rgb	PROPN
app01-3925	5	4	-	-	PROPN
app01-3925	5	5	d	d	PROPN
app01-3925	5	6	slam	slam	NOUN
app01-3925	5	7	,	,	PUNCT
app01-3925	5	8	localization	localization	NOUN
app01-3925	5	9	,	,	PUNCT
app01-3925	5	10	ground	ground	NOUN
app01-3925	5	11	-	-	PUNCT
app01-3925	5	12	truth	truth	NOUN
app01-3925	5	13	construction	construction	NOUN
app01-3925	5	14	,	,	PUNCT
app01-3925	5	15	legged	legged	ADJ
app01-3925	5	16	robot	robot	NOUN
app01-3925	5	17	,	,	PUNCT
app01-3925	5	18	rough	rough	ADJ
app01-3925	5	19	terrain	terrain	NOUN
app01-3925	5	20	traversal	traversal	NOUN
app01-3925	5	21	,	,	PUNCT
app01-3925	5	22	adaptive	adaptive	ADJ
app01-3925	5	23	motion	motion	NOUN
app01-3925	5	24	gait	gait	NOUN
app01-3925	5	25	.	.	PUNCT
app01-3925	6	1	1	1	X
app01-3925	6	2	.	.	X
app01-3925	6	3	introduction	introduction	NOUN
app01-3925	6	4	energy	energy	NOUN
app01-3925	6	5	efficient	efficient	ADJ
app01-3925	6	6	and	and	CCONJ
app01-3925	6	7	fast	fast	ADJ
app01-3925	6	8	locomotion	locomotion	NOUN
app01-3925	6	9	is	be	AUX
app01-3925	6	10	a	a	DET
app01-3925	6	11	key	key	ADJ
app01-3925	6	12	ability	ability	NOUN
app01-3925	6	13	for	for	SCONJ
app01-3925	6	14	the	the	DET
app01-3925	6	15	mobile	mobile	ADJ
app01-3925	6	16	robot	robot	NOUN
app01-3925	6	17	to	to	PART
app01-3925	6	18	extent	extent	VERB
app01-3925	6	19	its	its	PRON
app01-3925	6	20	operation	operation	NOUN
app01-3925	6	21	capabilities	capability	NOUN
app01-3925	6	22	.	.	PUNCT
app01-3925	7	1	as	as	SCONJ
app01-3925	7	2	legged	legged	ADJ
app01-3925	7	3	robots	robot	NOUN
app01-3925	7	4	offer	offer	VERB
app01-3925	7	5	the	the	DET
app01-3925	7	6	potential	potential	NOUN
app01-3925	7	7	to	to	PART
app01-3925	7	8	traverse	traverse	VERB
app01-3925	7	9	various	various	ADJ
app01-3925	7	10	types	type	NOUN
app01-3925	7	11	of	of	ADP
app01-3925	7	12	terrains	terrain	NOUN
app01-3925	7	13	,	,	PUNCT
app01-3925	7	14	it	it	PRON
app01-3925	7	15	is	be	AUX
app01-3925	7	16	desirable	desirable	ADJ
app01-3925	7	17	to	to	PART
app01-3925	7	18	adjust	adjust	VERB
app01-3925	7	19	their	their	PRON
app01-3925	7	20	locomotion	locomotion	NOUN
app01-3925	7	21	to	to	PART
app01-3925	7	22	be	be	AUX
app01-3925	7	23	as	as	ADP
app01-3925	7	24	energy	energy	NOUN
app01-3925	7	25	efficient	efficient	ADJ
app01-3925	7	26	as	as	ADP
app01-3925	7	27	possible	possible	ADJ
app01-3925	7	28	.	.	PUNCT
app01-3925	8	1	in	in	ADP
app01-3925	8	2	general	general	ADJ
app01-3925	8	3	,	,	PUNCT
app01-3925	8	4	there	there	PRON
app01-3925	8	5	are	be	VERB
app01-3925	8	6	two	two	NUM
app01-3925	8	7	principal	principal	ADJ
app01-3925	8	8	ways	way	NOUN
app01-3925	8	9	of	of	ADP
app01-3925	8	10	locomotion	locomotion	NOUN
app01-3925	8	11	control	control	NOUN
app01-3925	8	12	for	for	ADP
app01-3925	8	13	legged	legged	ADJ
app01-3925	8	14	robots	robot	NOUN
app01-3925	8	15	operating	operate	VERB
app01-3925	8	16	in	in	ADP
app01-3925	8	17	rough	rough	ADJ
app01-3925	8	18	terrains	terrain	NOUN
app01-3925	8	19	.	.	PUNCT
app01-3925	9	1	either	either	CCONJ
app01-3925	9	2	deliberative	deliberative	ADJ
app01-3925	9	3	control	control	NOUN
app01-3925	9	4	where	where	SCONJ
app01-3925	9	5	individual	individual	ADJ
app01-3925	9	6	foot	foot	NOUN
app01-3925	9	7	-	-	PUNCT
app01-3925	9	8	tip	tip	NOUN
app01-3925	9	9	positions	position	NOUN
app01-3925	9	10	of	of	ADP
app01-3925	9	11	each	each	DET
app01-3925	9	12	leg	leg	NOUN
app01-3925	9	13	are	be	AUX
app01-3925	9	14	planned	plan	VERB
app01-3925	9	15	in	in	ADP
app01-3925	9	16	advance	advance	NOUN
app01-3925	9	17	(	(	PUNCT
app01-3925	9	18	e.g.	e.g.	ADV
app01-3925	9	19	,	,	PUNCT
app01-3925	9	20	[	[	X
app01-3925	9	21	1	1	NUM
app01-3925	9	22	]	]	PUNCT
app01-3925	9	23	)	)	PUNCT
app01-3925	9	24	or	or	CCONJ
app01-3925	9	25	reactive	reactive	ADJ
app01-3925	9	26	control	control	NOUN
app01-3925	9	27	based	base	VERB
app01-3925	9	28	on	on	ADP
app01-3925	9	29	a	a	DET
app01-3925	9	30	repetitive	repetitive	ADJ
app01-3925	9	31	motion	motion	NOUN
app01-3925	9	32	gait	gait	NOUN
app01-3925	9	33	with	with	ADP
app01-3925	9	34	prescribed	prescribe	VERB
app01-3925	9	35	leg	leg	NOUN
app01-3925	9	36	trajectories	trajectory	NOUN
app01-3925	9	37	with	with	ADP
app01-3925	9	38	a	a	DET
app01-3925	9	39	certain	certain	ADJ
app01-3925	9	40	amount	amount	NOUN
app01-3925	9	41	of	of	ADP
app01-3925	9	42	adaptability	adaptability	NOUN
app01-3925	9	43	such	such	ADJ
app01-3925	9	44	as	as	ADP
app01-3925	9	45	[	[	X
app01-3925	9	46	2	2	NUM
app01-3925	9	47	]	]	PUNCT
app01-3925	9	48	.	.	PUNCT
app01-3925	10	1	the	the	DET
app01-3925	10	2	later	later	ADJ
app01-3925	10	3	approach	approach	NOUN
app01-3925	10	4	builds	build	VERB
app01-3925	10	5	on	on	ADP
app01-3925	10	6	the	the	DET
app01-3925	10	7	fact	fact	NOUN
app01-3925	10	8	that	that	SCONJ
app01-3925	10	9	legged	legged	ADJ
app01-3925	10	10	robots	robot	NOUN
app01-3925	10	11	often	often	ADV
app01-3925	10	12	utilize	utilize	VERB
app01-3925	10	13	collections	collection	NOUN
app01-3925	10	14	of	of	ADP
app01-3925	10	15	gait	gait	ADJ
app01-3925	10	16	patterns	pattern	NOUN
app01-3925	10	17	to	to	PART
app01-3925	10	18	locomote	locomote	VERB
app01-3925	10	19	over	over	ADP
app01-3925	10	20	a	a	DET
app01-3925	10	21	variety	variety	NOUN
app01-3925	10	22	of	of	ADP
app01-3925	10	23	surfaces	surface	NOUN
app01-3925	10	24	with	with	ADP
app01-3925	10	25	each	each	DET
app01-3925	10	26	gait	gait	NOUN
app01-3925	10	27	tuned	tune	VERB
app01-3925	10	28	for	for	ADP
app01-3925	10	29	a	a	DET
app01-3925	10	30	specific	specific	ADJ
app01-3925	10	31	surface	surface	NOUN
app01-3925	10	32	and	and	CCONJ
app01-3925	10	33	set	set	NOUN
app01-3925	10	34	of	of	ADP
app01-3925	10	35	operational	operational	ADJ
app01-3925	10	36	conditions	condition	NOUN
app01-3925	10	37	.	.	PUNCT
app01-3925	11	1	several	several	ADJ
app01-3925	11	2	commonly	commonly	ADV
app01-3925	11	3	used	use	VERB
app01-3925	11	4	gait	gait	NOUN
app01-3925	11	5	patterns	pattern	NOUN
app01-3925	11	6	such	such	ADJ
app01-3925	11	7	as	as	ADP
app01-3925	11	8	tripod	tripod	NOUN
app01-3925	11	9	,	,	PUNCT
app01-3925	11	10	tetrapod	tetrapod	NOUN
app01-3925	11	11	,	,	PUNCT
app01-3925	11	12	and	and	CCONJ
app01-3925	11	13	pentapod	pentapod	ADJ
app01-3925	11	14	motion	motion	NOUN
app01-3925	11	15	gaits	gait	NOUN
app01-3925	11	16	have	have	AUX
app01-3925	11	17	been	be	AUX
app01-3925	11	18	developed	develop	VERB
app01-3925	11	19	for	for	ADP
app01-3925	11	20	hexapod	hexapod	NOUN
app01-3925	11	21	crawling	crawling	NOUN
app01-3925	11	22	robots	robot	NOUN
app01-3925	11	23	.	.	PUNCT
app01-3925	12	1	during	during	ADP
app01-3925	12	2	traversing	traverse	VERB
app01-3925	12	3	a	a	DET
app01-3925	12	4	rough	rough	ADJ
app01-3925	12	5	terrain	terrain	NOUN
app01-3925	12	6	,	,	PUNCT
app01-3925	12	7	it	it	PRON
app01-3925	12	8	is	be	AUX
app01-3925	12	9	possible	possible	ADJ
app01-3925	12	10	to	to	PART
app01-3925	12	11	select	select	VERB
app01-3925	12	12	a	a	DET
app01-3925	12	13	particular	particular	ADJ
app01-3925	12	14	gait	gait	NOUN
app01-3925	12	15	pattern	pattern	NOUN
app01-3925	12	16	and	and	CCONJ
app01-3925	12	17	stick	stick	VERB
app01-3925	12	18	with	with	ADP
app01-3925	12	19	it	it	PRON
app01-3925	12	20	for	for	ADP
app01-3925	12	21	the	the	DET
app01-3925	12	22	whole	whole	ADJ
app01-3925	12	23	process	process	NOUN
app01-3925	12	24	of	of	ADP
app01-3925	12	25	the	the	DET
app01-3925	12	26	navigation	navigation	NOUN
app01-3925	12	27	;	;	PUNCT
app01-3925	12	28	however	however	ADV
app01-3925	12	29	,	,	PUNCT
app01-3925	12	30	it	it	PRON
app01-3925	12	31	may	may	AUX
app01-3925	12	32	be	be	AUX
app01-3925	12	33	beneficial	beneficial	ADJ
app01-3925	12	34	to	to	PART
app01-3925	12	35	utilize	utilize	VERB
app01-3925	12	36	knowledge	knowledge	NOUN
app01-3925	12	37	of	of	ADP
app01-3925	12	38	the	the	DET
app01-3925	12	39	terrain	terrain	NOUN
app01-3925	12	40	currently	currently	ADV
app01-3925	12	41	being	be	AUX
app01-3925	12	42	traversed	traverse	VERB
app01-3925	12	43	to	to	PART
app01-3925	12	44	select	select	VERB
app01-3925	12	45	the	the	DET
app01-3925	12	46	most	most	ADV
app01-3925	12	47	appropriate	appropriate	ADJ
app01-3925	12	48	gait	gait	NOUN
app01-3925	12	49	to	to	PART
app01-3925	12	50	optimize	optimize	VERB
app01-3925	12	51	a	a	DET
app01-3925	12	52	particular	particular	ADJ
app01-3925	12	53	criterion	criterion	NOUN
app01-3925	12	54	,	,	PUNCT
app01-3925	12	55	e.g.	e.g.	ADV
app01-3925	12	56	,	,	PUNCT
app01-3925	12	57	speed	speed	NOUN
app01-3925	12	58	,	,	PUNCT
app01-3925	12	59	stability	stability	NOUN
app01-3925	12	60	,	,	PUNCT
app01-3925	12	61	or	or	CCONJ
app01-3925	12	62	energy	energy	NOUN
app01-3925	12	63	consumption	consumption	NOUN
app01-3925	12	64	.	.	PUNCT
app01-3925	13	1	the	the	DET
app01-3925	13	2	gait	gait	ADJ
app01-3925	13	3	selection	selection	NOUN
app01-3925	13	4	can	can	AUX
app01-3925	13	5	be	be	AUX
app01-3925	13	6	based	base	VERB
app01-3925	13	7	on	on	ADP
app01-3925	13	8	both	both	CCONJ
app01-3925	13	9	exteroceptive	exteroceptive	ADJ
app01-3925	13	10	and	and	CCONJ
app01-3925	13	11	proprioceptive	proprioceptive	ADJ
app01-3925	13	12	sensing	sensing	NOUN
app01-3925	13	13	.	.	PUNCT
app01-3925	14	1	in	in	ADP
app01-3925	14	2	this	this	DET
app01-3925	14	3	paper	paper	NOUN
app01-3925	14	4	,	,	PUNCT
app01-3925	14	5	we	we	PRON
app01-3925	14	6	consider	consider	VERB
app01-3925	14	7	proprioceptive	proprioceptive	ADJ
app01-3925	14	8	sensory	sensory	ADJ
app01-3925	14	9	data	datum	NOUN
app01-3925	14	10	only	only	ADV
app01-3925	14	11	,	,	PUNCT
app01-3925	14	12	specifically	specifically	ADV
app01-3925	14	13	the	the	DET
app01-3925	14	14	current	current	ADJ
app01-3925	14	15	sensory	sensory	ADJ
app01-3925	14	16	data	datum	NOUN
app01-3925	14	17	to	to	PART
app01-3925	14	18	evaluate	evaluate	VERB
app01-3925	14	19	the	the	DET
app01-3925	14	20	energy	energy	NOUN
app01-3925	14	21	efficiency	efficiency	NOUN
app01-3925	14	22	of	of	ADP
app01-3925	14	23	individual	individual	ADJ
app01-3925	14	24	gaits	gait	NOUN
app01-3925	14	25	on	on	ADP
app01-3925	14	26	different	different	ADJ
app01-3925	14	27	terrain	terrain	NOUN
app01-3925	14	28	types	type	NOUN
app01-3925	14	29	.	.	PUNCT
app01-3925	15	1	we	we	PRON
app01-3925	15	2	use	use	VERB
app01-3925	15	3	the	the	DET
app01-3925	15	4	information	information	NOUN
app01-3925	15	5	about	about	ADP
app01-3925	15	6	the	the	DET
app01-3925	15	7	overall	overall	ADJ
app01-3925	15	8	current	current	NOUN
app01-3925	15	9	drawn	draw	VERB
app01-3925	15	10	from	from	ADP
app01-3925	15	11	the	the	DET
app01-3925	15	12	robot	robot	NOUN
app01-3925	15	13	energy	energy	NOUN
app01-3925	15	14	source	source	NOUN
app01-3925	15	15	(	(	PUNCT
app01-3925	15	16	the	the	DET
app01-3925	15	17	used	used	ADJ
app01-3925	15	18	battery	battery	NOUN
app01-3925	15	19	pack	pack	NOUN
app01-3925	15	20	)	)	PUNCT
app01-3925	15	21	to	to	PART
app01-3925	15	22	compute	compute	VERB
app01-3925	15	23	instantaneous	instantaneous	ADJ
app01-3925	15	24	power	power	NOUN
app01-3925	15	25	and	and	CCONJ
app01-3925	15	26	consequently	consequently	ADV
app01-3925	15	27	the	the	DET
app01-3925	15	28	consumed	consume	VERB
app01-3925	15	29	energy	energy	NOUN
app01-3925	15	30	during	during	ADP
app01-3925	15	31	the	the	DET
app01-3925	15	32	robot	robot	NOUN
app01-3925	15	33	operation	operation	NOUN
app01-3925	15	34	.	.	PUNCT
app01-3925	16	1	we	we	PRON
app01-3925	16	2	performed	perform	VERB
app01-3925	16	3	a	a	DET
app01-3925	16	4	series	series	NOUN
app01-3925	16	5	of	of	ADP
app01-3925	16	6	experiments	experiment	NOUN
app01-3925	16	7	to	to	PART
app01-3925	16	8	collate	collate	VERB
app01-3925	16	9	information	information	NOUN
app01-3925	16	10	about	about	ADP
app01-3925	16	11	the	the	DET
app01-3925	16	12	energy	energy	NOUN
app01-3925	16	13	efficiency	efficiency	NOUN
app01-3925	16	14	of	of	ADP
app01-3925	16	15	different	different	ADJ
app01-3925	16	16	gaits	gait	NOUN
app01-3925	16	17	on	on	ADP
app01-3925	16	18	different	different	ADJ
app01-3925	16	19	terrain	terrain	NOUN
app01-3925	16	20	types	type	NOUN
app01-3925	16	21	to	to	PART
app01-3925	16	22	establish	establish	VERB
app01-3925	16	23	a	a	DET
app01-3925	16	24	gait	gait	ADJ
app01-3925	16	25	selection	selection	NOUN
app01-3925	16	26	strategy	strategy	NOUN
app01-3925	16	27	that	that	PRON
app01-3925	16	28	would	would	AUX
app01-3925	16	29	let	let	VERB
app01-3925	16	30	us	we	PRON
app01-3925	16	31	alter	alter	VERB
app01-3925	16	32	gaits	gait	NOUN
app01-3925	16	33	according	accord	VERB
app01-3925	16	34	to	to	ADP
app01-3925	16	35	the	the	DET
app01-3925	16	36	terrain	terrain	NOUN
app01-3925	16	37	that	that	PRON
app01-3925	16	38	is	be	AUX
app01-3925	16	39	being	be	AUX
app01-3925	16	40	traversed	traverse	VERB
app01-3925	16	41	.	.	PUNCT
app01-3925	17	1	for	for	ADP
app01-3925	17	2	this	this	DET
app01-3925	17	3	purpose	purpose	NOUN
app01-3925	17	4	,	,	PUNCT
app01-3925	17	5	we	we	PRON
app01-3925	17	6	expect	expect	VERB
app01-3925	17	7	the	the	DET
app01-3925	17	8	terrain	terrain	NOUN
app01-3925	17	9	to	to	PART
app01-3925	17	10	be	be	AUX
app01-3925	17	11	foreknown	foreknow	VERB
app01-3925	17	12	,	,	PUNCT
app01-3925	17	13	i.e.	i.e.	X
app01-3925	17	14	,	,	PUNCT
app01-3925	17	15	classified	classify	VERB
app01-3925	17	16	in	in	ADP
app01-3925	17	17	advance	advance	NOUN
app01-3925	17	18	.	.	PUNCT
app01-3925	18	1	we	we	PRON
app01-3925	18	2	distinguish	distinguish	VERB
app01-3925	18	3	following	follow	VERB
app01-3925	18	4	terrain	terrain	NOUN
app01-3925	18	5	types	type	NOUN
app01-3925	18	6	:	:	PUNCT
app01-3925	18	7	office	office	NOUN
app01-3925	18	8	floor	floor	NOUN
app01-3925	18	9	,	,	PUNCT
app01-3925	18	10	grass	grass	NOUN
app01-3925	18	11	,	,	PUNCT
app01-3925	18	12	inclined	inclined	ADJ
app01-3925	18	13	plane	plane	NOUN
app01-3925	18	14	,	,	PUNCT
app01-3925	18	15	and	and	CCONJ
app01-3925	18	16	wooden	wooden	ADJ
app01-3925	18	17	blocks	block	NOUN
app01-3925	18	18	,	,	PUNCT
app01-3925	18	19	see	see	VERB
app01-3925	18	20	figure	figure	NOUN
app01-3925	18	21	1	1	NUM
app01-3925	18	22	.	.	PUNCT
app01-3925	18	23	online	online	ADJ
app01-3925	18	24	terrain	terrain	NOUN
app01-3925	18	25	classification	classification	NOUN
app01-3925	18	26	can	can	AUX
app01-3925	18	27	be	be	AUX
app01-3925	18	28	done	do	VERB
app01-3925	18	29	using	use	VERB
app01-3925	18	30	exteroceptive	exteroceptive	ADJ
app01-3925	18	31	data	datum	NOUN
app01-3925	18	32	;	;	PUNCT
app01-3925	18	33	however	however	ADV
app01-3925	18	34	,	,	PUNCT
app01-3925	18	35	this	this	DET
app01-3925	18	36	topic	topic	NOUN
app01-3925	18	37	is	be	AUX
app01-3925	18	38	out	out	ADP
app01-3925	18	39	of	of	ADP
app01-3925	18	40	the	the	DET
app01-3925	18	41	scope	scope	NOUN
app01-3925	18	42	of	of	ADP
app01-3925	18	43	this	this	DET
app01-3925	18	44	paper	paper	NOUN
app01-3925	18	45	,	,	PUNCT
app01-3925	18	46	therefore	therefore	ADV
app01-3925	18	47	in	in	ADP
app01-3925	18	48	the	the	DET
app01-3925	18	49	herein	herein	NOUN
app01-3925	18	50	presented	present	VERB
app01-3925	18	51	evaluation	evaluation	NOUN
app01-3925	18	52	of	of	ADP
app01-3925	18	53	the	the	DET
app01-3925	18	54	energy	energy	NOUN
app01-3925	18	55	consumption	consumption	NOUN
app01-3925	18	56	,	,	PUNCT
app01-3925	18	57	we	we	PRON
app01-3925	18	58	rather	rather	ADV
app01-3925	18	59	assume	assume	VERB
app01-3925	18	60	the	the	DET
app01-3925	18	61	current	current	ADJ
app01-3925	18	62	terrain	terrain	NOUN
app01-3925	18	63	type	type	NOUN
app01-3925	18	64	is	be	AUX
app01-3925	18	65	available	available	ADJ
app01-3925	18	66	.	.	PUNCT
app01-3925	19	1	an	an	DET
app01-3925	19	2	evaluation	evaluation	NOUN
app01-3925	19	3	of	of	ADP
app01-3925	19	4	the	the	DET
app01-3925	19	5	energy	energy	NOUN
app01-3925	19	6	efficiency	efficiency	NOUN
app01-3925	19	7	applied	apply	VERB
app01-3925	19	8	for	for	ADP
app01-3925	19	9	the	the	DET
app01-3925	19	10	hexapod	hexapod	NOUN
app01-3925	19	11	crawling	crawling	NOUN
app01-3925	19	12	robot	robot	NOUN
app01-3925	19	13	has	have	AUX
app01-3925	19	14	been	be	AUX
app01-3925	19	15	shown	show	VERB
app01-3925	19	16	in	in	ADP
app01-3925	19	17	[	[	X
app01-3925	19	18	3	3	NUM
app01-3925	19	19	]	]	PUNCT
app01-3925	19	20	.	.	PUNCT
app01-3925	20	1	the	the	DET
app01-3925	20	2	authors	author	NOUN
app01-3925	20	3	propose	propose	VERB
app01-3925	20	4	a	a	DET
app01-3925	20	5	method	method	NOUN
app01-3925	20	6	of	of	ADP
app01-3925	20	7	energetic	energetic	ADJ
app01-3925	20	8	cost	cost	NOUN
app01-3925	20	9	evaluation	evaluation	NOUN
app01-3925	20	10	and	and	CCONJ
app01-3925	20	11	they	they	PRON
app01-3925	20	12	applied	apply	VERB
app01-3925	20	13	it	it	PRON
app01-3925	20	14	in	in	ADP
app01-3925	20	15	a	a	DET
app01-3925	20	16	gait	gait	ADJ
app01-3925	20	17	transition	transition	NOUN
app01-3925	20	18	algorithm	algorithm	NOUN
app01-3925	20	19	that	that	PRON
app01-3925	20	20	alters	alter	VERB
app01-3925	20	21	between	between	ADP
app01-3925	20	22	two	two	NUM
app01-3925	20	23	different	different	ADJ
app01-3925	20	24	gaits	gait	NOUN
app01-3925	20	25	according	accord	VERB
app01-3925	20	26	to	to	ADP
app01-3925	20	27	the	the	DET
app01-3925	20	28	power	power	NOUN
app01-3925	20	29	consumption	consumption	NOUN
app01-3925	20	30	and	and	CCONJ
app01-3925	20	31	thus	thus	ADV
app01-3925	20	32	,	,	PUNCT
app01-3925	20	33	according	accord	VERB
app01-3925	20	34	to	to	ADP
app01-3925	20	35	the	the	DET
app01-3925	20	36	particular	particular	ADJ
app01-3925	20	37	terrain	terrain	NOUN
app01-3925	20	38	type	type	NOUN
app01-3925	20	39	.	.	PUNCT
app01-3925	21	1	several	several	ADJ
app01-3925	21	2	methods	method	NOUN
app01-3925	21	3	of	of	ADP
app01-3925	21	4	traversability	traversability	NOUN
app01-3925	21	5	cost	cost	NOUN
app01-3925	21	6	evaluation	evaluation	NOUN
app01-3925	21	7	based	base	VERB
app01-3925	21	8	on	on	ADP
app01-3925	21	9	proprioceptive	proprioceptive	ADJ
app01-3925	21	10	sensors	sensor	NOUN
app01-3925	21	11	are	be	AUX
app01-3925	21	12	proposed	propose	VERB
app01-3925	21	13	in	in	ADP
app01-3925	21	14	[	[	X
app01-3925	21	15	4	4	NUM
app01-3925	21	16	]	]	PUNCT
app01-3925	21	17	.	.	PUNCT
app01-3925	22	1	the	the	DET
app01-3925	22	2	authors	author	NOUN
app01-3925	22	3	also	also	ADV
app01-3925	22	4	consider	consider	VERB
app01-3925	22	5	a	a	DET
app01-3925	22	6	hexapod	hexapod	NOUN
app01-3925	22	7	walking	walking	NOUN
app01-3925	22	8	robot	robot	NOUN
app01-3925	22	9	and	and	CCONJ
app01-3925	22	10	utilize	utilize	VERB
app01-3925	22	11	information	information	NOUN
app01-3925	22	12	about	about	ADP
app01-3925	22	13	the	the	DET
app01-3925	22	14	current	current	ADJ
app01-3925	22	15	torque	torque	NOUN
app01-3925	22	16	at	at	ADP
app01-3925	22	17	the	the	DET
app01-3925	22	18	leg	leg	NOUN
app01-3925	22	19	joints	joint	NOUN
app01-3925	22	20	to	to	PART
app01-3925	22	21	estimate	estimate	VERB
app01-3925	22	22	the	the	DET
app01-3925	22	23	power	power	NOUN
app01-3925	22	24	consumption	consumption	NOUN
app01-3925	22	25	.	.	PUNCT
app01-3925	23	1	contrary	contrary	ADJ
app01-3925	23	2	to	to	ADP
app01-3925	23	3	this	this	DET
app01-3925	23	4	approach	approach	NOUN
app01-3925	23	5	,	,	PUNCT
app01-3925	23	6	we	we	PRON
app01-3925	23	7	consider	consider	VERB
app01-3925	23	8	a	a	DET
app01-3925	23	9	direct	direct	ADJ
app01-3925	23	10	current	current	ADJ
app01-3925	23	11	measurement	measurement	NOUN
app01-3925	23	12	in	in	ADP
app01-3925	23	13	this	this	DET
app01-3925	23	14	paper	paper	NOUN
app01-3925	23	15	,	,	PUNCT
app01-3925	23	16	which	which	PRON
app01-3925	23	17	provides	provide	VERB
app01-3925	23	18	a	a	DET
app01-3925	23	19	more	more	ADV
app01-3925	23	20	precise	precise	ADJ
app01-3925	23	21	estimation	estimation	NOUN
app01-3925	23	22	of	of	ADP
app01-3925	23	23	the	the	DET
app01-3925	23	24	overall	overall	ADJ
app01-3925	23	25	power	power	NOUN
app01-3925	23	26	consumption	consumption	NOUN
app01-3925	23	27	during	during	ADP
app01-3925	23	28	crawling	crawl	VERB
app01-3925	23	29	.	.	PUNCT
app01-3925	24	1	this	this	DET
app01-3925	24	2	paper	paper	NOUN
app01-3925	24	3	is	be	AUX
app01-3925	24	4	organized	organize	VERB
app01-3925	24	5	as	as	SCONJ
app01-3925	24	6	follows	follow	VERB
app01-3925	24	7	.	.	PUNCT
app01-3925	25	1	section	section	NOUN
app01-3925	25	2	2	2	NUM
app01-3925	25	3	describes	describe	VERB
app01-3925	25	4	the	the	DET
app01-3925	25	5	utilized	utilize	VERB
app01-3925	25	6	hexapod	hexapod	NOUN
app01-3925	25	7	robot	robot	NOUN
app01-3925	25	8	platform	platform	NOUN
app01-3925	25	9	,	,	PUNCT
app01-3925	25	10	the	the	DET
app01-3925	25	11	considered	consider	VERB
app01-3925	25	12	motion	motion	NOUN
app01-3925	25	13	gait	gait	NOUN
app01-3925	25	14	patterns	pattern	NOUN
app01-3925	25	15	,	,	PUNCT
app01-3925	25	16	and	and	CCONJ
app01-3925	25	17	used	use	VERB
app01-3925	25	18	evaluation	evaluation	NOUN
app01-3925	25	19	methodology	methodology	NOUN
app01-3925	25	20	for	for	ADP
app01-3925	25	21	measuring	measure	VERB
app01-3925	25	22	the	the	DET
app01-3925	25	23	energy	energy	NOUN
app01-3925	25	24	efficiency	efficiency	NOUN
app01-3925	25	25	of	of	ADP
app01-3925	25	26	the	the	DET
app01-3925	25	27	individual	individual	ADJ
app01-3925	25	28	motion	motion	NOUN
app01-3925	25	29	gaits	gait	NOUN
app01-3925	25	30	.	.	PUNCT
app01-3925	26	1	section	section	NOUN
app01-3925	26	2	3	3	NUM
app01-3925	26	3	is	be	AUX
app01-3925	26	4	dedicated	dedicate	VERB
app01-3925	26	5	to	to	ADP
app01-3925	26	6	the	the	DET
app01-3925	26	7	experimental	experimental	ADJ
app01-3925	26	8	results	result	NOUN
app01-3925	26	9	.	.	PUNCT
app01-3925	27	1	finally	finally	ADV
app01-3925	27	2	,	,	PUNCT
app01-3925	27	3	in	in	ADP
app01-3925	27	4	section	section	NOUN
app01-3925	27	5	4	4	NUM
app01-3925	27	6	,	,	PUNCT
app01-3925	27	7	we	we	PRON
app01-3925	27	8	discuss	discuss	VERB
app01-3925	27	9	the	the	DET
app01-3925	27	10	experimental	experimental	ADJ
app01-3925	27	11	results	result	NOUN
app01-3925	27	12	and	and	CCONJ
app01-3925	27	13	propose	propose	VERB
app01-3925	27	14	further	further	ADJ
app01-3925	27	15	research	research	NOUN
app01-3925	27	16	directions	direction	NOUN
app01-3925	27	17	.	.	PUNCT
app01-3925	28	1	2	2	X
app01-3925	28	2	.	.	X
app01-3925	28	3	problem	problem	NOUN
app01-3925	28	4	statement	statement	NOUN
app01-3925	28	5	2.1	2.1	NUM
app01-3925	28	6	.	.	PUNCT
app01-3925	28	7	hexapod	hexapod	NOUN
app01-3925	28	8	platform	platform	NOUN
app01-3925	28	9	the	the	DET
app01-3925	28	10	idea	idea	NOUN
app01-3925	28	11	of	of	ADP
app01-3925	28	12	optimizing	optimize	VERB
app01-3925	28	13	the	the	DET
app01-3925	28	14	energy	energy	NOUN
app01-3925	28	15	consumption	consumption	NOUN
app01-3925	28	16	by	by	ADP
app01-3925	28	17	altering	alter	VERB
app01-3925	28	18	gaits	gait	NOUN
app01-3925	28	19	according	accord	VERB
app01-3925	28	20	to	to	ADP
app01-3925	28	21	the	the	DET
app01-3925	28	22	terrain	terrain	NOUN
app01-3925	28	23	type	type	NOUN
app01-3925	28	24	can	can	AUX
app01-3925	28	25	be	be	AUX
app01-3925	28	26	applied	apply	VERB
app01-3925	28	27	to	to	ADP
app01-3925	28	28	any	any	DET
app01-3925	28	29	legged	legged	ADJ
app01-3925	28	30	robot	robot	NOUN
app01-3925	28	31	.	.	PUNCT
app01-3925	29	1	in	in	ADP
app01-3925	29	2	this	this	DET
app01-3925	29	3	work	work	NOUN
app01-3925	29	4	,	,	PUNCT
app01-3925	29	5	we	we	PRON
app01-3925	29	6	utilize	utilize	VERB
app01-3925	29	7	a	a	DET
app01-3925	29	8	robot	robot	NOUN
app01-3925	29	9	based	base	VERB
app01-3925	29	10	on	on	ADP
app01-3925	29	11	an	an	DET
app01-3925	29	12	off	off	ADP
app01-3925	29	13	-	-	PUNCT
app01-3925	29	14	the	the	DET
app01-3925	29	15	-	-	PUNCT
app01-3925	29	16	shelf	shelf	NOUN
app01-3925	29	17	phantom	phantom	NOUN
app01-3925	29	18	x	x	PRON
app01-3925	29	19	mark	mark	PROPN
app01-3925	29	20	6	6	NUM
app01-3925	29	21	http://dx.doi.org/10.14311/app.2016.6.0006	http://dx.doi.org/10.14311/app.2016.6.0006	ADJ
app01-3925	29	22	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3925	29	23	vol	vol	NOUN
app01-3925	29	24	.	.	PUNCT
app01-3925	30	1	6/2016	6/2016	NUM
app01-3925	30	2	on	on	ADP
app01-3925	30	3	evaluation	evaluation	NOUN
app01-3925	30	4	of	of	ADP
app01-3925	30	5	motion	motion	NOUN
app01-3925	30	6	gaits	gait	NOUN
app01-3925	30	7	energy	energy	NOUN
app01-3925	30	8	efficiency	efficiency	NOUN
app01-3925	30	9	(	(	PUNCT
app01-3925	30	10	a	a	NOUN
app01-3925	30	11	)	)	PUNCT
app01-3925	30	12	.	.	PUNCT
app01-3925	31	1	office	office	NOUN
app01-3925	31	2	floor	floor	NOUN
app01-3925	31	3	(	(	PUNCT
app01-3925	31	4	b	b	NOUN
app01-3925	31	5	)	)	PUNCT
app01-3925	31	6	.	.	PUNCT
app01-3925	32	1	grass	grass	NOUN
app01-3925	32	2	(	(	PUNCT
app01-3925	32	3	c	c	NOUN
app01-3925	32	4	)	)	PUNCT
app01-3925	32	5	.	.	PUNCT
app01-3925	33	1	inclined	inclined	ADJ
app01-3925	33	2	plane	plane	NOUN
app01-3925	33	3	(	(	PUNCT
app01-3925	33	4	d	d	NOUN
app01-3925	33	5	)	)	PUNCT
app01-3925	33	6	.	.	PUNCT
app01-3925	34	1	wooden	wooden	ADJ
app01-3925	34	2	blocks	block	NOUN
app01-3925	34	3	figure	figure	VERB
app01-3925	34	4	1	1	NUM
app01-3925	34	5	.	.	PUNCT
app01-3925	34	6	terrain	terrain	NOUN
app01-3925	34	7	types	type	NOUN
app01-3925	34	8	.	.	PUNCT
app01-3925	35	1	ii	ii	NOUN
app01-3925	35	2	platform	platform	NOUN
app01-3925	35	3	with	with	ADP
app01-3925	35	4	six	six	NUM
app01-3925	35	5	legs	leg	NOUN
app01-3925	35	6	.	.	PUNCT
app01-3925	36	1	each	each	DET
app01-3925	36	2	leg	leg	NOUN
app01-3925	36	3	consists	consist	VERB
app01-3925	36	4	of	of	ADP
app01-3925	36	5	three	three	NUM
app01-3925	36	6	actuated	actuate	VERB
app01-3925	36	7	joints	joint	NOUN
app01-3925	36	8	driven	drive	VERB
app01-3925	36	9	by	by	ADP
app01-3925	36	10	the	the	DET
app01-3925	36	11	dynamixel	dynamixel	PROPN
app01-3925	36	12	ax-12	ax-12	ADP
app01-3925	36	13	intelligent	intelligent	ADJ
app01-3925	36	14	servos	servo	NOUN
app01-3925	36	15	.	.	PUNCT
app01-3925	37	1	this	this	PRON
app01-3925	37	2	makes	make	VERB
app01-3925	37	3	the	the	DET
app01-3925	37	4	robot	robot	NOUN
app01-3925	37	5	easy	easy	ADJ
app01-3925	37	6	to	to	PART
app01-3925	37	7	use	use	VERB
app01-3925	37	8	and	and	CCONJ
app01-3925	37	9	relatively	relatively	ADV
app01-3925	37	10	cheap	cheap	ADJ
app01-3925	37	11	with	with	ADP
app01-3925	37	12	surprisingly	surprisingly	ADV
app01-3925	37	13	large	large	ADJ
app01-3925	37	14	locomotion	locomotion	NOUN
app01-3925	37	15	capabilities	capability	NOUN
app01-3925	37	16	in	in	ADP
app01-3925	37	17	rough	rough	ADJ
app01-3925	37	18	environments	environment	NOUN
app01-3925	37	19	.	.	PUNCT
app01-3925	38	1	2.2	2.2	NUM
app01-3925	38	2	.	.	PUNCT
app01-3925	38	3	motion	motion	NOUN
app01-3925	38	4	gaits	gait	VERB
app01-3925	38	5	a	a	DET
app01-3925	38	6	straightforward	straightforward	ADJ
app01-3925	38	7	approach	approach	NOUN
app01-3925	38	8	to	to	ADP
app01-3925	38	9	a	a	DET
app01-3925	38	10	hexapod	hexapod	NOUN
app01-3925	38	11	robot	robot	NOUN
app01-3925	38	12	locomotion	locomotion	NOUN
app01-3925	38	13	is	be	AUX
app01-3925	38	14	to	to	PART
app01-3925	38	15	predefine	predefine	VERB
app01-3925	38	16	and	and	CCONJ
app01-3925	38	17	fix	fix	VERB
app01-3925	38	18	a	a	DET
app01-3925	38	19	particular	particular	ADJ
app01-3925	38	20	motion	motion	NOUN
app01-3925	38	21	gait	gait	NOUN
app01-3925	38	22	pattern	pattern	NOUN
app01-3925	38	23	and	and	CCONJ
app01-3925	38	24	simply	simply	ADV
app01-3925	38	25	repeat	repeat	VERB
app01-3925	38	26	such	such	DET
app01-3925	38	27	a	a	DET
app01-3925	38	28	pattern	pattern	NOUN
app01-3925	38	29	over	over	ADV
app01-3925	38	30	and	and	CCONJ
app01-3925	38	31	over	over	ADV
app01-3925	38	32	.	.	PUNCT
app01-3925	39	1	based	base	VERB
app01-3925	39	2	on	on	ADP
app01-3925	39	3	the	the	DET
app01-3925	39	4	number	number	NOUN
app01-3925	39	5	of	of	ADP
app01-3925	39	6	legs	leg	NOUN
app01-3925	39	7	moving	move	VERB
app01-3925	39	8	simultaneously	simultaneously	ADV
app01-3925	39	9	and	and	CCONJ
app01-3925	39	10	on	on	ADP
app01-3925	39	11	the	the	DET
app01-3925	39	12	order	order	NOUN
app01-3925	39	13	in	in	ADP
app01-3925	39	14	which	which	PRON
app01-3925	39	15	the	the	DET
app01-3925	39	16	legs	leg	NOUN
app01-3925	39	17	are	be	AUX
app01-3925	39	18	altering	alter	VERB
app01-3925	39	19	between	between	ADP
app01-3925	39	20	the	the	DET
app01-3925	39	21	support	support	NOUN
app01-3925	39	22	phase	phase	NOUN
app01-3925	39	23	and	and	CCONJ
app01-3925	39	24	the	the	DET
app01-3925	39	25	swing	swing	NOUN
app01-3925	39	26	phase	phase	NOUN
app01-3925	39	27	,	,	PUNCT
app01-3925	39	28	different	different	ADJ
app01-3925	39	29	motion	motion	NOUN
app01-3925	39	30	gaits	gait	NOUN
app01-3925	39	31	can	can	AUX
app01-3925	39	32	be	be	AUX
app01-3925	39	33	recognized	recognize	VERB
app01-3925	39	34	.	.	PUNCT
app01-3925	40	1	this	this	PRON
app01-3925	40	2	include	include	VERB
app01-3925	40	3	regular	regular	ADJ
app01-3925	40	4	tripod	tripod	NOUN
app01-3925	40	5	,	,	PUNCT
app01-3925	40	6	tetrapod	tetrapod	NOUN
app01-3925	40	7	,	,	PUNCT
app01-3925	40	8	pentapod	pentapod	ADJ
app01-3925	40	9	,	,	PUNCT
app01-3925	40	10	and	and	CCONJ
app01-3925	40	11	ripple	ripple	ADJ
app01-3925	40	12	gaits	gait	NOUN
app01-3925	40	13	.	.	PUNCT
app01-3925	41	1	further	further	ADJ
app01-3925	41	2	details	detail	NOUN
app01-3925	41	3	on	on	ADP
app01-3925	41	4	these	these	DET
app01-3925	41	5	regular	regular	ADJ
app01-3925	41	6	gaits	gait	NOUN
app01-3925	41	7	can	can	AUX
app01-3925	41	8	be	be	AUX
app01-3925	41	9	found	find	VERB
app01-3925	41	10	in	in	ADP
app01-3925	41	11	[	[	X
app01-3925	41	12	5	5	NUM
app01-3925	41	13	]	]	PUNCT
app01-3925	41	14	.	.	PUNCT
app01-3925	42	1	a	a	DET
app01-3925	42	2	basic	basic	ADJ
app01-3925	42	3	locomotion	locomotion	NOUN
app01-3925	42	4	controller	controller	NOUN
app01-3925	42	5	assume	assume	VERB
app01-3925	42	6	crawling	crawl	VERB
app01-3925	42	7	on	on	ADP
app01-3925	42	8	a	a	DET
app01-3925	42	9	flat	flat	ADJ
app01-3925	42	10	terrain	terrain	NOUN
app01-3925	42	11	by	by	ADP
app01-3925	42	12	default	default	NOUN
app01-3925	42	13	;	;	PUNCT
app01-3925	42	14	however	however	ADV
app01-3925	42	15	,	,	PUNCT
app01-3925	42	16	it	it	PRON
app01-3925	42	17	is	be	AUX
app01-3925	42	18	necessary	necessary	ADJ
app01-3925	42	19	to	to	PART
app01-3925	42	20	negotiate	negotiate	VERB
app01-3925	42	21	the	the	DET
app01-3925	42	22	landscape	landscape	NOUN
app01-3925	42	23	using	use	VERB
app01-3925	42	24	the	the	DET
app01-3925	42	25	robot	robot	NOUN
app01-3925	42	26	sensory	sensory	ADJ
app01-3925	42	27	feedback	feedback	NOUN
app01-3925	42	28	to	to	PART
app01-3925	42	29	surpass	surpass	VERB
app01-3925	42	30	a	a	DET
app01-3925	42	31	rough	rough	ADJ
app01-3925	42	32	terrain	terrain	NOUN
app01-3925	42	33	.	.	PUNCT
app01-3925	43	1	in	in	ADP
app01-3925	43	2	this	this	DET
app01-3925	43	3	report	report	NOUN
app01-3925	43	4	,	,	PUNCT
app01-3925	43	5	we	we	PRON
app01-3925	43	6	consider	consider	VERB
app01-3925	43	7	the	the	DET
app01-3925	43	8	default	default	NOUN
app01-3925	43	9	tripod	tripod	NOUN
app01-3925	43	10	,	,	PUNCT
app01-3925	43	11	tetrapod	tetrapod	NOUN
app01-3925	43	12	,	,	PUNCT
app01-3925	43	13	pentapod	pentapod	ADJ
app01-3925	43	14	,	,	PUNCT
app01-3925	43	15	and	and	CCONJ
app01-3925	43	16	ripple	ripple	ADJ
app01-3925	43	17	gaits	gait	NOUN
app01-3925	43	18	which	which	PRON
app01-3925	43	19	assume	assume	VERB
app01-3925	43	20	crawling	crawl	VERB
app01-3925	43	21	on	on	ADP
app01-3925	43	22	a	a	DET
app01-3925	43	23	flat	flat	ADJ
app01-3925	43	24	terrain	terrain	NOUN
app01-3925	43	25	and	and	CCONJ
app01-3925	43	26	their	their	PRON
app01-3925	43	27	adaptive	adaptive	ADJ
app01-3925	43	28	variants	variant	NOUN
app01-3925	43	29	for	for	ADP
app01-3925	43	30	tripod	tripod	NOUN
app01-3925	43	31	,	,	PUNCT
app01-3925	43	32	tetrapod	tetrapod	NOUN
app01-3925	43	33	,	,	PUNCT
app01-3925	43	34	and	and	CCONJ
app01-3925	43	35	pentapod	pentapod	ADJ
app01-3925	43	36	gaits	gait	NOUN
app01-3925	43	37	[	[	X
app01-3925	43	38	2	2	NUM
app01-3925	43	39	]	]	PUNCT
app01-3925	43	40	.	.	PUNCT
app01-3925	44	1	the	the	DET
app01-3925	44	2	adaptive	adaptive	ADJ
app01-3925	44	3	gaits	gait	NOUN
app01-3925	44	4	exploit	exploit	VERB
app01-3925	44	5	the	the	DET
app01-3925	44	6	sensory	sensory	ADJ
app01-3925	44	7	feedback	feedback	NOUN
app01-3925	44	8	from	from	ADP
app01-3925	44	9	the	the	DET
app01-3925	44	10	intelligent	intelligent	ADJ
app01-3925	44	11	servo	servo	NOUN
app01-3925	44	12	drives	drive	VERB
app01-3925	44	13	to	to	PART
app01-3925	44	14	detect	detect	VERB
app01-3925	44	15	the	the	DET
app01-3925	44	16	contact	contact	NOUN
app01-3925	44	17	point	point	NOUN
app01-3925	44	18	of	of	ADP
app01-3925	44	19	the	the	DET
app01-3925	44	20	leg	leg	NOUN
app01-3925	44	21	with	with	ADP
app01-3925	44	22	the	the	DET
app01-3925	44	23	supporting	support	VERB
app01-3925	44	24	surface	surface	NOUN
app01-3925	44	25	[	[	X
app01-3925	44	26	6	6	NUM
app01-3925	44	27	]	]	PUNCT
app01-3925	44	28	.	.	PUNCT
app01-3925	45	1	in	in	ADP
app01-3925	45	2	particular	particular	ADJ
app01-3925	45	3	,	,	PUNCT
app01-3925	45	4	a	a	DET
app01-3925	45	5	position	position	NOUN
app01-3925	45	6	error	error	NOUN
app01-3925	45	7	of	of	ADP
app01-3925	45	8	the	the	DET
app01-3925	45	9	servo	servo	NOUN
app01-3925	45	10	joint	joint	NOUN
app01-3925	45	11	,	,	PUNCT
app01-3925	45	12	which	which	PRON
app01-3925	45	13	is	be	AUX
app01-3925	45	14	proportional	proportional	ADJ
app01-3925	45	15	to	to	ADP
app01-3925	45	16	the	the	DET
app01-3925	45	17	applied	apply	VERB
app01-3925	45	18	torque	torque	NOUN
app01-3925	45	19	,	,	PUNCT
app01-3925	45	20	is	be	AUX
app01-3925	45	21	utilized	utilize	VERB
app01-3925	45	22	to	to	PART
app01-3925	45	23	stop	stop	VERB
app01-3925	45	24	the	the	DET
app01-3925	45	25	motion	motion	NOUN
app01-3925	45	26	of	of	ADP
app01-3925	45	27	the	the	DET
app01-3925	45	28	leg	leg	NOUN
app01-3925	45	29	during	during	ADP
app01-3925	45	30	the	the	DET
app01-3925	45	31	swing	swing	NOUN
app01-3925	45	32	phase	phase	NOUN
app01-3925	45	33	,	,	PUNCT
app01-3925	45	34	and	and	CCONJ
app01-3925	45	35	thus	thus	ADV
app01-3925	45	36	to	to	PART
app01-3925	45	37	detect	detect	VERB
app01-3925	45	38	the	the	DET
app01-3925	45	39	contact	contact	NOUN
app01-3925	45	40	point	point	NOUN
app01-3925	45	41	of	of	ADP
app01-3925	45	42	the	the	DET
app01-3925	45	43	leg	leg	NOUN
app01-3925	45	44	with	with	ADP
app01-3925	45	45	the	the	DET
app01-3925	45	46	ground	ground	NOUN
app01-3925	45	47	.	.	PUNCT
app01-3925	46	1	2.3	2.3	NUM
app01-3925	46	2	.	.	PUNCT
app01-3925	46	3	energetics	energetic	VERB
app01-3925	46	4	the	the	DET
app01-3925	46	5	fundamental	fundamental	ADJ
app01-3925	46	6	sensory	sensory	ADJ
app01-3925	46	7	input	input	NOUN
app01-3925	46	8	for	for	ADP
app01-3925	46	9	the	the	DET
app01-3925	46	10	proposed	propose	VERB
app01-3925	46	11	evaluation	evaluation	NOUN
app01-3925	46	12	of	of	ADP
app01-3925	46	13	the	the	DET
app01-3925	46	14	energy	energy	NOUN
app01-3925	46	15	efficiency	efficiency	NOUN
app01-3925	46	16	of	of	ADP
app01-3925	46	17	the	the	DET
app01-3925	46	18	individual	individual	ADJ
app01-3925	46	19	gaits	gait	NOUN
app01-3925	46	20	is	be	AUX
app01-3925	46	21	based	base	VERB
app01-3925	46	22	on	on	ADP
app01-3925	46	23	measuring	measure	VERB
app01-3925	46	24	of	of	ADP
app01-3925	46	25	the	the	DET
app01-3925	46	26	current	current	NOUN
app01-3925	46	27	i	i	PRON
app01-3925	46	28	drawn	draw	VERB
app01-3925	46	29	from	from	ADP
app01-3925	46	30	the	the	DET
app01-3925	46	31	robot	robot	NOUN
app01-3925	46	32	main	main	ADJ
app01-3925	46	33	battery	battery	NOUN
app01-3925	46	34	.	.	PUNCT
app01-3925	47	1	from	from	ADP
app01-3925	47	2	the	the	DET
app01-3925	47	3	measured	measured	ADJ
app01-3925	47	4	current	current	NOUN
app01-3925	47	5	i	i	PRON
app01-3925	47	6	we	we	PRON
app01-3925	47	7	can	can	AUX
app01-3925	47	8	compute	compute	VERB
app01-3925	47	9	the	the	DET
app01-3925	47	10	instantaneous	instantaneous	ADJ
app01-3925	47	11	power	power	NOUN
app01-3925	47	12	as	as	ADP
app01-3925	47	13	pin	pin	NOUN
app01-3925	47	14	=	=	PROPN
app01-3925	47	15	v	v	PART
app01-3925	47	16	i	i	PRON
app01-3925	47	17	,	,	PUNCT
app01-3925	47	18	(	(	PUNCT
app01-3925	47	19	1	1	X
app01-3925	47	20	)	)	PUNCT
app01-3925	47	21	where	where	SCONJ
app01-3925	47	22	i	i	PRON
app01-3925	47	23	is	be	AUX
app01-3925	47	24	the	the	DET
app01-3925	47	25	instantaneous	instantaneous	ADJ
app01-3925	47	26	current	current	NOUN
app01-3925	47	27	(	(	PUNCT
app01-3925	47	28	in	in	ADP
app01-3925	47	29	units	unit	NOUN
app01-3925	47	30	of	of	ADP
app01-3925	47	31	amperes	ampere	NOUN
app01-3925	47	32	)	)	PUNCT
app01-3925	47	33	,	,	PUNCT
app01-3925	47	34	v	v	NOUN
app01-3925	47	35	is	be	AUX
app01-3925	47	36	voltage	voltage	NOUN
app01-3925	47	37	of	of	ADP
app01-3925	47	38	the	the	DET
app01-3925	47	39	battery	battery	NOUN
app01-3925	47	40	(	(	PUNCT
app01-3925	47	41	in	in	ADP
app01-3925	47	42	units	unit	NOUN
app01-3925	47	43	of	of	ADP
app01-3925	47	44	volts	volt	NOUN
app01-3925	47	45	)	)	PUNCT
app01-3925	47	46	,	,	PUNCT
app01-3925	47	47	and	and	CCONJ
app01-3925	47	48	pin	pin	NOUN
app01-3925	47	49	is	be	AUX
app01-3925	47	50	the	the	DET
app01-3925	47	51	instantaneous	instantaneous	ADJ
app01-3925	47	52	power	power	NOUN
app01-3925	47	53	(	(	PUNCT
app01-3925	47	54	in	in	ADP
app01-3925	47	55	units	unit	NOUN
app01-3925	47	56	of	of	ADP
app01-3925	47	57	watts	watt	NOUN
app01-3925	47	58	)	)	PUNCT
app01-3925	47	59	.	.	PUNCT
app01-3925	48	1	as	as	SCONJ
app01-3925	48	2	shown	show	VERB
app01-3925	48	3	in	in	ADP
app01-3925	48	4	[	[	X
app01-3925	48	5	3	3	NUM
app01-3925	48	6	]	]	PUNCT
app01-3925	48	7	,	,	PUNCT
app01-3925	48	8	pin	pin	NOUN
app01-3925	48	9	is	be	AUX
app01-3925	48	10	the	the	DET
app01-3925	48	11	total	total	ADJ
app01-3925	48	12	power	power	NOUN
app01-3925	48	13	consumed	consume	VERB
app01-3925	48	14	by	by	ADP
app01-3925	48	15	the	the	DET
app01-3925	48	16	robot	robot	NOUN
app01-3925	48	17	that	that	PRON
app01-3925	48	18	consists	consist	VERB
app01-3925	48	19	of	of	ADP
app01-3925	48	20	the	the	DET
app01-3925	48	21	power	power	NOUN
app01-3925	48	22	generating	generate	VERB
app01-3925	48	23	mechanical	mechanical	ADJ
app01-3925	48	24	forces	force	NOUN
app01-3925	48	25	and	and	CCONJ
app01-3925	48	26	the	the	DET
app01-3925	48	27	power	power	NOUN
app01-3925	48	28	representing	represent	VERB
app01-3925	48	29	the	the	DET
app01-3925	48	30	energy	energy	NOUN
app01-3925	48	31	loss	loss	NOUN
app01-3925	48	32	.	.	PUNCT
app01-3925	49	1	however	however	ADV
app01-3925	49	2	,	,	PUNCT
app01-3925	49	3	we	we	PRON
app01-3925	49	4	consider	consider	VERB
app01-3925	49	5	the	the	DET
app01-3925	49	6	total	total	ADJ
app01-3925	49	7	power	power	NOUN
app01-3925	49	8	only	only	ADV
app01-3925	49	9	because	because	SCONJ
app01-3925	49	10	we	we	PRON
app01-3925	49	11	aim	aim	VERB
app01-3925	49	12	to	to	PART
app01-3925	49	13	minimize	minimize	VERB
app01-3925	49	14	the	the	DET
app01-3925	49	15	overall	overall	ADJ
app01-3925	49	16	energy	energy	NOUN
app01-3925	49	17	consumed	consume	VERB
app01-3925	49	18	.	.	PUNCT
app01-3925	50	1	from	from	ADP
app01-3925	50	2	the	the	DET
app01-3925	50	3	gathered	gather	VERB
app01-3925	50	4	information	information	NOUN
app01-3925	50	5	about	about	ADP
app01-3925	50	6	the	the	DET
app01-3925	50	7	instantaneous	instantaneous	ADJ
app01-3925	50	8	power	power	NOUN
app01-3925	50	9	(	(	PUNCT
app01-3925	50	10	1	1	NUM
app01-3925	50	11	)	)	PUNCT
app01-3925	50	12	,	,	PUNCT
app01-3925	50	13	we	we	PRON
app01-3925	50	14	can	can	AUX
app01-3925	50	15	estimate	estimate	VERB
app01-3925	50	16	the	the	DET
app01-3925	50	17	energy	energy	NOUN
app01-3925	50	18	consumed	consume	VERB
app01-3925	50	19	during	during	ADP
app01-3925	50	20	traversing	traverse	VERB
app01-3925	50	21	a	a	DET
app01-3925	50	22	particular	particular	ADJ
app01-3925	50	23	terrain	terrain	NOUN
app01-3925	50	24	.	.	PUNCT
app01-3925	51	1	based	base	VERB
app01-3925	51	2	on	on	ADP
app01-3925	51	3	the	the	DET
app01-3925	51	4	relationship	relationship	NOUN
app01-3925	51	5	between	between	ADP
app01-3925	51	6	the	the	DET
app01-3925	51	7	consumed	consume	VERB
app01-3925	51	8	energy	energy	NOUN
app01-3925	51	9	e	e	NOUN
app01-3925	51	10	and	and	CCONJ
app01-3925	51	11	the	the	DET
app01-3925	51	12	instantaneous	instantaneous	ADJ
app01-3925	51	13	power	power	NOUN
app01-3925	51	14	pin(t	pin(t	NOUN
app01-3925	51	15	)	)	PUNCT
app01-3925	51	16	=	=	PUNCT
app01-3925	51	17	de(t	de(t	X
app01-3925	51	18	)	)	PUNCT
app01-3925	51	19	dt	dt	X
app01-3925	51	20	(	(	PUNCT
app01-3925	51	21	2	2	X
app01-3925	51	22	)	)	PUNCT
app01-3925	51	23	we	we	PRON
app01-3925	51	24	can	can	AUX
app01-3925	51	25	write	write	VERB
app01-3925	51	26	e(t	e(t	NOUN
app01-3925	51	27	)	)	PUNCT
app01-3925	52	1	=	=	SYM
app01-3925	52	2	∫	∫	PROPN
app01-3925	52	3	t	t	PROPN
app01-3925	52	4	0	0	NUM
app01-3925	52	5	pin(τ	pin(τ	PROPN
app01-3925	52	6	)	)	PUNCT
app01-3925	52	7	dτ	dτ	NOUN
app01-3925	52	8	,	,	PUNCT
app01-3925	52	9	(	(	PUNCT
app01-3925	52	10	3	3	X
app01-3925	52	11	)	)	PUNCT
app01-3925	52	12	where	where	SCONJ
app01-3925	52	13	e(t	e(t	NOUN
app01-3925	52	14	)	)	PUNCT
app01-3925	52	15	is	be	AUX
app01-3925	52	16	the	the	DET
app01-3925	52	17	energy	energy	NOUN
app01-3925	52	18	consumed	consume	VERB
app01-3925	52	19	(	(	PUNCT
app01-3925	52	20	in	in	ADP
app01-3925	52	21	units	unit	NOUN
app01-3925	52	22	of	of	ADP
app01-3925	52	23	joules	joule	NOUN
app01-3925	52	24	)	)	PUNCT
app01-3925	52	25	from	from	ADP
app01-3925	52	26	the	the	DET
app01-3925	52	27	beginning	beginning	NOUN
app01-3925	52	28	of	of	ADP
app01-3925	52	29	the	the	DET
app01-3925	52	30	experiment	experiment	NOUN
app01-3925	52	31	up	up	ADP
app01-3925	52	32	until	until	ADP
app01-3925	52	33	the	the	DET
app01-3925	52	34	specified	specified	ADJ
app01-3925	52	35	time	time	NOUN
app01-3925	52	36	t.	t.	PROPN
app01-3925	52	37	from	from	ADP
app01-3925	52	38	(	(	PUNCT
app01-3925	52	39	3	3	X
app01-3925	52	40	)	)	PUNCT
app01-3925	52	41	we	we	PRON
app01-3925	52	42	can	can	AUX
app01-3925	52	43	estimate	estimate	VERB
app01-3925	52	44	the	the	DET
app01-3925	52	45	overall	overall	ADJ
app01-3925	52	46	energy	energy	NOUN
app01-3925	52	47	consumption	consumption	NOUN
app01-3925	52	48	by	by	ADP
app01-3925	52	49	integrating	integrate	VERB
app01-3925	52	50	the	the	DET
app01-3925	52	51	instantaneous	instantaneous	ADJ
app01-3925	52	52	power	power	NOUN
app01-3925	52	53	numerically	numerically	ADV
app01-3925	52	54	,	,	PUNCT
app01-3925	52	55	e.g.	e.g.	ADV
app01-3925	52	56	,	,	PUNCT
app01-3925	52	57	using	use	VERB
app01-3925	52	58	the	the	DET
app01-3925	52	59	trapezoidal	trapezoidal	ADJ
app01-3925	52	60	rule	rule	NOUN
app01-3925	52	61	.	.	PUNCT
app01-3925	53	1	3	3	X
app01-3925	53	2	.	.	X
app01-3925	53	3	evaluation	evaluation	NOUN
app01-3925	53	4	3.1	3.1	NUM
app01-3925	53	5	.	.	PUNCT
app01-3925	54	1	experimental	experimental	ADJ
app01-3925	54	2	set	set	NOUN
app01-3925	54	3	-	-	PUNCT
app01-3925	54	4	up	up	ADP
app01-3925	54	5	the	the	DET
app01-3925	54	6	following	follow	VERB
app01-3925	54	7	experimental	experimental	ADJ
app01-3925	54	8	setup	setup	NOUN
app01-3925	54	9	has	have	AUX
app01-3925	54	10	been	be	AUX
app01-3925	54	11	designed	design	VERB
app01-3925	54	12	to	to	PART
app01-3925	54	13	evaluate	evaluate	VERB
app01-3925	54	14	and	and	CCONJ
app01-3925	54	15	compare	compare	VERB
app01-3925	54	16	particular	particular	ADJ
app01-3925	54	17	abilities	ability	NOUN
app01-3925	54	18	of	of	ADP
app01-3925	54	19	each	each	PRON
app01-3925	54	20	considered	consider	VERB
app01-3925	54	21	gait	gait	NOUN
app01-3925	54	22	to	to	PART
app01-3925	54	23	traverse	traverse	VERB
app01-3925	54	24	a	a	DET
app01-3925	54	25	particular	particular	ADJ
app01-3925	54	26	terrain	terrain	NOUN
app01-3925	54	27	type	type	NOUN
app01-3925	54	28	.	.	PUNCT
app01-3925	55	1	the	the	DET
app01-3925	55	2	robot	robot	NOUN
app01-3925	55	3	has	have	AUX
app01-3925	55	4	been	be	AUX
app01-3925	55	5	requested	request	VERB
app01-3925	55	6	to	to	PART
app01-3925	55	7	walk	walk	VERB
app01-3925	55	8	a	a	DET
app01-3925	55	9	fixed	fix	VERB
app01-3925	55	10	distance	distance	NOUN
app01-3925	55	11	of	of	ADP
app01-3925	55	12	one	one	NUM
app01-3925	55	13	meter	meter	NOUN
app01-3925	55	14	straight	straight	ADV
app01-3925	55	15	ahead	ahead	ADV
app01-3925	55	16	and	and	CCONJ
app01-3925	55	17	traverse	traverse	VERB
app01-3925	55	18	a	a	DET
app01-3925	55	19	particular	particular	ADJ
app01-3925	55	20	terrain	terrain	NOUN
app01-3925	55	21	type	type	NOUN
app01-3925	55	22	.	.	PUNCT
app01-3925	56	1	considered	consider	VERB
app01-3925	56	2	terrain	terrain	NOUN
app01-3925	56	3	types	type	NOUN
app01-3925	56	4	are	be	AUX
app01-3925	56	5	the	the	DET
app01-3925	56	6	office	office	NOUN
app01-3925	56	7	floor	floor	NOUN
app01-3925	56	8	,	,	PUNCT
app01-3925	56	9	artificial	artificial	ADJ
app01-3925	56	10	grass	grass	NOUN
app01-3925	56	11	,	,	PUNCT
app01-3925	56	12	inclined	inclined	ADJ
app01-3925	56	13	plane	plane	NOUN
app01-3925	56	14	,	,	PUNCT
app01-3925	56	15	and	and	CCONJ
app01-3925	56	16	wooden	wooden	ADJ
app01-3925	56	17	blocks	block	NOUN
app01-3925	56	18	of	of	ADP
app01-3925	56	19	irregular	irregular	ADJ
app01-3925	56	20	heights	height	NOUN
app01-3925	56	21	(	(	PUNCT
app01-3925	56	22	see	see	VERB
app01-3925	56	23	figure	figure	NOUN
app01-3925	56	24	1	1	NUM
app01-3925	56	25	)	)	PUNCT
app01-3925	56	26	.	.	PUNCT
app01-3925	57	1	the	the	DET
app01-3925	57	2	office	office	NOUN
app01-3925	57	3	floor	floor	NOUN
app01-3925	57	4	and	and	CCONJ
app01-3925	57	5	artificial	artificial	ADJ
app01-3925	57	6	grass	grass	NOUN
app01-3925	57	7	represent	represent	VERB
app01-3925	57	8	terrain	terrain	NOUN
app01-3925	57	9	types	type	NOUN
app01-3925	57	10	with	with	ADP
app01-3925	57	11	different	different	ADJ
app01-3925	57	12	adhesion	adhesion	NOUN
app01-3925	57	13	,	,	PUNCT
app01-3925	57	14	and	and	CCONJ
app01-3925	57	15	thus	thus	ADV
app01-3925	57	16	with	with	ADP
app01-3925	57	17	a	a	DET
app01-3925	57	18	different	different	ADJ
app01-3925	57	19	slippage	slippage	NOUN
app01-3925	57	20	.	.	PUNCT
app01-3925	58	1	the	the	DET
app01-3925	58	2	inclined	inclined	ADJ
app01-3925	58	3	plane	plane	NOUN
app01-3925	58	4	and	and	CCONJ
app01-3925	58	5	wooden	wooden	ADJ
app01-3925	58	6	blocks	block	NOUN
app01-3925	58	7	represent	represent	VERB
app01-3925	58	8	an	an	DET
app01-3925	58	9	environment	environment	NOUN
app01-3925	58	10	with	with	ADP
app01-3925	58	11	elevated	elevated	ADJ
app01-3925	58	12	demands	demand	NOUN
app01-3925	58	13	on	on	ADP
app01-3925	58	14	the	the	DET
app01-3925	58	15	power	power	NOUN
app01-3925	58	16	consumption	consumption	NOUN
app01-3925	58	17	.	.	PUNCT
app01-3925	59	1	the	the	DET
app01-3925	59	2	locomotion	locomotion	NOUN
app01-3925	59	3	of	of	ADP
app01-3925	59	4	the	the	DET
app01-3925	59	5	robot	robot	NOUN
app01-3925	59	6	on	on	ADP
app01-3925	59	7	the	the	DET
app01-3925	59	8	wooden	wooden	ADJ
app01-3925	59	9	blocks	block	NOUN
app01-3925	59	10	is	be	AUX
app01-3925	59	11	also	also	ADV
app01-3925	59	12	often	often	ADV
app01-3925	59	13	subjected	subject	VERB
app01-3925	59	14	to	to	ADP
app01-3925	59	15	slippage	slippage	NOUN
app01-3925	59	16	and	and	CCONJ
app01-3925	59	17	abrupt	abrupt	ADJ
app01-3925	59	18	motions	motion	NOUN
app01-3925	59	19	which	which	PRON
app01-3925	59	20	apply	apply	VERB
app01-3925	59	21	further	further	ADJ
app01-3925	59	22	load	load	NOUN
app01-3925	59	23	on	on	ADP
app01-3925	59	24	the	the	DET
app01-3925	59	25	servo	servo	NOUN
app01-3925	59	26	drives	drive	NOUN
app01-3925	59	27	,	,	PUNCT
app01-3925	59	28	leading	lead	VERB
app01-3925	59	29	to	to	ADP
app01-3925	59	30	a	a	DET
app01-3925	59	31	higher	high	ADJ
app01-3925	59	32	energy	energy	NOUN
app01-3925	59	33	consumption	consumption	NOUN
app01-3925	59	34	.	.	PUNCT
app01-3925	60	1	the	the	DET
app01-3925	60	2	experiment	experiment	NOUN
app01-3925	60	3	has	have	AUX
app01-3925	60	4	been	be	AUX
app01-3925	60	5	repeated	repeat	VERB
app01-3925	60	6	three	three	NUM
app01-3925	60	7	times	time	NOUN
app01-3925	60	8	for	for	ADP
app01-3925	60	9	each	each	DET
app01-3925	60	10	gait	gait	NOUN
app01-3925	60	11	on	on	ADP
app01-3925	60	12	each	each	DET
app01-3925	60	13	terrain	terrain	NOUN
app01-3925	60	14	type	type	NOUN
app01-3925	60	15	except	except	SCONJ
app01-3925	60	16	the	the	DET
app01-3925	60	17	default	default	NOUN
app01-3925	60	18	gaits	gait	NOUN
app01-3925	60	19	and	and	CCONJ
app01-3925	60	20	wooden	wooden	ADJ
app01-3925	60	21	blocks	block	NOUN
app01-3925	60	22	because	because	SCONJ
app01-3925	60	23	the	the	DET
app01-3925	60	24	default	default	NOUN
app01-3925	60	25	gaits	gait	NOUN
app01-3925	60	26	are	be	AUX
app01-3925	60	27	not	not	PART
app01-3925	60	28	capable	capable	ADJ
app01-3925	60	29	of	of	ADP
app01-3925	60	30	traversing	traverse	VERB
app01-3925	60	31	such	such	DET
app01-3925	60	32	a	a	DET
app01-3925	60	33	rough	rough	ADJ
app01-3925	60	34	terrain	terrain	NOUN
app01-3925	60	35	.	.	PUNCT
app01-3925	61	1	the	the	DET
app01-3925	61	2	distance	distance	NOUN
app01-3925	61	3	traveled	travel	VERB
app01-3925	61	4	by	by	ADP
app01-3925	61	5	the	the	DET
app01-3925	61	6	robot	robot	NOUN
app01-3925	61	7	has	have	AUX
app01-3925	61	8	been	be	AUX
app01-3925	61	9	estimated	estimate	VERB
app01-3925	61	10	based	base	VERB
app01-3925	61	11	on	on	ADP
app01-3925	61	12	the	the	DET
app01-3925	61	13	legged	legged	ADJ
app01-3925	61	14	odometry	odometry	NOUN
app01-3925	61	15	only	only	ADV
app01-3925	61	16	.	.	PUNCT
app01-3925	62	1	7	7	NUM
app01-3925	62	2	l.	l.	PROPN
app01-3925	62	3	černý	černý	PROPN
app01-3925	62	4	,	,	PUNCT
app01-3925	62	5	p.	p.	NOUN
app01-3925	62	6	čížek	čížek	PROPN
app01-3925	62	7	,	,	PUNCT
app01-3925	62	8	j.	j.	PROPN
app01-3925	62	9	faigl	faigl	PROPN
app01-3925	62	10	acta	acta	PROPN
app01-3925	62	11	polytechnica	polytechnica	PROPN
app01-3925	62	12	ctu	ctu	PROPN
app01-3925	62	13	proceedings	proceeding	NOUN
app01-3925	62	14	time	time	NOUN
app01-3925	63	1	[	[	X
app01-3925	63	2	s	s	X
app01-3925	63	3	]	]	X
app01-3925	63	4	0	0	NUM
app01-3925	63	5	5	5	NUM
app01-3925	63	6	10	10	NUM
app01-3925	63	7	15	15	NUM
app01-3925	63	8	20	20	NUM
app01-3925	63	9	25	25	NUM
app01-3925	63	10	c	c	NOUN
app01-3925	63	11	o	o	NOUN
app01-3925	63	12	n	n	CCONJ
app01-3925	63	13	su	su	PROPN
app01-3925	63	14	m	m	PROPN
app01-3925	63	15	ed	ed	NOUN
app01-3925	63	16	en	en	INTJ
app01-3925	63	17	er	er	INTJ
app01-3925	63	18	g	g	NOUN
app01-3925	63	19	y	y	PROPN
app01-3925	64	1	[	[	X
app01-3925	64	2	j	j	X
app01-3925	64	3	]	]	X
app01-3925	64	4	0	0	NUM
app01-3925	64	5	50	50	NUM
app01-3925	64	6	100	100	NUM
app01-3925	64	7	150	150	NUM
app01-3925	64	8	200	200	NUM
app01-3925	64	9	250	250	NUM
app01-3925	64	10	300	300	NUM
app01-3925	64	11	energy	energy	NOUN
app01-3925	64	12	consumption	consumption	NOUN
app01-3925	64	13	of	of	ADP
app01-3925	64	14	default	default	NOUN
app01-3925	64	15	gaits	gait	NOUN
app01-3925	64	16	on	on	ADP
app01-3925	64	17	o	o	PROPN
app01-3925	64	18	/	/	SYM
app01-3925	64	19	ce	ce	PROPN
app01-3925	64	20	.oor	.oor	PROPN
app01-3925	64	21	default	default	NOUN
app01-3925	64	22	tripod	tripod	NOUN
app01-3925	64	23	gait	gait	NOUN
app01-3925	64	24	default	default	NOUN
app01-3925	64	25	tetrapod	tetrapod	NOUN
app01-3925	64	26	gait	gait	NOUN
app01-3925	64	27	default	default	NOUN
app01-3925	64	28	pentapod	pentapod	NOUN
app01-3925	64	29	gait	gait	NOUN
app01-3925	64	30	default	default	NOUN
app01-3925	64	31	ripple	ripple	NOUN
app01-3925	64	32	gait	gait	NOUN
app01-3925	64	33	(	(	PUNCT
app01-3925	64	34	a	a	NOUN
app01-3925	64	35	)	)	PUNCT
app01-3925	64	36	.	.	PUNCT
app01-3925	65	1	default	default	NOUN
app01-3925	65	2	gaits	gait	NOUN
app01-3925	65	3	on	on	ADP
app01-3925	65	4	office	office	NOUN
app01-3925	65	5	floor	floor	NOUN
app01-3925	65	6	time	time	NOUN
app01-3925	65	7	[	[	X
app01-3925	65	8	s	s	X
app01-3925	65	9	]	]	X
app01-3925	65	10	0	0	NUM
app01-3925	65	11	5	5	NUM
app01-3925	65	12	10	10	NUM
app01-3925	65	13	15	15	NUM
app01-3925	65	14	20	20	NUM
app01-3925	65	15	25	25	NUM
app01-3925	65	16	c	c	NOUN
app01-3925	65	17	o	o	NOUN
app01-3925	65	18	n	n	CCONJ
app01-3925	65	19	su	su	PROPN
app01-3925	65	20	m	m	PROPN
app01-3925	65	21	ed	ed	NOUN
app01-3925	65	22	en	en	INTJ
app01-3925	65	23	er	er	INTJ
app01-3925	65	24	g	g	NOUN
app01-3925	65	25	y	y	PROPN
app01-3925	66	1	[	[	X
app01-3925	66	2	j	j	X
app01-3925	66	3	]	]	X
app01-3925	66	4	0	0	NUM
app01-3925	66	5	50	50	NUM
app01-3925	66	6	100	100	NUM
app01-3925	66	7	150	150	NUM
app01-3925	66	8	200	200	NUM
app01-3925	66	9	250	250	NUM
app01-3925	66	10	300	300	NUM
app01-3925	66	11	350	350	NUM
app01-3925	66	12	energy	energy	NOUN
app01-3925	66	13	consumption	consumption	NOUN
app01-3925	66	14	of	of	ADP
app01-3925	66	15	default	default	NOUN
app01-3925	66	16	gaits	gait	NOUN
app01-3925	66	17	on	on	ADP
app01-3925	66	18	grass	grass	NOUN
app01-3925	66	19	default	default	NOUN
app01-3925	66	20	tripod	tripod	NOUN
app01-3925	66	21	gait	gait	NOUN
app01-3925	66	22	default	default	NOUN
app01-3925	66	23	tetrapod	tetrapod	NOUN
app01-3925	66	24	gait	gait	NOUN
app01-3925	66	25	default	default	NOUN
app01-3925	66	26	pentapod	pentapod	NOUN
app01-3925	66	27	gait	gait	NOUN
app01-3925	66	28	default	default	NOUN
app01-3925	66	29	ripple	ripple	NOUN
app01-3925	66	30	gait	gait	NOUN
app01-3925	66	31	(	(	PUNCT
app01-3925	66	32	b	b	NOUN
app01-3925	66	33	)	)	PUNCT
app01-3925	66	34	.	.	PUNCT
app01-3925	67	1	default	default	NOUN
app01-3925	67	2	gaits	gait	NOUN
app01-3925	67	3	on	on	ADP
app01-3925	67	4	grass	grass	NOUN
app01-3925	67	5	time	time	NOUN
app01-3925	67	6	[	[	X
app01-3925	67	7	s	s	X
app01-3925	67	8	]	]	X
app01-3925	67	9	0	0	NUM
app01-3925	67	10	5	5	NUM
app01-3925	67	11	10	10	NUM
app01-3925	67	12	15	15	NUM
app01-3925	67	13	20	20	NUM
app01-3925	67	14	25	25	NUM
app01-3925	67	15	c	c	NOUN
app01-3925	67	16	o	o	NOUN
app01-3925	67	17	n	n	CCONJ
app01-3925	67	18	su	su	PROPN
app01-3925	67	19	m	m	PROPN
app01-3925	67	20	ed	ed	NOUN
app01-3925	67	21	en	en	INTJ
app01-3925	67	22	er	er	INTJ
app01-3925	67	23	g	g	NOUN
app01-3925	67	24	y	y	PROPN
app01-3925	68	1	[	[	X
app01-3925	68	2	j	j	X
app01-3925	68	3	]	]	X
app01-3925	68	4	0	0	NUM
app01-3925	68	5	50	50	NUM
app01-3925	68	6	100	100	NUM
app01-3925	68	7	150	150	NUM
app01-3925	68	8	200	200	NUM
app01-3925	68	9	250	250	NUM
app01-3925	68	10	300	300	NUM
app01-3925	68	11	350	350	NUM
app01-3925	68	12	400	400	NUM
app01-3925	68	13	450	450	NUM
app01-3925	68	14	energy	energy	NOUN
app01-3925	68	15	consumption	consumption	NOUN
app01-3925	68	16	of	of	ADP
app01-3925	68	17	default	default	NOUN
app01-3925	68	18	gaits	gait	NOUN
app01-3925	68	19	on	on	ADP
app01-3925	68	20	slope	slope	NOUN
app01-3925	68	21	default	default	NOUN
app01-3925	68	22	tripod	tripod	NOUN
app01-3925	68	23	gait	gait	NOUN
app01-3925	68	24	default	default	NOUN
app01-3925	68	25	tetrapod	tetrapod	NOUN
app01-3925	68	26	gait	gait	NOUN
app01-3925	68	27	default	default	NOUN
app01-3925	68	28	pentapod	pentapod	NOUN
app01-3925	68	29	gait	gait	NOUN
app01-3925	68	30	default	default	NOUN
app01-3925	68	31	ripple	ripple	NOUN
app01-3925	68	32	gait	gait	NOUN
app01-3925	68	33	(	(	PUNCT
app01-3925	68	34	c	c	NOUN
app01-3925	68	35	)	)	PUNCT
app01-3925	68	36	.	.	PUNCT
app01-3925	69	1	default	default	NOUN
app01-3925	69	2	gaits	gait	NOUN
app01-3925	69	3	on	on	ADP
app01-3925	69	4	inclined	inclined	ADJ
app01-3925	69	5	plane	plane	NOUN
app01-3925	69	6	time	time	NOUN
app01-3925	69	7	[	[	X
app01-3925	69	8	s	s	X
app01-3925	69	9	]	]	X
app01-3925	69	10	0	0	NUM
app01-3925	69	11	20	20	NUM
app01-3925	69	12	40	40	NUM
app01-3925	69	13	60	60	NUM
app01-3925	69	14	80	80	NUM
app01-3925	69	15	100	100	NUM
app01-3925	69	16	120	120	NUM
app01-3925	69	17	c	c	NOUN
app01-3925	69	18	o	o	NOUN
app01-3925	69	19	n	n	CCONJ
app01-3925	69	20	su	su	PROPN
app01-3925	69	21	m	m	PROPN
app01-3925	69	22	ed	ed	NOUN
app01-3925	69	23	en	en	INTJ
app01-3925	69	24	er	er	INTJ
app01-3925	69	25	g	g	NOUN
app01-3925	69	26	y	y	PROPN
app01-3925	70	1	[	[	X
app01-3925	70	2	j	j	X
app01-3925	70	3	]	]	PUNCT
app01-3925	70	4	0	0	NUM
app01-3925	70	5	200	200	NUM
app01-3925	70	6	400	400	NUM
app01-3925	70	7	600	600	NUM
app01-3925	70	8	800	800	NUM
app01-3925	70	9	1000	1000	NUM
app01-3925	70	10	1200	1200	NUM
app01-3925	70	11	energy	energy	NOUN
app01-3925	70	12	consumption	consumption	NOUN
app01-3925	70	13	of	of	ADP
app01-3925	70	14	adaptive	adaptive	ADJ
app01-3925	70	15	gaits	gait	NOUN
app01-3925	70	16	on	on	ADP
app01-3925	70	17	o	o	PROPN
app01-3925	70	18	/	/	SYM
app01-3925	70	19	ce	ce	PROPN
app01-3925	70	20	.oor	.oor	PROPN
app01-3925	70	21	adaptive	adaptive	PROPN
app01-3925	70	22	tripod	tripod	NOUN
app01-3925	70	23	gait	gait	NOUN
app01-3925	70	24	adaptive	adaptive	PROPN
app01-3925	70	25	tetrapod	tetrapod	PROPN
app01-3925	70	26	gait	gait	PROPN
app01-3925	70	27	adaptive	adaptive	PROPN
app01-3925	70	28	pentapod	pentapod	NOUN
app01-3925	70	29	gait	gait	NOUN
app01-3925	70	30	(	(	PUNCT
app01-3925	70	31	d	d	NOUN
app01-3925	70	32	)	)	PUNCT
app01-3925	70	33	.	.	PUNCT
app01-3925	71	1	adaptive	adaptive	ADJ
app01-3925	71	2	gaits	gait	NOUN
app01-3925	71	3	on	on	ADP
app01-3925	71	4	office	office	NOUN
app01-3925	71	5	floor	floor	NOUN
app01-3925	71	6	time	time	NOUN
app01-3925	71	7	[	[	X
app01-3925	71	8	s	s	X
app01-3925	71	9	]	]	X
app01-3925	71	10	0	0	NUM
app01-3925	71	11	20	20	NUM
app01-3925	71	12	40	40	NUM
app01-3925	71	13	60	60	NUM
app01-3925	71	14	80	80	NUM
app01-3925	71	15	100	100	NUM
app01-3925	71	16	120	120	NUM
app01-3925	71	17	c	c	NOUN
app01-3925	71	18	o	o	NOUN
app01-3925	71	19	n	n	CCONJ
app01-3925	71	20	su	su	PROPN
app01-3925	71	21	m	m	PROPN
app01-3925	71	22	ed	ed	NOUN
app01-3925	71	23	en	en	INTJ
app01-3925	71	24	er	er	INTJ
app01-3925	71	25	g	g	NOUN
app01-3925	71	26	y	y	PROPN
app01-3925	72	1	[	[	X
app01-3925	72	2	j	j	X
app01-3925	72	3	]	]	PUNCT
app01-3925	72	4	0	0	NUM
app01-3925	73	1	200	200	NUM
app01-3925	73	2	400	400	NUM
app01-3925	73	3	600	600	NUM
app01-3925	73	4	800	800	NUM
app01-3925	73	5	1000	1000	NUM
app01-3925	73	6	1200	1200	NUM
app01-3925	73	7	1400	1400	NUM
app01-3925	73	8	energy	energy	NOUN
app01-3925	73	9	consumption	consumption	NOUN
app01-3925	73	10	of	of	ADP
app01-3925	73	11	adaptive	adaptive	ADJ
app01-3925	73	12	gaits	gait	NOUN
app01-3925	73	13	on	on	ADP
app01-3925	73	14	grass	grass	NOUN
app01-3925	73	15	adaptive	adaptive	ADJ
app01-3925	73	16	tripod	tripod	NOUN
app01-3925	73	17	gait	gait	NOUN
app01-3925	73	18	adaptive	adaptive	PROPN
app01-3925	73	19	tetrapod	tetrapod	PROPN
app01-3925	73	20	gait	gait	PROPN
app01-3925	73	21	adaptive	adaptive	PROPN
app01-3925	73	22	pentapod	pentapod	NOUN
app01-3925	73	23	gait	gait	NOUN
app01-3925	73	24	(	(	PUNCT
app01-3925	73	25	e	e	NOUN
app01-3925	73	26	)	)	PUNCT
app01-3925	73	27	.	.	PUNCT
app01-3925	74	1	adaptive	adaptive	ADJ
app01-3925	74	2	gaits	gait	NOUN
app01-3925	74	3	on	on	ADP
app01-3925	74	4	grass	grass	NOUN
app01-3925	74	5	time	time	NOUN
app01-3925	74	6	[	[	X
app01-3925	74	7	s	s	X
app01-3925	74	8	]	]	X
app01-3925	74	9	0	0	NUM
app01-3925	74	10	20	20	NUM
app01-3925	74	11	40	40	NUM
app01-3925	74	12	60	60	NUM
app01-3925	74	13	80	80	NUM
app01-3925	74	14	100	100	NUM
app01-3925	74	15	120	120	NUM
app01-3925	74	16	c	c	NOUN
app01-3925	74	17	o	o	NOUN
app01-3925	74	18	n	n	CCONJ
app01-3925	74	19	su	su	PROPN
app01-3925	74	20	m	m	PROPN
app01-3925	74	21	ed	ed	NOUN
app01-3925	74	22	en	en	INTJ
app01-3925	74	23	er	er	INTJ
app01-3925	74	24	g	g	NOUN
app01-3925	74	25	y	y	PROPN
app01-3925	75	1	[	[	X
app01-3925	75	2	j	j	X
app01-3925	75	3	]	]	PUNCT
app01-3925	75	4	0	0	NUM
app01-3925	76	1	200	200	NUM
app01-3925	76	2	400	400	NUM
app01-3925	76	3	600	600	NUM
app01-3925	76	4	800	800	NUM
app01-3925	76	5	1000	1000	NUM
app01-3925	76	6	1200	1200	NUM
app01-3925	76	7	1400	1400	NUM
app01-3925	76	8	1600	1600	NUM
app01-3925	76	9	energy	energy	NOUN
app01-3925	76	10	consumption	consumption	NOUN
app01-3925	76	11	of	of	ADP
app01-3925	76	12	adaptive	adaptive	ADJ
app01-3925	76	13	gaits	gait	NOUN
app01-3925	76	14	on	on	ADP
app01-3925	76	15	slope	slope	NOUN
app01-3925	76	16	adaptive	adaptive	ADJ
app01-3925	76	17	tripod	tripod	NOUN
app01-3925	76	18	gait	gait	NOUN
app01-3925	76	19	adaptive	adaptive	PROPN
app01-3925	76	20	tetrapod	tetrapod	PROPN
app01-3925	76	21	gait	gait	PROPN
app01-3925	76	22	adaptive	adaptive	PROPN
app01-3925	76	23	pentapod	pentapod	NOUN
app01-3925	76	24	gait	gait	NOUN
app01-3925	76	25	(	(	PUNCT
app01-3925	76	26	f	f	NOUN
app01-3925	76	27	)	)	PUNCT
app01-3925	76	28	.	.	PUNCT
app01-3925	77	1	adaptive	adaptive	ADJ
app01-3925	77	2	gaits	gait	NOUN
app01-3925	77	3	on	on	ADP
app01-3925	77	4	inclined	inclined	ADJ
app01-3925	77	5	plane	plane	NOUN
app01-3925	77	6	time	time	NOUN
app01-3925	77	7	[	[	X
app01-3925	77	8	s	s	X
app01-3925	77	9	]	]	X
app01-3925	77	10	0	0	NUM
app01-3925	77	11	20	20	NUM
app01-3925	77	12	40	40	NUM
app01-3925	77	13	60	60	NUM
app01-3925	77	14	80	80	NUM
app01-3925	77	15	100	100	NUM
app01-3925	77	16	120	120	NUM
app01-3925	77	17	c	c	NOUN
app01-3925	77	18	o	o	NOUN
app01-3925	77	19	n	n	CCONJ
app01-3925	77	20	su	su	PROPN
app01-3925	77	21	m	m	PROPN
app01-3925	77	22	ed	ed	NOUN
app01-3925	77	23	en	en	INTJ
app01-3925	77	24	er	er	INTJ
app01-3925	77	25	g	g	NOUN
app01-3925	77	26	y	y	PROPN
app01-3925	78	1	[	[	X
app01-3925	78	2	j	j	X
app01-3925	78	3	]	]	PUNCT
app01-3925	78	4	0	0	NUM
app01-3925	78	5	500	500	NUM
app01-3925	78	6	1000	1000	NUM
app01-3925	78	7	1500	1500	NUM
app01-3925	78	8	energy	energy	NOUN
app01-3925	78	9	consumption	consumption	NOUN
app01-3925	78	10	of	of	ADP
app01-3925	78	11	adaptive	adaptive	ADJ
app01-3925	78	12	gaits	gait	NOUN
app01-3925	78	13	on	on	ADP
app01-3925	78	14	wooden	wooden	ADJ
app01-3925	78	15	blocks	block	NOUN
app01-3925	78	16	adaptive	adaptive	ADJ
app01-3925	78	17	tripod	tripod	NOUN
app01-3925	78	18	gait	gait	NOUN
app01-3925	78	19	adaptive	adaptive	PROPN
app01-3925	78	20	tetrapod	tetrapod	PROPN
app01-3925	78	21	gait	gait	PROPN
app01-3925	78	22	adaptive	adaptive	PROPN
app01-3925	78	23	pentapod	pentapod	NOUN
app01-3925	78	24	gait	gait	NOUN
app01-3925	78	25	(	(	PUNCT
app01-3925	78	26	g	g	NOUN
app01-3925	78	27	)	)	PUNCT
app01-3925	78	28	.	.	PUNCT
app01-3925	79	1	adaptive	adaptive	ADJ
app01-3925	79	2	gaits	gait	NOUN
app01-3925	79	3	on	on	ADP
app01-3925	79	4	wooden	wooden	ADJ
app01-3925	79	5	blocks	block	NOUN
app01-3925	79	6	figure	figure	NOUN
app01-3925	79	7	2	2	NUM
app01-3925	79	8	.	.	PUNCT
app01-3925	79	9	energy	energy	NOUN
app01-3925	79	10	consumption	consumption	NOUN
app01-3925	79	11	over	over	ADP
app01-3925	79	12	time	time	NOUN
app01-3925	79	13	.	.	PUNCT
app01-3925	80	1	the	the	DET
app01-3925	80	2	overall	overall	ADJ
app01-3925	80	3	current	current	NOUN
app01-3925	80	4	drawn	draw	VERB
app01-3925	80	5	from	from	ADP
app01-3925	80	6	the	the	DET
app01-3925	80	7	battery	battery	NOUN
app01-3925	80	8	has	have	AUX
app01-3925	80	9	been	be	AUX
app01-3925	80	10	measured	measure	VERB
app01-3925	80	11	using	use	VERB
app01-3925	80	12	the	the	DET
app01-3925	80	13	acs712	acs712	PROPN
app01-3925	80	14	hall	hall	NOUN
app01-3925	80	15	effect	effect	NOUN
app01-3925	80	16	-	-	PUNCT
app01-3925	80	17	based	base	VERB
app01-3925	80	18	linear	linear	PROPN
app01-3925	80	19	current	current	ADJ
app01-3925	80	20	sensor	sensor	NOUN
app01-3925	80	21	with	with	ADP
app01-3925	80	22	the	the	DET
app01-3925	80	23	measuring	measure	VERB
app01-3925	80	24	range	range	NOUN
app01-3925	80	25	of	of	ADP
app01-3925	80	26	±5	±5	NOUN
app01-3925	80	27	a.	a.	NOUN
app01-3925	80	28	each	each	DET
app01-3925	80	29	current	current	ADJ
app01-3925	80	30	data	datum	NOUN
app01-3925	80	31	sample	sample	NOUN
app01-3925	80	32	was	be	AUX
app01-3925	80	33	provided	provide	VERB
app01-3925	80	34	with	with	ADP
app01-3925	80	35	a	a	DET
app01-3925	80	36	timestamp	timestamp	NOUN
app01-3925	80	37	.	.	PUNCT
app01-3925	81	1	the	the	DET
app01-3925	81	2	reading	reading	NOUN
app01-3925	81	3	frequency	frequency	NOUN
app01-3925	81	4	was	be	AUX
app01-3925	81	5	not	not	PART
app01-3925	81	6	completely	completely	ADV
app01-3925	81	7	invariant	invariant	ADJ
app01-3925	81	8	due	due	ADP
app01-3925	81	9	to	to	ADP
app01-3925	81	10	the	the	DET
app01-3925	81	11	time	time	NOUN
app01-3925	81	12	consumed	consume	VERB
app01-3925	81	13	by	by	ADP
app01-3925	81	14	the	the	DET
app01-3925	81	15	motion	motion	NOUN
app01-3925	81	16	control	control	NOUN
app01-3925	81	17	and	and	CCONJ
app01-3925	81	18	other	other	ADJ
app01-3925	81	19	factors	factor	NOUN
app01-3925	81	20	.	.	PUNCT
app01-3925	82	1	in	in	ADP
app01-3925	82	2	spite	spite	NOUN
app01-3925	82	3	of	of	ADP
app01-3925	82	4	that	that	PRON
app01-3925	82	5	the	the	DET
app01-3925	82	6	reading	reading	NOUN
app01-3925	82	7	frequency	frequency	NOUN
app01-3925	82	8	was	be	AUX
app01-3925	82	9	approximately	approximately	ADV
app01-3925	82	10	100	100	NUM
app01-3925	82	11	hz	hz	NOUN
app01-3925	82	12	.	.	PUNCT
app01-3925	83	1	before	before	ADP
app01-3925	83	2	each	each	DET
app01-3925	83	3	experiment	experiment	NOUN
app01-3925	83	4	,	,	PUNCT
app01-3925	83	5	we	we	PRON
app01-3925	83	6	measured	measure	VERB
app01-3925	83	7	the	the	DET
app01-3925	83	8	battery	battery	NOUN
app01-3925	83	9	voltage	voltage	NOUN
app01-3925	83	10	and	and	CCONJ
app01-3925	83	11	we	we	PRON
app01-3925	83	12	assumed	assume	VERB
app01-3925	83	13	it	it	PRON
app01-3925	83	14	is	be	AUX
app01-3925	83	15	constant	constant	ADJ
app01-3925	83	16	during	during	ADP
app01-3925	83	17	the	the	DET
app01-3925	83	18	robot	robot	NOUN
app01-3925	83	19	movement	movement	NOUN
app01-3925	83	20	because	because	SCONJ
app01-3925	83	21	the	the	DET
app01-3925	83	22	drop	drop	NOUN
app01-3925	83	23	of	of	ADP
app01-3925	83	24	the	the	DET
app01-3925	83	25	voltage	voltage	NOUN
app01-3925	83	26	was	be	AUX
app01-3925	83	27	insignificant	insignificant	ADJ
app01-3925	83	28	during	during	ADP
app01-3925	83	29	the	the	DET
app01-3925	83	30	experiment	experiment	NOUN
app01-3925	83	31	.	.	PUNCT
app01-3925	84	1	thereby	thereby	ADV
app01-3925	84	2	,	,	PUNCT
app01-3925	84	3	we	we	PRON
app01-3925	84	4	have	have	AUX
app01-3925	84	5	acquired	acquire	VERB
app01-3925	84	6	all	all	DET
app01-3925	84	7	the	the	DET
app01-3925	84	8	information	information	NOUN
app01-3925	84	9	needed	need	VERB
app01-3925	84	10	to	to	PART
app01-3925	84	11	estimate	estimate	VERB
app01-3925	84	12	the	the	DET
app01-3925	84	13	energy	energy	NOUN
app01-3925	84	14	consumed	consume	VERB
app01-3925	84	15	by	by	ADP
app01-3925	84	16	the	the	DET
app01-3925	84	17	robot	robot	NOUN
app01-3925	84	18	motion	motion	NOUN
app01-3925	84	19	.	.	PUNCT
app01-3925	85	1	3.2	3.2	NUM
app01-3925	85	2	.	.	PUNCT
app01-3925	86	1	results	result	NOUN
app01-3925	86	2	having	having	AUX
app01-3925	86	3	done	do	VERB
app01-3925	86	4	all	all	DET
app01-3925	86	5	the	the	DET
app01-3925	86	6	experiments	experiment	NOUN
app01-3925	86	7	described	describe	VERB
app01-3925	86	8	above	above	ADV
app01-3925	86	9	,	,	PUNCT
app01-3925	86	10	the	the	DET
app01-3925	86	11	instantaneous	instantaneous	ADJ
app01-3925	86	12	power	power	NOUN
app01-3925	86	13	for	for	ADP
app01-3925	86	14	each	each	DET
app01-3925	86	15	current	current	ADJ
app01-3925	86	16	sample	sample	NOUN
app01-3925	86	17	using	use	VERB
app01-3925	86	18	(	(	PUNCT
app01-3925	86	19	1	1	NUM
app01-3925	86	20	)	)	PUNCT
app01-3925	86	21	has	have	AUX
app01-3925	86	22	been	be	AUX
app01-3925	86	23	computed	compute	VERB
app01-3925	86	24	.	.	PUNCT
app01-3925	87	1	consequently	consequently	ADV
app01-3925	87	2	,	,	PUNCT
app01-3925	87	3	the	the	DET
app01-3925	87	4	power	power	NOUN
app01-3925	87	5	has	have	AUX
app01-3925	87	6	been	be	AUX
app01-3925	87	7	numerically	numerically	ADV
app01-3925	87	8	integrated	integrate	VERB
app01-3925	87	9	according	accord	VERB
app01-3925	87	10	to	to	ADP
app01-3925	87	11	(	(	PUNCT
app01-3925	87	12	3	3	NUM
app01-3925	87	13	)	)	PUNCT
app01-3925	87	14	.	.	PUNCT
app01-3925	88	1	the	the	DET
app01-3925	88	2	plotted	plot	VERB
app01-3925	88	3	energy	energy	NOUN
app01-3925	88	4	consumption	consumption	NOUN
app01-3925	88	5	over	over	ADP
app01-3925	88	6	time	time	NOUN
app01-3925	88	7	is	be	AUX
app01-3925	88	8	presented	present	VERB
app01-3925	88	9	in	in	ADP
app01-3925	88	10	figure	figure	NOUN
app01-3925	88	11	2	2	NUM
app01-3925	88	12	,	,	PUNCT
app01-3925	88	13	where	where	SCONJ
app01-3925	88	14	the	the	DET
app01-3925	88	15	particular	particular	ADJ
app01-3925	88	16	plots	plot	NOUN
app01-3925	88	17	are	be	AUX
app01-3925	88	18	as	as	SCONJ
app01-3925	88	19	follows	follow	VERB
app01-3925	88	20	.	.	PUNCT
app01-3925	89	1	figure	figure	NOUN
app01-3925	89	2	2a	2a	NUM
app01-3925	89	3	and	and	CCONJ
app01-3925	89	4	figure	figure	VERB
app01-3925	89	5	2d	2d	PROPN
app01-3925	89	6	show	show	VERB
app01-3925	89	7	the	the	DET
app01-3925	89	8	results	result	NOUN
app01-3925	89	9	of	of	ADP
app01-3925	89	10	the	the	DET
app01-3925	89	11	experiments	experiment	NOUN
app01-3925	89	12	performed	perform	VERB
app01-3925	89	13	on	on	ADP
app01-3925	89	14	the	the	DET
app01-3925	89	15	office	office	NOUN
app01-3925	89	16	floor	floor	NOUN
app01-3925	89	17	.	.	PUNCT
app01-3925	90	1	figure	figure	NOUN
app01-3925	90	2	2e	2e	NOUN
app01-3925	90	3	and	and	CCONJ
app01-3925	90	4	2e	2e	PROPN
app01-3925	90	5	show	show	VERB
app01-3925	90	6	the	the	DET
app01-3925	90	7	results	result	NOUN
app01-3925	90	8	for	for	ADP
app01-3925	90	9	the	the	DET
app01-3925	90	10	artificial	artificial	ADJ
app01-3925	90	11	grass	grass	NOUN
app01-3925	90	12	.	.	PUNCT
app01-3925	91	1	experimental	experimental	ADJ
app01-3925	91	2	results	result	NOUN
app01-3925	91	3	performed	perform	VERB
app01-3925	91	4	on	on	ADP
app01-3925	91	5	the	the	DET
app01-3925	91	6	inclined	inclined	ADJ
app01-3925	91	7	plane	plane	NOUN
app01-3925	91	8	are	be	AUX
app01-3925	91	9	shown	show	VERB
app01-3925	91	10	in	in	ADP
app01-3925	91	11	figure	figure	NOUN
app01-3925	91	12	2c	2c	NOUN
app01-3925	91	13	and	and	CCONJ
app01-3925	91	14	figure	figure	NOUN
app01-3925	91	15	2f	2f	NOUN
app01-3925	91	16	.	.	PUNCT
app01-3925	92	1	finally	finally	ADV
app01-3925	92	2	,	,	PUNCT
app01-3925	92	3	the	the	DET
app01-3925	92	4	results	result	NOUN
app01-3925	92	5	from	from	ADP
app01-3925	92	6	traversing	traverse	VERB
app01-3925	92	7	the	the	DET
app01-3925	92	8	wooden	wooden	ADJ
app01-3925	92	9	blocks	block	NOUN
app01-3925	92	10	are	be	AUX
app01-3925	92	11	presented	present	VERB
app01-3925	92	12	in	in	ADP
app01-3925	92	13	figure	figure	NOUN
app01-3925	92	14	2	2	NUM
app01-3925	92	15	g.	g.	NOUN
app01-3925	92	16	the	the	DET
app01-3925	92	17	experiments	experiment	NOUN
app01-3925	92	18	have	have	AUX
app01-3925	92	19	been	be	AUX
app01-3925	92	20	run	run	VERB
app01-3925	92	21	three	three	NUM
app01-3925	92	22	times	time	NOUN
app01-3925	92	23	for	for	ADP
app01-3925	92	24	each	each	DET
app01-3925	92	25	terrain	terrain	NOUN
app01-3925	92	26	type	type	NOUN
app01-3925	92	27	and	and	CCONJ
app01-3925	92	28	gait	gait	NOUN
app01-3925	92	29	.	.	PUNCT
app01-3925	93	1	therefore	therefore	ADV
app01-3925	93	2	,	,	PUNCT
app01-3925	93	3	results	result	VERB
app01-3925	93	4	from	from	ADP
app01-3925	93	5	the	the	DET
app01-3925	93	6	particular	particular	ADJ
app01-3925	93	7	trials	trial	NOUN
app01-3925	93	8	have	have	AUX
app01-3925	93	9	been	be	AUX
app01-3925	93	10	grouped	group	VERB
app01-3925	93	11	and	and	CCONJ
app01-3925	93	12	marked	mark	VERB
app01-3925	93	13	by	by	ADP
app01-3925	93	14	a	a	DET
app01-3925	93	15	specific	specific	ADJ
app01-3925	93	16	color	color	NOUN
app01-3925	93	17	in	in	ADP
app01-3925	93	18	the	the	DET
app01-3925	93	19	plots	plot	NOUN
app01-3925	93	20	.	.	PUNCT
app01-3925	94	1	each	each	DET
app01-3925	94	2	color	color	NOUN
app01-3925	94	3	represents	represent	VERB
app01-3925	94	4	one	one	NUM
app01-3925	94	5	gait	gait	NOUN
app01-3925	94	6	pattern	pattern	NOUN
app01-3925	94	7	,	,	PUNCT
app01-3925	94	8	and	and	CCONJ
app01-3925	94	9	thus	thus	ADV
app01-3925	94	10	each	each	DET
app01-3925	94	11	color	color	NOUN
app01-3925	94	12	group	group	NOUN
app01-3925	94	13	consists	consist	VERB
app01-3925	94	14	of	of	ADP
app01-3925	94	15	three	three	NUM
app01-3925	94	16	lines	line	NOUN
app01-3925	94	17	that	that	PRON
app01-3925	94	18	correspond	correspond	VERB
app01-3925	94	19	to	to	ADP
app01-3925	94	20	the	the	DET
app01-3925	94	21	three	three	NUM
app01-3925	94	22	experiments	experiment	NOUN
app01-3925	94	23	performed	perform	VERB
app01-3925	94	24	for	for	ADP
app01-3925	94	25	every	every	DET
app01-3925	94	26	gait	gait	NOUN
app01-3925	94	27	and	and	CCONJ
app01-3925	94	28	terrain	terrain	NOUN
app01-3925	94	29	type	type	NOUN
app01-3925	94	30	.	.	PUNCT
app01-3925	95	1	3.3	3.3	NUM
app01-3925	95	2	.	.	PUNCT
app01-3925	95	3	discussion	discussion	NOUN
app01-3925	95	4	in	in	ADP
app01-3925	95	5	figure	figure	NOUN
app01-3925	95	6	2	2	NUM
app01-3925	95	7	,	,	PUNCT
app01-3925	95	8	we	we	PRON
app01-3925	95	9	can	can	AUX
app01-3925	95	10	clearly	clearly	ADV
app01-3925	95	11	see	see	VERB
app01-3925	95	12	that	that	SCONJ
app01-3925	95	13	a	a	DET
app01-3925	95	14	gait	gait	ADJ
app01-3925	95	15	selection	selection	NOUN
app01-3925	95	16	can	can	AUX
app01-3925	95	17	significantly	significantly	ADV
app01-3925	95	18	influence	influence	VERB
app01-3925	95	19	the	the	DET
app01-3925	95	20	energy	energy	NOUN
app01-3925	95	21	efficiency	efficiency	NOUN
app01-3925	95	22	of	of	ADP
app01-3925	95	23	the	the	DET
app01-3925	95	24	robot	robot	NOUN
app01-3925	95	25	motion	motion	NOUN
app01-3925	95	26	.	.	PUNCT
app01-3925	96	1	tables	table	NOUN
app01-3925	96	2	1	1	NUM
app01-3925	96	3	and	and	CCONJ
app01-3925	96	4	2	2	NUM
app01-3925	96	5	and	and	CCONJ
app01-3925	96	6	figure	figure	VERB
app01-3925	96	7	3	3	NUM
app01-3925	96	8	together	together	ADV
app01-3925	96	9	with	with	ADP
app01-3925	96	10	figure	figure	NOUN
app01-3925	96	11	4	4	NUM
app01-3925	96	12	summarize	summarize	VERB
app01-3925	96	13	the	the	DET
app01-3925	96	14	overall	overall	ADJ
app01-3925	96	15	energy	energy	NOUN
app01-3925	96	16	consumption	consumption	NOUN
app01-3925	96	17	and	and	CCONJ
app01-3925	96	18	the	the	DET
app01-3925	96	19	time	time	NOUN
app01-3925	96	20	needed	need	VERB
app01-3925	96	21	for	for	ADP
app01-3925	96	22	traversing	traverse	VERB
app01-3925	96	23	the	the	DET
app01-3925	96	24	terrain	terrain	NOUN
app01-3925	96	25	(	(	PUNCT
app01-3925	96	26	a	a	DET
app01-3925	96	27	distance	distance	NOUN
app01-3925	96	28	of	of	ADP
app01-3925	96	29	1	1	NUM
app01-3925	96	30	m	m	NOUN
app01-3925	96	31	)	)	PUNCT
app01-3925	96	32	by	by	ADP
app01-3925	96	33	each	each	DET
app01-3925	96	34	motion	motion	NOUN
app01-3925	96	35	gait	gait	NOUN
app01-3925	96	36	.	.	PUNCT
app01-3925	97	1	the	the	DET
app01-3925	97	2	results	result	NOUN
app01-3925	97	3	were	be	AUX
app01-3925	97	4	computed	compute	VERB
app01-3925	97	5	as	as	ADP
app01-3925	97	6	the	the	DET
app01-3925	97	7	mean	mean	ADJ
app01-3925	97	8	values	value	NOUN
app01-3925	97	9	of	of	ADP
app01-3925	97	10	the	the	DET
app01-3925	97	11	data	datum	NOUN
app01-3925	97	12	resulting	result	VERB
app01-3925	97	13	from	from	ADP
app01-3925	97	14	each	each	DET
app01-3925	97	15	triplet	triplet	NOUN
app01-3925	97	16	of	of	ADP
app01-3925	97	17	the	the	DET
app01-3925	97	18	performed	perform	VERB
app01-3925	97	19	experiments	experiment	NOUN
app01-3925	97	20	.	.	PUNCT
app01-3925	98	1	according	accord	VERB
app01-3925	98	2	to	to	ADP
app01-3925	98	3	table	table	NOUN
app01-3925	98	4	1	1	NUM
app01-3925	98	5	,	,	PUNCT
app01-3925	98	6	we	we	PRON
app01-3925	98	7	can	can	AUX
app01-3925	98	8	establish	establish	VERB
app01-3925	98	9	a	a	DET
app01-3925	98	10	strategy	strategy	NOUN
app01-3925	98	11	for	for	ADP
app01-3925	98	12	gait	gait	ADJ
app01-3925	98	13	selection	selection	NOUN
app01-3925	98	14	to	to	PART
app01-3925	98	15	prefer	prefer	VERB
app01-3925	98	16	the	the	DET
app01-3925	98	17	default	default	NOUN
app01-3925	98	18	tripod	tripod	NOUN
app01-3925	98	19	gait	gait	NOUN
app01-3925	98	20	whenever	whenever	SCONJ
app01-3925	98	21	the	the	DET
app01-3925	98	22	particular	particular	ADJ
app01-3925	98	23	terrain	terrain	NOUN
app01-3925	98	24	type	type	NOUN
app01-3925	98	25	can	can	AUX
app01-3925	98	26	be	be	AUX
app01-3925	98	27	traversed	traverse	VERB
app01-3925	98	28	by	by	ADP
app01-3925	98	29	it	it	PRON
app01-3925	98	30	.	.	PUNCT
app01-3925	99	1	in	in	ADP
app01-3925	99	2	rough	rough	ADJ
app01-3925	99	3	terrains	terrain	NOUN
app01-3925	99	4	,	,	PUNCT
app01-3925	99	5	the	the	DET
app01-3925	99	6	adaptive	adaptive	ADJ
app01-3925	99	7	tripod	tripod	NOUN
app01-3925	99	8	gait	gait	NOUN
app01-3925	99	9	is	be	AUX
app01-3925	99	10	preferred	prefer	VERB
app01-3925	99	11	.	.	PUNCT
app01-3925	100	1	considering	consider	VERB
app01-3925	100	2	the	the	DET
app01-3925	100	3	time	time	NOUN
app01-3925	100	4	in	in	ADP
app01-3925	100	5	table	table	NOUN
app01-3925	100	6	1	1	NUM
app01-3925	100	7	,	,	PUNCT
app01-3925	100	8	the	the	DET
app01-3925	100	9	switching	switch	VERB
app01-3925	100	10	strategy	strategy	NOUN
app01-3925	100	11	that	that	PRON
app01-3925	100	12	minimizes	minimize	VERB
app01-3925	100	13	the	the	DET
app01-3925	100	14	time	time	NOUN
app01-3925	100	15	consumption	consumption	NOUN
app01-3925	100	16	(	(	PUNCT
app01-3925	100	17	the	the	DET
app01-3925	100	18	speed	speed	NOUN
app01-3925	100	19	of	of	ADP
app01-3925	100	20	the	the	DET
app01-3925	100	21	robot	robot	NOUN
app01-3925	100	22	)	)	PUNCT
app01-3925	100	23	yields	yield	VERB
app01-3925	100	24	the	the	DET
app01-3925	100	25	same	same	ADJ
app01-3925	100	26	result	result	NOUN
app01-3925	100	27	.	.	PUNCT
app01-3925	101	1	however	however	ADV
app01-3925	101	2	,	,	PUNCT
app01-3925	101	3	such	such	DET
app01-3925	101	4	a	a	DET
app01-3925	101	5	gait	gait	ADJ
app01-3925	101	6	selection	selection	NOUN
app01-3925	101	7	rule	rule	NOUN
app01-3925	101	8	optimizes	optimize	VERB
app01-3925	101	9	only	only	ADV
app01-3925	101	10	the	the	DET
app01-3925	101	11	energy	energy	NOUN
app01-3925	101	12	and	and	CCONJ
app01-3925	101	13	time	time	NOUN
app01-3925	101	14	consumption	consumption	NOUN
app01-3925	101	15	.	.	PUNCT
app01-3925	102	1	different	different	ADJ
app01-3925	102	2	optimization	optimization	NOUN
app01-3925	102	3	criteria	criterion	NOUN
app01-3925	102	4	might	might	AUX
app01-3925	102	5	be	be	AUX
app01-3925	102	6	induced	induce	VERB
app01-3925	102	7	by	by	ADP
app01-3925	102	8	the	the	DET
app01-3925	102	9	application	application	NOUN
app01-3925	102	10	scenario	scenario	NOUN
app01-3925	102	11	,	,	PUNCT
app01-3925	102	12	e.g.	e.g.	ADV
app01-3925	102	13	,	,	PUNCT
app01-3925	102	14	the	the	DET
app01-3925	102	15	tripod	tripod	NOUN
app01-3925	102	16	gait	gait	NOUN
app01-3925	102	17	is	be	AUX
app01-3925	102	18	the	the	DET
app01-3925	102	19	least	least	ADV
app01-3925	102	20	safe	safe	ADJ
app01-3925	102	21	gait	gait	NOUN
app01-3925	102	22	in	in	ADP
app01-3925	102	23	terms	term	NOUN
app01-3925	102	24	of	of	ADP
app01-3925	102	25	the	the	DET
app01-3925	102	26	robot	robot	NOUN
app01-3925	102	27	stability	stability	NOUN
app01-3925	102	28	,	,	PUNCT
app01-3925	102	29	and	and	CCONJ
app01-3925	102	30	thus	thus	ADV
app01-3925	102	31	it	it	PRON
app01-3925	102	32	is	be	AUX
app01-3925	102	33	not	not	PART
app01-3925	102	34	capable	capable	ADJ
app01-3925	102	35	of	of	ADP
app01-3925	102	36	traversing	traverse	VERB
app01-3925	102	37	such	such	ADJ
app01-3925	102	38	challenging	challenging	ADJ
app01-3925	102	39	terrains	terrain	NOUN
app01-3925	102	40	as	as	ADP
app01-3925	102	41	the	the	DET
app01-3925	102	42	pentapod	pentapod	ADJ
app01-3925	102	43	gait	gait	NOUN
app01-3925	102	44	,	,	PUNCT
app01-3925	102	45	which	which	PRON
app01-3925	102	46	is	be	AUX
app01-3925	102	47	the	the	DET
app01-3925	102	48	most	most	ADV
app01-3925	102	49	stable	stable	ADJ
app01-3925	102	50	gait	gait	NOUN
app01-3925	102	51	.	.	PUNCT
app01-3925	103	1	the	the	DET
app01-3925	103	2	results	result	NOUN
app01-3925	103	3	presented	present	VERB
app01-3925	103	4	above	above	ADP
app01-3925	103	5	indicate	indicate	VERB
app01-3925	103	6	the	the	DET
app01-3925	103	7	influence	influence	NOUN
app01-3925	103	8	of	of	ADP
app01-3925	103	9	the	the	DET
app01-3925	103	10	energy	energy	NOUN
app01-3925	103	11	consumption	consumption	NOUN
app01-3925	103	12	is	be	AUX
app01-3925	103	13	proportional	proportional	ADJ
app01-3925	103	14	to	to	ADP
app01-3925	103	15	the	the	DET
app01-3925	103	16	time	time	NOUN
app01-3925	103	17	by	by	ADP
app01-3925	103	18	a	a	DET
app01-3925	103	19	multiplication	multiplication	NOUN
app01-3925	103	20	factor	factor	NOUN
app01-3925	103	21	.	.	PUNCT
app01-3925	104	1	the	the	DET
app01-3925	104	2	factor	factor	NOUN
app01-3925	104	3	can	can	AUX
app01-3925	104	4	be	be	AUX
app01-3925	104	5	utilized	utilize	VERB
app01-3925	104	6	as	as	ADP
app01-3925	104	7	a	a	DET
app01-3925	104	8	single	single	ADJ
app01-3925	104	9	parameter	parameter	NOUN
app01-3925	104	10	describing	describe	VERB
app01-3925	104	11	the	the	DET
app01-3925	104	12	energy	energy	NOUN
app01-3925	104	13	efficiency	efficiency	NOUN
app01-3925	104	14	of	of	ADP
app01-3925	104	15	the	the	DET
app01-3925	104	16	gait	gait	ADJ
app01-3925	104	17	pattern	pattern	NOUN
app01-3925	104	18	on	on	ADP
app01-3925	104	19	a	a	DET
app01-3925	104	20	particular	particular	ADJ
app01-3925	104	21	terrain	terrain	NOUN
app01-3925	104	22	type	type	NOUN
app01-3925	104	23	.	.	PUNCT
app01-3925	105	1	the	the	DET
app01-3925	105	2	multiplication	multiplication	NOUN
app01-3925	105	3	factor	factor	NOUN
app01-3925	105	4	actually	actually	ADV
app01-3925	105	5	coincides	coincide	VERB
app01-3925	105	6	with	with	ADP
app01-3925	105	7	the	the	DET
app01-3925	105	8	average	average	ADJ
app01-3925	105	9	power	power	NOUN
app01-3925	105	10	consumed	consume	VERB
app01-3925	105	11	by	by	ADP
app01-3925	105	12	the	the	DET
app01-3925	105	13	robot	robot	NOUN
app01-3925	105	14	.	.	PUNCT
app01-3925	106	1	moreover	moreover	ADV
app01-3925	106	2	,	,	PUNCT
app01-3925	106	3	the	the	DET
app01-3925	106	4	average	average	ADJ
app01-3925	106	5	power	power	NOUN
app01-3925	106	6	might	might	AUX
app01-3925	106	7	be	be	AUX
app01-3925	106	8	used	use	VERB
app01-3925	106	9	as	as	ADP
app01-3925	106	10	a	a	DET
app01-3925	106	11	characteristic	characteristic	NOUN
app01-3925	106	12	for	for	ADP
app01-3925	106	13	the	the	DET
app01-3925	106	14	terrain	terrain	NOUN
app01-3925	106	15	classification	classification	NOUN
app01-3925	106	16	.	.	PUNCT
app01-3925	107	1	however	however	ADV
app01-3925	107	2	,	,	PUNCT
app01-3925	107	3	to	to	PART
app01-3925	107	4	get	get	VERB
app01-3925	107	5	relevant	relevant	ADJ
app01-3925	107	6	information	information	NOUN
app01-3925	107	7	about	about	ADP
app01-3925	107	8	an	an	DET
app01-3925	107	9	average	average	ADJ
app01-3925	107	10	power	power	NOUN
app01-3925	107	11	,	,	PUNCT
app01-3925	107	12	we	we	PRON
app01-3925	107	13	need	need	VERB
app01-3925	107	14	to	to	PART
app01-3925	107	15	collect	collect	VERB
app01-3925	107	16	data	datum	NOUN
app01-3925	107	17	over	over	ADP
app01-3925	107	18	a	a	DET
app01-3925	107	19	longer	long	ADJ
app01-3925	107	20	time	time	NOUN
app01-3925	107	21	interval	interval	NOUN
app01-3925	107	22	because	because	SCONJ
app01-3925	107	23	the	the	DET
app01-3925	107	24	instantaneous	instantaneous	ADJ
app01-3925	107	25	power	power	NOUN
app01-3925	107	26	changes	change	NOUN
app01-3925	107	27	signif8	signif8	NOUN
app01-3925	107	28	vol	vol	NOUN
app01-3925	107	29	.	.	PUNCT
app01-3925	108	1	6/2016	6/2016	NUM
app01-3925	108	2	on	on	ADP
app01-3925	108	3	evaluation	evaluation	NOUN
app01-3925	108	4	of	of	ADP
app01-3925	108	5	motion	motion	NOUN
app01-3925	108	6	gaits	gait	NOUN
app01-3925	108	7	energy	energy	NOUN
app01-3925	108	8	efficiency	efficiency	NOUN
app01-3925	108	9	gait	gait	NOUN
app01-3925	108	10	consumed	consume	VERB
app01-3925	108	11	energy	energy	NOUN
app01-3925	108	12	[	[	X
app01-3925	108	13	j	j	X
app01-3925	108	14	]	]	X
app01-3925	108	15	floor	floor	NOUN
app01-3925	108	16	grass	grass	NOUN
app01-3925	108	17	plane	plane	NOUN
app01-3925	108	18	blocks	block	VERB
app01-3925	108	19	def	def	ADJ
app01-3925	108	20	.	.	PUNCT
app01-3925	108	21	tripod	tripod	NOUN
app01-3925	108	22	130.9	130.9	NUM
app01-3925	108	23	144.0	144.0	NUM
app01-3925	108	24	148.3	148.3	NUM
app01-3925	108	25	—	—	PUNCT
app01-3925	108	26	def	def	ADJ
app01-3925	108	27	.	.	PUNCT
app01-3925	109	1	tetrapod	tetrapod	NOUN
app01-3925	109	2	168.7	168.7	NUM
app01-3925	109	3	183.0	183.0	NUM
app01-3925	109	4	200.9	200.9	NUM
app01-3925	109	5	—	—	PUNCT
app01-3925	109	6	def	def	ADJ
app01-3925	109	7	.	.	PROPN
app01-3925	109	8	pentapod	pentapod	PROPN
app01-3925	109	9	289.7	289.7	NUM
app01-3925	109	10	327.9	327.9	NUM
app01-3925	109	11	403.2	403.2	NUM
app01-3925	109	12	—	—	PUNCT
app01-3925	110	1	def	def	ADJ
app01-3925	110	2	.	.	PROPN
app01-3925	111	1	ripple	ripple	VERB
app01-3925	111	2	171.9	171.9	NUM
app01-3925	111	3	183.7	183.7	NUM
app01-3925	111	4	218.4	218.4	NUM
app01-3925	111	5	—	—	PUNCT
app01-3925	111	6	ad	ad	NOUN
app01-3925	111	7	.	.	PUNCT
app01-3925	112	1	tripod	tripod	NOUN
app01-3925	112	2	386.6	386.6	NUM
app01-3925	112	3	482.5	482.5	NUM
app01-3925	112	4	485.6	485.6	NUM
app01-3925	112	5	507.6	507.6	NUM
app01-3925	112	6	ad	ad	NOUN
app01-3925	112	7	.	.	PUNCT
app01-3925	113	1	tetrapod	tetrapod	VERB
app01-3925	113	2	543.1	543.1	NUM
app01-3925	113	3	617.0	617.0	NUM
app01-3925	113	4	699.0	699.0	NUM
app01-3925	113	5	700.0	700.0	NUM
app01-3925	113	6	ad	ad	NOUN
app01-3925	113	7	.	.	PUNCT
app01-3925	114	1	pentapod	pentapod	ADJ
app01-3925	114	2	1019.1	1019.1	NUM
app01-3925	114	3	1248.7	1248.7	NUM
app01-3925	114	4	1543.4	1543.4	NUM
app01-3925	114	5	1270.3	1270.3	NUM
app01-3925	114	6	table	table	NOUN
app01-3925	114	7	1	1	NUM
app01-3925	114	8	.	.	PUNCT
app01-3925	114	9	energy	energy	NOUN
app01-3925	114	10	consumption	consumption	NOUN
app01-3925	114	11	.	.	PUNCT
app01-3925	115	1	office	office	NOUN
app01-3925	115	2	floor	floor	NOUN
app01-3925	115	3	artificial	artificial	ADJ
app01-3925	115	4	grass	grass	NOUN
app01-3925	115	5	inclined	incline	VERB
app01-3925	115	6	plane	plane	NOUN
app01-3925	115	7	wooden	wooden	ADJ
app01-3925	115	8	blocks	block	NOUN
app01-3925	115	9	0	0	NUM
app01-3925	116	1	200	200	NUM
app01-3925	116	2	400	400	NUM
app01-3925	116	3	600	600	NUM
app01-3925	116	4	800	800	NUM
app01-3925	116	5	1000	1000	NUM
app01-3925	116	6	1200	1200	NUM
app01-3925	116	7	1400	1400	NUM
app01-3925	116	8	1600	1600	NUM
app01-3925	116	9	c	c	NOUN
app01-3925	116	10	on	on	ADP
app01-3925	116	11	su	su	PROPN
app01-3925	116	12	m	m	PROPN
app01-3925	116	13	ed	ed	PROPN
app01-3925	116	14	e	e	PROPN
app01-3925	116	15	ne	ne	NOUN
app01-3925	116	16	rg	rg	PROPN
app01-3925	116	17	y	y	PROPN
app01-3925	117	1	[	[	X
app01-3925	117	2	j	j	X
app01-3925	117	3	]	]	PUNCT
app01-3925	117	4	consumed	consume	VERB
app01-3925	117	5	energy	energy	NOUN
app01-3925	117	6	adaptive	adaptive	ADJ
app01-3925	117	7	pentapod	pentapod	ADJ
app01-3925	117	8	adaptive	adaptive	ADJ
app01-3925	117	9	tetrapod	tetrapod	ADJ
app01-3925	117	10	adaptive	adaptive	ADJ
app01-3925	117	11	tripod	tripod	NOUN
app01-3925	117	12	regular	regular	ADJ
app01-3925	117	13	pentapod	pentapod	ADJ
app01-3925	117	14	regular	regular	ADJ
app01-3925	117	15	tetrapod	tetrapod	ADJ
app01-3925	117	16	regular	regular	ADJ
app01-3925	117	17	tripod	tripod	NOUN
app01-3925	117	18	figure	figure	NOUN
app01-3925	117	19	3	3	NUM
app01-3925	117	20	.	.	PUNCT
app01-3925	117	21	energy	energy	NOUN
app01-3925	117	22	consumption	consumption	NOUN
app01-3925	117	23	on	on	ADP
app01-3925	117	24	different	different	ADJ
app01-3925	117	25	terrain	terrain	NOUN
app01-3925	117	26	types	type	NOUN
app01-3925	117	27	.	.	PUNCT
app01-3925	118	1	icantly	icantly	ADV
app01-3925	118	2	during	during	ADP
app01-3925	118	3	a	a	DET
app01-3925	118	4	single	single	ADJ
app01-3925	118	5	gait	gait	NOUN
app01-3925	118	6	cycle	cycle	NOUN
app01-3925	118	7	.	.	PUNCT
app01-3925	119	1	this	this	PRON
app01-3925	119	2	can	can	AUX
app01-3925	119	3	be	be	AUX
app01-3925	119	4	observed	observe	VERB
app01-3925	119	5	for	for	ADP
app01-3925	119	6	the	the	DET
app01-3925	119	7	terrain	terrain	NOUN
app01-3925	119	8	of	of	ADP
app01-3925	119	9	wooden	wooden	ADJ
app01-3925	119	10	blocks	block	NOUN
app01-3925	119	11	as	as	ADP
app01-3925	119	12	fluctuations	fluctuation	NOUN
app01-3925	119	13	of	of	ADP
app01-3925	119	14	otherwise	otherwise	ADV
app01-3925	119	15	relatively	relatively	ADV
app01-3925	119	16	straight	straight	ADJ
app01-3925	119	17	lines	line	NOUN
app01-3925	119	18	in	in	ADP
app01-3925	119	19	figure	figure	NOUN
app01-3925	119	20	2	2	NUM
app01-3925	119	21	.	.	PUNCT
app01-3925	119	22	based	base	VERB
app01-3925	119	23	on	on	ADP
app01-3925	119	24	the	the	DET
app01-3925	119	25	presented	present	VERB
app01-3925	119	26	results	result	NOUN
app01-3925	119	27	,	,	PUNCT
app01-3925	119	28	we	we	PRON
app01-3925	119	29	can	can	AUX
app01-3925	119	30	deduce	deduce	VERB
app01-3925	119	31	that	that	SCONJ
app01-3925	119	32	the	the	DET
app01-3925	119	33	time	time	NOUN
app01-3925	119	34	interval	interval	NOUN
app01-3925	119	35	of	of	ADP
app01-3925	119	36	few	few	ADJ
app01-3925	119	37	seconds	second	NOUN
app01-3925	119	38	(	(	PUNCT
app01-3925	119	39	or	or	CCONJ
app01-3925	119	40	few	few	ADJ
app01-3925	119	41	gait	gait	ADJ
app01-3925	119	42	cycles	cycle	NOUN
app01-3925	119	43	)	)	PUNCT
app01-3925	119	44	should	should	AUX
app01-3925	119	45	be	be	AUX
app01-3925	119	46	sufficient	sufficient	ADJ
app01-3925	119	47	to	to	PART
app01-3925	119	48	provide	provide	VERB
app01-3925	119	49	the	the	DET
app01-3925	119	50	relevant	relevant	ADJ
app01-3925	119	51	data	datum	NOUN
app01-3925	119	52	.	.	PUNCT
app01-3925	120	1	notice	notice	NOUN
app01-3925	120	2	,	,	PUNCT
app01-3925	120	3	the	the	DET
app01-3925	120	4	wooden	wooden	ADJ
app01-3925	120	5	blocks	block	NOUN
app01-3925	120	6	are	be	AUX
app01-3925	120	7	not	not	PART
app01-3925	120	8	,	,	PUNCT
app01-3925	120	9	unlike	unlike	ADP
app01-3925	120	10	the	the	DET
app01-3925	120	11	other	other	ADJ
app01-3925	120	12	terrain	terrain	NOUN
app01-3925	120	13	types	type	NOUN
app01-3925	120	14	,	,	PUNCT
app01-3925	120	15	uniform	uniform	NOUN
app01-3925	120	16	,	,	PUNCT
app01-3925	120	17	and	and	CCONJ
app01-3925	120	18	therefore	therefore	ADV
app01-3925	120	19	,	,	PUNCT
app01-3925	120	20	fluctuations	fluctuation	NOUN
app01-3925	120	21	in	in	ADP
app01-3925	120	22	the	the	DET
app01-3925	120	23	estimated	estimate	VERB
app01-3925	120	24	energy	energy	NOUN
app01-3925	120	25	consumption	consumption	NOUN
app01-3925	120	26	may	may	AUX
app01-3925	120	27	be	be	AUX
app01-3925	120	28	observed	observe	VERB
app01-3925	120	29	in	in	ADP
app01-3925	120	30	the	the	DET
app01-3925	120	31	presented	present	VERB
app01-3925	120	32	results	result	NOUN
app01-3925	120	33	.	.	PUNCT
app01-3925	121	1	the	the	DET
app01-3925	121	2	energetic	energetic	ADJ
app01-3925	121	3	cost	cost	NOUN
app01-3925	121	4	together	together	ADV
app01-3925	121	5	with	with	ADP
app01-3925	121	6	the	the	DET
app01-3925	121	7	traversability	traversability	NOUN
app01-3925	121	8	of	of	ADP
app01-3925	121	9	the	the	DET
app01-3925	121	10	terrain	terrain	NOUN
app01-3925	121	11	vary	vary	VERB
app01-3925	121	12	from	from	ADP
app01-3925	121	13	place	place	NOUN
app01-3925	121	14	to	to	ADP
app01-3925	121	15	place	place	NOUN
app01-3925	121	16	and	and	CCONJ
app01-3925	121	17	they	they	PRON
app01-3925	121	18	both	both	PRON
app01-3925	121	19	depend	depend	VERB
app01-3925	121	20	on	on	ADP
app01-3925	121	21	exact	exact	ADJ
app01-3925	121	22	location	location	NOUN
app01-3925	121	23	of	of	ADP
app01-3925	121	24	the	the	DET
app01-3925	121	25	robot	robot	NOUN
app01-3925	121	26	in	in	ADP
app01-3925	121	27	the	the	DET
app01-3925	121	28	environment	environment	NOUN
app01-3925	121	29	.	.	PUNCT
app01-3925	122	1	this	this	DET
app01-3925	122	2	observation	observation	NOUN
app01-3925	122	3	motivate	motivate	VERB
app01-3925	122	4	us	we	PRON
app01-3925	122	5	that	that	SCONJ
app01-3925	122	6	a	a	DET
app01-3925	122	7	terrain	terrain	NOUN
app01-3925	122	8	classification	classification	NOUN
app01-3925	122	9	might	might	AUX
app01-3925	122	10	divide	divide	VERB
app01-3925	122	11	the	the	DET
app01-3925	122	12	area	area	NOUN
app01-3925	122	13	into	into	ADP
app01-3925	122	14	smaller	small	ADJ
app01-3925	122	15	parts	part	NOUN
app01-3925	122	16	and	and	CCONJ
app01-3925	122	17	evaluate	evaluate	VERB
app01-3925	122	18	traversability	traversability	NOUN
app01-3925	122	19	in	in	ADP
app01-3925	122	20	these	these	DET
app01-3925	122	21	local	local	ADJ
app01-3925	122	22	areas	area	NOUN
app01-3925	122	23	.	.	PUNCT
app01-3925	123	1	notice	notice	VERB
app01-3925	123	2	that	that	SCONJ
app01-3925	123	3	all	all	DET
app01-3925	123	4	the	the	DET
app01-3925	123	5	gait	gait	ADJ
app01-3925	123	6	parameters	parameter	NOUN
app01-3925	123	7	such	such	ADJ
app01-3925	123	8	as	as	ADP
app01-3925	123	9	speed	speed	NOUN
app01-3925	123	10	,	,	PUNCT
app01-3925	123	11	stride	stride	ADJ
app01-3925	123	12	length	length	NOUN
app01-3925	123	13	,	,	PUNCT
app01-3925	123	14	etc	etc	X
app01-3925	123	15	.	.	X
app01-3925	123	16	were	be	AUX
app01-3925	123	17	fixed	fix	VERB
app01-3925	123	18	for	for	ADP
app01-3925	123	19	each	each	DET
app01-3925	123	20	gait	gait	NOUN
app01-3925	123	21	individually	individually	ADV
app01-3925	123	22	for	for	ADP
app01-3925	123	23	all	all	DET
app01-3925	123	24	experiments	experiment	NOUN
app01-3925	123	25	reported	report	VERB
app01-3925	123	26	in	in	ADP
app01-3925	123	27	this	this	DET
app01-3925	123	28	paper	paper	NOUN
app01-3925	123	29	.	.	PUNCT
app01-3925	124	1	however	however	ADV
app01-3925	124	2	,	,	PUNCT
app01-3925	124	3	the	the	DET
app01-3925	124	4	energy	energy	NOUN
app01-3925	124	5	efficiency	efficiency	NOUN
app01-3925	124	6	can	can	AUX
app01-3925	124	7	be	be	AUX
app01-3925	124	8	used	use	VERB
app01-3925	124	9	in	in	ADP
app01-3925	124	10	the	the	DET
app01-3925	124	11	optimization	optimization	NOUN
app01-3925	124	12	of	of	ADP
app01-3925	124	13	the	the	DET
app01-3925	124	14	gait	gait	NOUN
app01-3925	124	15	and	and	CCONJ
app01-3925	124	16	it	it	PRON
app01-3925	124	17	can	can	AUX
app01-3925	124	18	be	be	AUX
app01-3925	124	19	also	also	ADV
app01-3925	124	20	improved	improve	VERB
app01-3925	124	21	by	by	ADP
app01-3925	124	22	a	a	DET
app01-3925	124	23	mechanical	mechanical	ADJ
app01-3925	124	24	construction	construction	NOUN
app01-3925	124	25	of	of	ADP
app01-3925	124	26	the	the	DET
app01-3925	124	27	robot	robot	NOUN
app01-3925	124	28	.	.	PUNCT
app01-3925	125	1	a	a	DET
app01-3925	125	2	further	further	ADJ
app01-3925	125	3	experimental	experimental	ADJ
app01-3925	125	4	evaluation	evaluation	NOUN
app01-3925	125	5	can	can	AUX
app01-3925	125	6	also	also	ADV
app01-3925	125	7	be	be	AUX
app01-3925	125	8	enhanced	enhance	VERB
app01-3925	125	9	by	by	ADP
app01-3925	125	10	a	a	DET
app01-3925	125	11	precise	precise	ADJ
app01-3925	125	12	measurement	measurement	NOUN
app01-3925	125	13	of	of	ADP
app01-3925	125	14	the	the	DET
app01-3925	125	15	distance	distance	NOUN
app01-3925	125	16	traveled	travel	VERB
app01-3925	125	17	by	by	ADP
app01-3925	125	18	the	the	DET
app01-3925	125	19	robot	robot	NOUN
app01-3925	125	20	.	.	PUNCT
app01-3925	126	1	in	in	ADP
app01-3925	126	2	this	this	DET
app01-3925	126	3	manner	manner	NOUN
app01-3925	126	4	,	,	PUNCT
app01-3925	126	5	factors	factor	NOUN
app01-3925	126	6	such	such	ADJ
app01-3925	126	7	as	as	ADP
app01-3925	126	8	traction	traction	NOUN
app01-3925	126	9	and	and	CCONJ
app01-3925	126	10	leg	leg	NOUN
app01-3925	126	11	slippages	slippage	NOUN
app01-3925	126	12	can	can	AUX
app01-3925	126	13	be	be	AUX
app01-3925	126	14	taken	take	VERB
app01-3925	126	15	into	into	ADP
app01-3925	126	16	account	account	NOUN
app01-3925	126	17	,	,	PUNCT
app01-3925	126	18	which	which	PRON
app01-3925	126	19	may	may	AUX
app01-3925	126	20	provide	provide	VERB
app01-3925	126	21	additional	additional	ADJ
app01-3925	126	22	information	information	NOUN
app01-3925	126	23	about	about	ADP
app01-3925	126	24	suitability	suitability	NOUN
app01-3925	126	25	of	of	ADP
app01-3925	126	26	particular	particular	ADJ
app01-3925	126	27	gaits	gait	NOUN
app01-3925	126	28	for	for	ADP
app01-3925	126	29	specific	specific	ADJ
app01-3925	126	30	terrain	terrain	NOUN
app01-3925	126	31	types	type	NOUN
app01-3925	126	32	.	.	PUNCT
app01-3925	127	1	gait	gait	ADJ
app01-3925	127	2	time	time	NOUN
app01-3925	128	1	[	[	X
app01-3925	128	2	s	s	X
app01-3925	128	3	]	]	X
app01-3925	128	4	floor	floor	NOUN
app01-3925	128	5	grass	grass	NOUN
app01-3925	128	6	plane	plane	NOUN
app01-3925	128	7	blocks	block	VERB
app01-3925	128	8	def	def	ADJ
app01-3925	128	9	.	.	PUNCT
app01-3925	128	10	tripod	tripod	NOUN
app01-3925	128	11	8.1	8.1	NUM
app01-3925	128	12	8.1	8.1	NUM
app01-3925	128	13	8.1	8.1	NUM
app01-3925	128	14	—	—	PUNCT
app01-3925	128	15	def	def	ADJ
app01-3925	128	16	.	.	PUNCT
app01-3925	129	1	tetrapod	tetrapod	NOUN
app01-3925	129	2	12.2	12.2	NUM
app01-3925	129	3	12.2	12.2	NUM
app01-3925	129	4	12.2	12.2	NUM
app01-3925	129	5	—	—	PUNCT
app01-3925	129	6	def	def	ADJ
app01-3925	129	7	.	.	PROPN
app01-3925	129	8	pentapod	pentapod	PROPN
app01-3925	129	9	24.4	24.4	NUM
app01-3925	129	10	24.4	24.4	NUM
app01-3925	129	11	24.3	24.3	NUM
app01-3925	129	12	—	—	PUNCT
app01-3925	129	13	def	def	ADJ
app01-3925	130	1	.	.	PROPN
app01-3925	130	2	ripple	ripple	VERB
app01-3925	130	3	12.3	12.3	NUM
app01-3925	130	4	12.2	12.2	NUM
app01-3925	130	5	12.2	12.2	NUM
app01-3925	130	6	—	—	PUNCT
app01-3925	130	7	ad	ad	NOUN
app01-3925	130	8	.	.	PUNCT
app01-3925	131	1	tripod	tripod	NOUN
app01-3925	131	2	32.6	32.6	NUM
app01-3925	131	3	35.8	35.8	NUM
app01-3925	131	4	35.7	35.7	NUM
app01-3925	131	5	35.7	35.7	NUM
app01-3925	131	6	ad	ad	NOUN
app01-3925	131	7	.	.	PUNCT
app01-3925	132	1	tetrapod	tetrapod	NOUN
app01-3925	132	2	56.5	56.5	NUM
app01-3925	132	3	56.6	56.6	NUM
app01-3925	132	4	57.3	57.3	NUM
app01-3925	132	5	56.1	56.1	NUM
app01-3925	132	6	ad	ad	NOUN
app01-3925	132	7	.	.	PUNCT
app01-3925	133	1	pentapod	pentapod	VERB
app01-3925	133	2	110.6	110.6	NUM
app01-3925	133	3	112.5	112.5	NUM
app01-3925	133	4	114.6	114.6	NUM
app01-3925	133	5	95.8	95.8	NUM
app01-3925	133	6	table	table	NOUN
app01-3925	133	7	2	2	NUM
app01-3925	133	8	.	.	PUNCT
app01-3925	133	9	traversing	traverse	VERB
app01-3925	133	10	time	time	NOUN
app01-3925	133	11	.	.	PUNCT
app01-3925	134	1	office	office	NOUN
app01-3925	134	2	floor	floor	NOUN
app01-3925	134	3	artificial	artificial	ADJ
app01-3925	134	4	grass	grass	NOUN
app01-3925	134	5	inclined	incline	VERB
app01-3925	134	6	plane	plane	NOUN
app01-3925	134	7	wooden	wooden	ADJ
app01-3925	134	8	blocks	block	NOUN
app01-3925	134	9	0	0	NUM
app01-3925	134	10	20	20	NUM
app01-3925	134	11	40	40	NUM
app01-3925	134	12	60	60	NUM
app01-3925	134	13	80	80	NUM
app01-3925	134	14	100	100	NUM
app01-3925	134	15	120	120	NUM
app01-3925	134	16	140	140	NUM
app01-3925	134	17	c	c	NOUN
app01-3925	134	18	on	on	ADP
app01-3925	134	19	su	su	PROPN
app01-3925	134	20	m	m	PROPN
app01-3925	134	21	ed	ed	NOUN
app01-3925	135	1	ti	ti	NOUN
app01-3925	135	2	m	m	NOUN
app01-3925	135	3	e	e	NOUN
app01-3925	136	1	[	[	X
app01-3925	136	2	s	s	X
app01-3925	136	3	]	]	PUNCT
app01-3925	136	4	consumed	consume	VERB
app01-3925	136	5	time	time	NOUN
app01-3925	136	6	adaptive	adaptive	ADJ
app01-3925	136	7	pentapod	pentapod	ADJ
app01-3925	136	8	adaptive	adaptive	ADJ
app01-3925	136	9	tetrapod	tetrapod	ADJ
app01-3925	136	10	adaptive	adaptive	ADJ
app01-3925	136	11	tripod	tripod	NOUN
app01-3925	136	12	regular	regular	ADJ
app01-3925	136	13	pentapod	pentapod	ADJ
app01-3925	136	14	regular	regular	ADJ
app01-3925	136	15	tetrapod	tetrapod	ADJ
app01-3925	136	16	regular	regular	ADJ
app01-3925	136	17	tripod	tripod	NOUN
app01-3925	136	18	figure	figure	NOUN
app01-3925	136	19	4	4	NUM
app01-3925	136	20	.	.	PUNCT
app01-3925	136	21	traversing	traverse	VERB
app01-3925	136	22	time	time	NOUN
app01-3925	136	23	on	on	ADP
app01-3925	136	24	different	different	ADJ
app01-3925	136	25	terrain	terrain	NOUN
app01-3925	136	26	types	type	NOUN
app01-3925	136	27	.	.	PUNCT
app01-3925	137	1	4	4	X
app01-3925	137	2	.	.	X
app01-3925	137	3	conclusion	conclusion	NOUN
app01-3925	137	4	in	in	ADP
app01-3925	137	5	this	this	DET
app01-3925	137	6	work	work	NOUN
app01-3925	137	7	,	,	PUNCT
app01-3925	137	8	we	we	PRON
app01-3925	137	9	study	study	VERB
app01-3925	137	10	the	the	DET
app01-3925	137	11	problem	problem	NOUN
app01-3925	137	12	of	of	ADP
app01-3925	137	13	energetic	energetic	ADJ
app01-3925	137	14	characteristics	characteristic	NOUN
app01-3925	137	15	of	of	ADP
app01-3925	137	16	the	the	DET
app01-3925	137	17	hexapod	hexapod	ADJ
app01-3925	137	18	legged	legged	ADJ
app01-3925	137	19	robot	robot	NOUN
app01-3925	137	20	locomotion	locomotion	NOUN
app01-3925	137	21	.	.	PUNCT
app01-3925	138	1	we	we	PRON
app01-3925	138	2	have	have	AUX
app01-3925	138	3	evaluated	evaluate	VERB
app01-3925	138	4	the	the	DET
app01-3925	138	5	consumed	consume	VERB
app01-3925	138	6	energy	energy	NOUN
app01-3925	138	7	for	for	ADP
app01-3925	138	8	the	the	DET
app01-3925	138	9	most	most	ADV
app01-3925	138	10	common	common	ADJ
app01-3925	138	11	motion	motion	NOUN
app01-3925	138	12	gait	gait	NOUN
app01-3925	138	13	types	type	NOUN
app01-3925	138	14	and	and	CCONJ
app01-3925	138	15	different	different	ADJ
app01-3925	138	16	terrain	terrain	NOUN
app01-3925	138	17	types	type	NOUN
app01-3925	138	18	.	.	PUNCT
app01-3925	139	1	from	from	ADP
app01-3925	139	2	the	the	DET
app01-3925	139	3	presented	present	VERB
app01-3925	139	4	experimental	experimental	ADJ
app01-3925	139	5	results	result	NOUN
app01-3925	139	6	,	,	PUNCT
app01-3925	139	7	we	we	PRON
app01-3925	139	8	can	can	AUX
app01-3925	139	9	observe	observe	VERB
app01-3925	139	10	that	that	SCONJ
app01-3925	139	11	the	the	DET
app01-3925	139	12	default	default	NOUN
app01-3925	139	13	tripod	tripod	NOUN
app01-3925	139	14	gait	gait	NOUN
app01-3925	139	15	is	be	AUX
app01-3925	139	16	the	the	DET
app01-3925	139	17	fastest	fast	ADJ
app01-3925	139	18	and	and	CCONJ
app01-3925	139	19	the	the	DET
app01-3925	139	20	most	most	ADV
app01-3925	139	21	energy	energy	NOUN
app01-3925	139	22	efficient	efficient	ADJ
app01-3925	139	23	gait	gait	NOUN
app01-3925	139	24	for	for	ADP
app01-3925	139	25	flat	flat	ADJ
app01-3925	139	26	terrains	terrain	NOUN
app01-3925	139	27	.	.	PUNCT
app01-3925	140	1	this	this	DET
app01-3925	140	2	observation	observation	NOUN
app01-3925	140	3	yields	yield	VERB
app01-3925	140	4	the	the	DET
app01-3925	140	5	main	main	ADJ
app01-3925	140	6	strategy	strategy	NOUN
app01-3925	140	7	for	for	ADP
app01-3925	140	8	the	the	DET
app01-3925	140	9	gait	gait	NOUN
app01-3925	140	10	switching	switch	VERB
app01-3925	140	11	rule	rule	NOUN
app01-3925	140	12	that	that	PRON
app01-3925	140	13	minimizes	minimize	VERB
app01-3925	140	14	the	the	DET
app01-3925	140	15	overall	overall	ADJ
app01-3925	140	16	energy	energy	NOUN
app01-3925	140	17	consumption	consumption	NOUN
app01-3925	140	18	.	.	PUNCT
app01-3925	141	1	the	the	DET
app01-3925	141	2	gait	gait	NOUN
app01-3925	141	3	switching	switch	VERB
app01-3925	141	4	rule	rule	NOUN
app01-3925	141	5	can	can	AUX
app01-3925	141	6	be	be	AUX
app01-3925	141	7	formulated	formulate	VERB
app01-3925	141	8	such	such	ADJ
app01-3925	141	9	as	as	ADP
app01-3925	141	10	whenever	whenever	SCONJ
app01-3925	141	11	the	the	DET
app01-3925	141	12	default	default	NOUN
app01-3925	141	13	gait	gait	NOUN
app01-3925	141	14	is	be	AUX
app01-3925	141	15	not	not	PART
app01-3925	141	16	capable	capable	ADJ
app01-3925	141	17	of	of	ADP
app01-3925	141	18	traverse	traverse	VERB
app01-3925	141	19	a	a	DET
app01-3925	141	20	terrain	terrain	NOUN
app01-3925	141	21	due	due	ADP
app01-3925	141	22	to	to	ADP
app01-3925	141	23	the	the	DET
app01-3925	141	24	terrain	terrain	NOUN
app01-3925	141	25	roughness	roughness	NOUN
app01-3925	141	26	,	,	PUNCT
app01-3925	141	27	its	its	PRON
app01-3925	141	28	adaptive	adaptive	ADJ
app01-3925	141	29	version	version	NOUN
app01-3925	141	30	should	should	AUX
app01-3925	141	31	be	be	AUX
app01-3925	141	32	preferred	prefer	VERB
app01-3925	141	33	.	.	PUNCT
app01-3925	142	1	the	the	DET
app01-3925	142	2	results	result	NOUN
app01-3925	142	3	indicate	indicate	VERB
app01-3925	142	4	the	the	DET
app01-3925	142	5	proportional	proportional	ADJ
app01-3925	142	6	relation	relation	NOUN
app01-3925	142	7	between	between	ADP
app01-3925	142	8	the	the	DET
app01-3925	142	9	operational	operational	ADJ
app01-3925	142	10	time	time	NOUN
app01-3925	142	11	and	and	CCONJ
app01-3925	142	12	the	the	DET
app01-3925	142	13	energy	energy	NOUN
app01-3925	142	14	consumption	consumption	NOUN
app01-3925	142	15	,	,	PUNCT
app01-3925	142	16	which	which	PRON
app01-3925	142	17	,	,	PUNCT
app01-3925	142	18	in	in	ADP
app01-3925	142	19	fact	fact	NOUN
app01-3925	142	20	,	,	PUNCT
app01-3925	142	21	is	be	AUX
app01-3925	142	22	not	not	PART
app01-3925	142	23	a	a	DET
app01-3925	142	24	surprising	surprising	ADJ
app01-3925	142	25	result	result	NOUN
app01-3925	142	26	.	.	PUNCT
app01-3925	143	1	however	however	ADV
app01-3925	143	2	,	,	PUNCT
app01-3925	143	3	the	the	DET
app01-3925	143	4	multiplication	multiplication	NOUN
app01-3925	143	5	factor	factor	NOUN
app01-3925	143	6	can	can	AUX
app01-3925	143	7	be	be	AUX
app01-3925	143	8	used	use	VERB
app01-3925	143	9	as	as	ADP
app01-3925	143	10	a	a	DET
app01-3925	143	11	characteristic	characteristic	NOUN
app01-3925	143	12	for	for	ADP
app01-3925	143	13	the	the	DET
app01-3925	143	14	terrain	terrain	NOUN
app01-3925	143	15	classification	classification	NOUN
app01-3925	143	16	.	.	PUNCT
app01-3925	144	1	all	all	DET
app01-3925	144	2	the	the	DET
app01-3925	144	3	proposed	propose	VERB
app01-3925	144	4	applications	application	NOUN
app01-3925	144	5	and	and	CCONJ
app01-3925	144	6	implications	implication	NOUN
app01-3925	144	7	of	of	ADP
app01-3925	144	8	presented	present	VERB
app01-3925	144	9	results	result	NOUN
app01-3925	144	10	are	be	AUX
app01-3925	144	11	intended	intend	VERB
app01-3925	144	12	as	as	ADP
app01-3925	144	13	a	a	DET
app01-3925	144	14	motivation	motivation	NOUN
app01-3925	144	15	for	for	ADP
app01-3925	144	16	further	further	ADJ
app01-3925	144	17	research	research	NOUN
app01-3925	144	18	.	.	PUNCT
app01-3925	145	1	a	a	DET
app01-3925	145	2	deployment	deployment	NOUN
app01-3925	145	3	of	of	ADP
app01-3925	145	4	the	the	DET
app01-3925	145	5	gait	gait	NOUN
app01-3925	145	6	switching	switch	VERB
app01-3925	145	7	decision	decision	NOUN
app01-3925	145	8	rule	rule	NOUN
app01-3925	145	9	and	and	CCONJ
app01-3925	145	10	further	further	ADJ
app01-3925	145	11	investigation	investigation	NOUN
app01-3925	145	12	of	of	ADP
app01-3925	145	13	the	the	DET
app01-3925	145	14	gait	gait	ADJ
app01-3925	145	15	optimal	optimal	ADJ
app01-3925	145	16	parametrization	parametrization	NOUN
app01-3925	145	17	using	use	VERB
app01-3925	145	18	the	the	DET
app01-3925	145	19	energy	energy	NOUN
app01-3925	145	20	characteristics	characteristic	NOUN
app01-3925	145	21	evaluation	evaluation	NOUN
app01-3925	145	22	is	be	AUX
app01-3925	145	23	of	of	ADP
app01-3925	145	24	our	our	PRON
app01-3925	145	25	particular	particular	ADJ
app01-3925	145	26	interest	interest	NOUN
app01-3925	145	27	.	.	PUNCT
app01-3925	146	1	acknowledgements	acknowledgement	NOUN
app01-3925	146	2	the	the	DET
app01-3925	146	3	presented	present	VERB
app01-3925	146	4	work	work	NOUN
app01-3925	146	5	was	be	AUX
app01-3925	146	6	supported	support	VERB
app01-3925	146	7	by	by	ADP
app01-3925	146	8	the	the	DET
app01-3925	146	9	czech	czech	PROPN
app01-3925	146	10	science	science	PROPN
app01-3925	146	11	foundation	foundation	PROPN
app01-3925	146	12	(	(	PUNCT
app01-3925	146	13	gačr	gačr	NOUN
app01-3925	146	14	)	)	PUNCT
app01-3925	146	15	under	under	ADP
app01-3925	146	16	research	research	NOUN
app01-3925	146	17	project	project	NOUN
app01-3925	146	18	no	no	NOUN
app01-3925	146	19	.	.	NOUN
app01-3925	146	20	15	15	NUM
app01-3925	146	21	-	-	PUNCT
app01-3925	146	22	09600y	09600y	NUM
app01-3925	146	23	.	.	PUNCT
app01-3925	147	1	the	the	DET
app01-3925	147	2	support	support	NOUN
app01-3925	147	3	of	of	ADP
app01-3925	147	4	grant	grant	NOUN
app01-3925	147	5	no	no	INTJ
app01-3925	147	6	.	.	PUNCT
app01-3925	147	7	sgs16/235	sgs16/235	PROPN
app01-3925	147	8	/	/	SYM
app01-3925	147	9	ohk3/3t/13	ohk3/3t/13	ADJ
app01-3925	147	10	to	to	PART
app01-3925	147	11	petr	petr	PROPN
app01-3925	147	12	čížek	čížek	PROPN
app01-3925	147	13	is	be	AUX
app01-3925	147	14	also	also	ADV
app01-3925	147	15	gratefully	gratefully	ADV
app01-3925	147	16	acknowledged	acknowledge	VERB
app01-3925	147	17	.	.	PUNCT
app01-3925	148	1	9	9	NUM
app01-3925	148	2	l.	l.	NOUN
app01-3925	148	3	černý	černý	PROPN
app01-3925	148	4	,	,	PUNCT
app01-3925	148	5	p.	p.	NOUN
app01-3925	148	6	čížek	čížek	PROPN
app01-3925	148	7	,	,	PUNCT
app01-3925	148	8	j.	j.	PROPN
app01-3925	148	9	faigl	faigl	PROPN
app01-3925	148	10	acta	acta	PROPN
app01-3925	148	11	polytechnica	polytechnica	PROPN
app01-3925	148	12	ctu	ctu	NOUN
app01-3925	148	13	proceedings	proceeding	NOUN
app01-3925	148	14	references	reference	VERB
app01-3925	148	15	[	[	X
app01-3925	148	16	1	1	NUM
app01-3925	148	17	]	]	PUNCT
app01-3925	148	18	d.	d.	PROPN
app01-3925	148	19	belter	belter	PROPN
app01-3925	148	20	,	,	PUNCT
app01-3925	148	21	p.	p.	PROPN
app01-3925	148	22	skrzypczynski	skrzypczynski	ADJ
app01-3925	148	23	.	.	PUNCT
app01-3925	149	1	rough	rough	ADJ
app01-3925	149	2	terrain	terrain	NOUN
app01-3925	149	3	mapping	mapping	NOUN
app01-3925	149	4	and	and	CCONJ
app01-3925	149	5	classification	classification	NOUN
app01-3925	149	6	for	for	ADP
app01-3925	149	7	foothold	foothold	ADJ
app01-3925	149	8	selection	selection	NOUN
app01-3925	149	9	in	in	ADP
app01-3925	149	10	a	a	DET
app01-3925	149	11	walking	walking	NOUN
app01-3925	149	12	robot	robot	NOUN
app01-3925	149	13	.	.	PUNCT
app01-3925	150	1	journal	journal	PROPN
app01-3925	150	2	of	of	ADP
app01-3925	150	3	field	field	NOUN
app01-3925	150	4	robotics	robotic	NOUN
app01-3925	150	5	28(4):497–528	28(4):497–528	NUM
app01-3925	150	6	,	,	PUNCT
app01-3925	150	7	2011	2011	NUM
app01-3925	150	8	.	.	PUNCT
app01-3925	151	1	doi:10.1002	doi:10.1002	NOUN
app01-3925	151	2	/	/	SYM
app01-3925	151	3	rob.20397	rob.20397	NOUN
app01-3925	151	4	.	.	PUNCT
app01-3925	152	1	[	[	X
app01-3925	152	2	2	2	X
app01-3925	152	3	]	]	PUNCT
app01-3925	152	4	j.	j.	PROPN
app01-3925	152	5	mrva	mrva	PROPN
app01-3925	152	6	,	,	PUNCT
app01-3925	152	7	j.	j.	PROPN
app01-3925	152	8	faigl	faigl	PROPN
app01-3925	152	9	.	.	PUNCT
app01-3925	153	1	tactile	tactile	ADJ
app01-3925	153	2	sensing	sense	VERB
app01-3925	153	3	with	with	ADP
app01-3925	153	4	servo	servo	NOUN
app01-3925	153	5	drives	drive	VERB
app01-3925	153	6	feedback	feedback	NOUN
app01-3925	153	7	only	only	ADV
app01-3925	153	8	for	for	ADP
app01-3925	153	9	blind	blind	ADJ
app01-3925	153	10	hexapod	hexapod	NOUN
app01-3925	153	11	walking	walking	NOUN
app01-3925	153	12	robot	robot	NOUN
app01-3925	153	13	.	.	PUNCT
app01-3925	154	1	in	in	ADP
app01-3925	154	2	robot	robot	NOUN
app01-3925	154	3	motion	motion	NOUN
app01-3925	154	4	and	and	CCONJ
app01-3925	154	5	control	control	NOUN
app01-3925	154	6	(	(	PUNCT
app01-3925	154	7	romoco	romoco	ADJ
app01-3925	154	8	)	)	PUNCT
app01-3925	154	9	,	,	PUNCT
app01-3925	154	10	2015	2015	NUM
app01-3925	154	11	10th	10th	ADJ
app01-3925	154	12	international	international	ADJ
app01-3925	154	13	workshop	workshop	NOUN
app01-3925	154	14	on	on	ADP
app01-3925	154	15	,	,	PUNCT
app01-3925	154	16	pp	pp	ADJ
app01-3925	154	17	.	.	PUNCT
app01-3925	155	1	240–245	240–245	NUM
app01-3925	155	2	.	.	PUNCT
app01-3925	155	3	2015	2015	NUM
app01-3925	155	4	.	.	PUNCT
app01-3925	156	1	doi:10.1109	doi:10.1109	VERB
app01-3925	156	2	/	/	SYM
app01-3925	156	3	romoco.2015.7219742	romoco.2015.7219742	NOUN
app01-3925	156	4	.	.	PUNCT
app01-3925	157	1	[	[	X
app01-3925	157	2	3	3	X
app01-3925	157	3	]	]	X
app01-3925	157	4	n.	n.	PROPN
app01-3925	157	5	kottege	kottege	NOUN
app01-3925	157	6	,	,	PUNCT
app01-3925	157	7	c.	c.	PROPN
app01-3925	157	8	parkinson	parkinson	NOUN
app01-3925	157	9	,	,	PUNCT
app01-3925	157	10	p.	p.	PROPN
app01-3925	157	11	moghadam	moghadam	PROPN
app01-3925	157	12	,	,	PUNCT
app01-3925	157	13	et	et	PROPN
app01-3925	157	14	al	al	PROPN
app01-3925	157	15	.	.	PROPN
app01-3925	157	16	energetics	energetic	NOUN
app01-3925	157	17	-	-	PUNCT
app01-3925	157	18	informed	inform	VERB
app01-3925	157	19	hexapod	hexapod	ADJ
app01-3925	157	20	gait	gait	ADJ
app01-3925	157	21	transitions	transition	NOUN
app01-3925	157	22	across	across	ADP
app01-3925	157	23	terrains	terrain	NOUN
app01-3925	157	24	.	.	PUNCT
app01-3925	158	1	in	in	ADP
app01-3925	158	2	ieee	ieee	PROPN
app01-3925	158	3	international	international	ADJ
app01-3925	158	4	conference	conference	NOUN
app01-3925	158	5	on	on	ADP
app01-3925	158	6	robotics	robotic	NOUN
app01-3925	158	7	and	and	CCONJ
app01-3925	158	8	automation	automation	NOUN
app01-3925	158	9	(	(	PUNCT
app01-3925	158	10	icra	icra	PROPN
app01-3925	158	11	)	)	PUNCT
app01-3925	158	12	,	,	PUNCT
app01-3925	158	13	pp	pp	PROPN
app01-3925	158	14	.	.	PUNCT
app01-3925	159	1	5140–5147	5140–5147	NUM
app01-3925	159	2	.	.	PUNCT
app01-3925	160	1	2015	2015	NUM
app01-3925	160	2	.	.	PUNCT
app01-3925	161	1	doi:10.1109	doi:10.1109	VERB
app01-3925	161	2	/	/	SYM
app01-3925	161	3	icra.2015.7139915	icra.2015.7139915	PROPN
app01-3925	161	4	.	.	PUNCT
app01-3925	162	1	[	[	X
app01-3925	162	2	4	4	X
app01-3925	162	3	]	]	PUNCT
app01-3925	162	4	j.	j.	PROPN
app01-3925	162	5	mrva	mrva	PROPN
app01-3925	162	6	,	,	PUNCT
app01-3925	162	7	m.	m.	PROPN
app01-3925	162	8	stejskal	stejskal	PROPN
app01-3925	162	9	,	,	PUNCT
app01-3925	162	10	j.	j.	PROPN
app01-3925	162	11	faigl	faigl	PROPN
app01-3925	162	12	.	.	PUNCT
app01-3925	163	1	on	on	ADP
app01-3925	163	2	traversability	traversability	NOUN
app01-3925	163	3	cost	cost	NOUN
app01-3925	163	4	evaluation	evaluation	NOUN
app01-3925	163	5	from	from	ADP
app01-3925	163	6	proprioceptive	proprioceptive	ADJ
app01-3925	163	7	sensing	sensing	NOUN
app01-3925	163	8	for	for	ADP
app01-3925	163	9	a	a	DET
app01-3925	163	10	crawling	crawl	VERB
app01-3925	163	11	robot	robot	NOUN
app01-3925	163	12	.	.	PUNCT
app01-3925	164	1	in	in	ADP
app01-3925	164	2	acta	acta	PROPN
app01-3925	164	3	polytechnica	polytechnica	PROPN
app01-3925	164	4	ctu	ctu	PROPN
app01-3925	164	5	proceedings	proceeding	NOUN
app01-3925	164	6	,	,	PUNCT
app01-3925	164	7	pp	pp	ADV
app01-3925	164	8	.	.	PUNCT
app01-3925	165	1	34–39	34–39	NUM
app01-3925	165	2	.	.	NOUN
app01-3925	165	3	2015	2015	NUM
app01-3925	165	4	.	.	PUNCT
app01-3925	166	1	doi:10.14311	doi:10.14311	NOUN
app01-3925	166	2	/	/	SYM
app01-3925	166	3	app.2015.1.0034	app.2015.1.0034	PROPN
app01-3925	166	4	.	.	PUNCT
app01-3925	167	1	[	[	X
app01-3925	167	2	5	5	X
app01-3925	167	3	]	]	X
app01-3925	167	4	g.	g.	PROPN
app01-3925	167	5	dudek	dudek	PROPN
app01-3925	167	6	,	,	PUNCT
app01-3925	167	7	m.	m.	NOUN
app01-3925	167	8	jenkin	jenkin	PROPN
app01-3925	167	9	.	.	PUNCT
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app01-3925	168	2	principles	principle	NOUN
app01-3925	168	3	of	of	ADP
app01-3925	168	4	mobile	mobile	ADJ
app01-3925	168	5	robotics	robotic	NOUN
app01-3925	168	6	.	.	PUNCT
app01-3925	169	1	cambridge	cambridge	PROPN
app01-3925	169	2	university	university	PROPN
app01-3925	169	3	press	press	PROPN
app01-3925	169	4	,	,	PUNCT
app01-3925	169	5	new	new	PROPN
app01-3925	169	6	york	york	PROPN
app01-3925	169	7	,	,	PUNCT
app01-3925	169	8	ny	ny	PROPN
app01-3925	169	9	,	,	PUNCT
app01-3925	169	10	usa	usa	PROPN
app01-3925	169	11	,	,	PUNCT
app01-3925	169	12	2000	2000	NUM
app01-3925	169	13	.	.	PUNCT
app01-3925	170	1	[	[	X
app01-3925	170	2	6	6	NUM
app01-3925	170	3	]	]	PUNCT
app01-3925	170	4	j.	j.	PROPN
app01-3925	170	5	mrva	mrva	PROPN
app01-3925	170	6	,	,	PUNCT
app01-3925	170	7	j.	j.	PROPN
app01-3925	170	8	faigl	faigl	PROPN
app01-3925	170	9	.	.	PUNCT
app01-3925	171	1	tactile	tactile	ADJ
app01-3925	171	2	sensing	sense	VERB
app01-3925	171	3	with	with	ADP
app01-3925	171	4	servo	servo	NOUN
app01-3925	171	5	drives	drive	VERB
app01-3925	171	6	feedback	feedback	NOUN
app01-3925	171	7	only	only	ADV
app01-3925	171	8	for	for	ADP
app01-3925	171	9	blind	blind	ADJ
app01-3925	171	10	hexapod	hexapod	NOUN
app01-3925	171	11	walking	walking	NOUN
app01-3925	171	12	robot	robot	NOUN
app01-3925	171	13	.	.	PUNCT
app01-3925	172	1	in	in	ADP
app01-3925	172	2	10th	10th	ADJ
app01-3925	172	3	international	international	ADJ
app01-3925	172	4	workshop	workshop	NOUN
app01-3925	172	5	on	on	ADP
app01-3925	172	6	robot	robot	NOUN
app01-3925	172	7	motion	motion	NOUN
app01-3925	172	8	and	and	CCONJ
app01-3925	172	9	control	control	NOUN
app01-3925	172	10	,	,	PUNCT
app01-3925	172	11	romoco	romoco	VERB
app01-3925	172	12	,	,	PUNCT
app01-3925	172	13	pp	pp	ADV
app01-3925	172	14	.	.	PUNCT
app01-3925	173	1	240–245	240–245	NUM
app01-3925	173	2	.	.	PUNCT
app01-3925	173	3	2015	2015	NUM
app01-3925	173	4	.	.	PUNCT
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app01-3925	174	2	/	/	SYM
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app01-3925	174	4	.	.	PUNCT
app01-3925	175	1	10	10	NUM
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app01-3925	175	3	http://dx.doi.org/10.1109/romoco.2015.7219742	http://dx.doi.org/10.1109/romoco.2015.7219742	PROPN
app01-3925	175	4	http://dx.doi.org/10.1109/icra.2015.7139915	http://dx.doi.org/10.1109/icra.2015.7139915	VERB
app01-3925	175	5	http://dx.doi.org/10.14311/app.2015.1.0034	http://dx.doi.org/10.14311/app.2015.1.0034	NOUN
app01-3925	175	6	http://dx.doi.org/10.1109/romoco.2015.7219742	http://dx.doi.org/10.1109/romoco.2015.7219742	PROPN
app01-3925	175	7	acta	acta	PROPN
app01-3925	175	8	polytechnica	polytechnica	PROPN
app01-3925	175	9	ctu	ctu	NOUN
app01-3925	175	10	proceedings	proceeding	NOUN
app01-3925	175	11	6:6–10	6:6–10	NUM
app01-3925	175	12	,	,	PUNCT
app01-3925	175	13	2016	2016	NUM
app01-3925	175	14	1	1	NUM
app01-3925	175	15	introduction	introduction	NOUN
app01-3925	175	16	2	2	NUM
app01-3925	175	17	problem	problem	NOUN
app01-3925	175	18	statement	statement	NOUN
app01-3925	175	19	2.1	2.1	NUM
app01-3925	175	20	hexapod	hexapod	NOUN
app01-3925	175	21	platform	platform	NOUN
app01-3925	175	22	2.2	2.2	NUM
app01-3925	175	23	motion	motion	NOUN
app01-3925	175	24	gaits	gait	NOUN
app01-3925	175	25	2.3	2.3	NUM
app01-3925	175	26	energetics	energetics	NOUN
app01-3925	175	27	3	3	NUM
app01-3925	175	28	evaluation	evaluation	NOUN
app01-3925	175	29	3.1	3.1	NUM
app01-3925	176	1	experimental	experimental	ADJ
app01-3925	176	2	set	set	NOUN
app01-3925	176	3	-	-	PUNCT
app01-3925	176	4	up	up	ADP
app01-3925	176	5	3.2	3.2	NUM
app01-3925	176	6	results	result	NOUN
app01-3925	176	7	3.3	3.3	NUM
app01-3925	176	8	discussion	discussion	NOUN
app01-3925	176	9	4	4	NUM
app01-3925	176	10	conclusion	conclusion	NOUN
app01-3925	176	11	acknowledgements	acknowledgement	NOUN
app01-3925	176	12	references	reference	NOUN