id	sid	tid	token	lemma	pos
app01-3965	1	1	acta	acta	PROPN
app01-3965	1	2	polytechnica	polytechnica	PROPN
app01-3965	1	3	ctu	ctu	PROPN
app01-3965	1	4	proceedings	proceeding	NOUN
app01-3965	1	5	doi:10.14311	doi:10.14311	NOUN
app01-3965	1	6	/	/	SYM
app01-3965	1	7	app.2017.7.0053	app.2017.7.0053	VERB
app01-3965	1	8	acta	acta	PROPN
app01-3965	1	9	polytechnica	polytechnica	PROPN
app01-3965	1	10	ctu	ctu	NOUN
app01-3965	1	11	proceedings	proceeding	NOUN
app01-3965	1	12	7:53–57	7:53–57	NUM
app01-3965	1	13	,	,	PUNCT
app01-3965	1	14	2017	2017	NUM
app01-3965	1	15	©	©	PROPN
app01-3965	1	16	czech	czech	PROPN
app01-3965	1	17	technical	technical	PROPN
app01-3965	1	18	university	university	PROPN
app01-3965	1	19	in	in	ADP
app01-3965	1	20	prague	prague	PROPN
app01-3965	1	21	,	,	PUNCT
app01-3965	1	22	2017	2017	NUM
app01-3965	1	23	available	available	ADJ
app01-3965	1	24	online	online	ADV
app01-3965	1	25	at	at	ADP
app01-3965	1	26	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3965	1	27	righting	righting	NOUN
app01-3965	1	28	of	of	ADP
app01-3965	1	29	chinese	chinese	ADJ
app01-3965	1	30	mitten	mitten	NOUN
app01-3965	1	31	crabs	crab	NOUN
app01-3965	1	32	(	(	PUNCT
app01-3965	1	33	eriocheir	eriocheir	NOUN
app01-3965	1	34	sinensis	sinensis	NOUN
app01-3965	1	35	)	)	PUNCT
app01-3965	1	36	and	and	CCONJ
app01-3965	1	37	their	their	PRON
app01-3965	1	38	models	model	NOUN
app01-3965	1	39	tobias	tobia	VERB
app01-3965	1	40	riphausa,∗	riphausa,∗	PROPN
app01-3965	1	41	,	,	PUNCT
app01-3965	1	42	florian	florian	ADJ
app01-3965	1	43	hoffmannb	hoffmannb	NOUN
app01-3965	1	44	,	,	PUNCT
app01-3965	1	45	susanna	susanna	PROPN
app01-3965	1	46	labischb	labischb	NOUN
app01-3965	1	47	a	a	DET
app01-3965	1	48	international	international	ADJ
app01-3965	1	49	degree	degree	NOUN
app01-3965	1	50	course	course	NOUN
app01-3965	1	51	in	in	ADP
app01-3965	1	52	biomimetics	biomimetic	NOUN
app01-3965	1	53	,	,	PUNCT
app01-3965	1	54	city	city	NOUN
app01-3965	1	55	university	university	PROPN
app01-3965	1	56	of	of	ADP
app01-3965	1	57	applied	apply	VERB
app01-3965	1	58	science	science	NOUN
app01-3965	1	59	bremen	breman	NOUN
app01-3965	1	60	,	,	PUNCT
app01-3965	1	61	germany	germany	PROPN
app01-3965	1	62	b	b	PROPN
app01-3965	1	63	biomimetics	biomimetics	PROPN
app01-3965	1	64	-	-	PUNCT
app01-3965	1	65	innovation	innovation	NOUN
app01-3965	1	66	-	-	PUNCT
app01-3965	1	67	centre	centre	NOUN
app01-3965	1	68	(	(	PUNCT
app01-3965	1	69	b	b	X
app01-3965	1	70	-	-	PUNCT
app01-3965	1	71	i	i	NOUN
app01-3965	1	72	-	-	PUNCT
app01-3965	1	73	c	c	NOUN
app01-3965	1	74	)	)	PUNCT
app01-3965	1	75	,	,	PUNCT
app01-3965	1	76	city	city	PROPN
app01-3965	1	77	university	university	PROPN
app01-3965	1	78	of	of	ADP
app01-3965	1	79	applied	apply	VERB
app01-3965	1	80	science	science	NOUN
app01-3965	1	81	bremen	breman	NOUN
app01-3965	1	82	,	,	PUNCT
app01-3965	1	83	germany	germany	PROPN
app01-3965	1	84	∗	∗	NOUN
app01-3965	1	85	corresponding	correspond	VERB
app01-3965	1	86	author	author	NOUN
app01-3965	1	87	:	:	PUNCT
app01-3965	1	88	t.	t.	NOUN
app01-3965	1	89	riphaus	riphaus	NOUN
app01-3965	1	90	via	via	ADP
app01-3965	1	91	slabisch@bionik.hs-bremen.de	slabisch@bionik.hs-bremen.de	NOUN
app01-3965	1	92	abstract	abstract	NOUN
app01-3965	1	93	.	.	PUNCT
app01-3965	2	1	the	the	DET
app01-3965	2	2	usage	usage	NOUN
app01-3965	2	3	of	of	ADP
app01-3965	2	4	unmanned	unmanned	ADJ
app01-3965	2	5	underwater	underwater	ADJ
app01-3965	2	6	vehicles	vehicle	NOUN
app01-3965	2	7	for	for	ADP
app01-3965	2	8	marine	marine	ADJ
app01-3965	2	9	tasks	task	NOUN
app01-3965	2	10	is	be	AUX
app01-3965	2	11	continuously	continuously	ADV
app01-3965	2	12	growing	grow	VERB
app01-3965	2	13	and	and	CCONJ
app01-3965	2	14	bioinspired	bioinspired	ADJ
app01-3965	2	15	stabilizing	stabilizing	NOUN
app01-3965	2	16	systems	system	NOUN
app01-3965	2	17	shall	shall	AUX
app01-3965	2	18	help	help	VERB
app01-3965	2	19	them	they	PRON
app01-3965	2	20	to	to	PART
app01-3965	2	21	gain	gain	VERB
app01-3965	2	22	and	and	CCONJ
app01-3965	2	23	keep	keep	VERB
app01-3965	2	24	a	a	DET
app01-3965	2	25	stable	stable	ADJ
app01-3965	2	26	position	position	NOUN
app01-3965	2	27	during	during	ADP
app01-3965	2	28	work	work	NOUN
app01-3965	2	29	.	.	PUNCT
app01-3965	3	1	therefore	therefore	ADV
app01-3965	3	2	the	the	DET
app01-3965	3	3	righting	right	VERB
app01-3965	3	4	maneuver	maneuver	NOUN
app01-3965	3	5	of	of	ADP
app01-3965	3	6	e.	e.	PROPN
app01-3965	3	7	sinensis	sinensis	NOUN
app01-3965	3	8	has	have	AUX
app01-3965	3	9	been	be	AUX
app01-3965	3	10	studied	study	VERB
app01-3965	3	11	.	.	PUNCT
app01-3965	4	1	these	these	DET
app01-3965	4	2	crabs	crab	NOUN
app01-3965	4	3	are	be	AUX
app01-3965	4	4	able	able	ADJ
app01-3965	4	5	to	to	PART
app01-3965	4	6	perform	perform	VERB
app01-3965	4	7	a	a	DET
app01-3965	4	8	180	180	NUM
app01-3965	4	9	◦	◦	NOUN
app01-3965	4	10	-rotation	-rotation	NOUN
app01-3965	4	11	with	with	ADP
app01-3965	4	12	an	an	DET
app01-3965	4	13	angular	angular	ADJ
app01-3965	4	14	velocity	velocity	NOUN
app01-3965	4	15	of	of	ADP
app01-3965	4	16	4.30	4.30	NUM
app01-3965	4	17	s−1	s−1	PROPN
app01-3965	4	18	when	when	SCONJ
app01-3965	4	19	falling	fall	VERB
app01-3965	4	20	underwater	underwater	NOUN
app01-3965	4	21	from	from	ADP
app01-3965	4	22	a	a	DET
app01-3965	4	23	supine	supine	NOUN
app01-3965	4	24	starting	start	VERB
app01-3965	4	25	position	position	NOUN
app01-3965	4	26	.	.	PUNCT
app01-3965	5	1	high	high	ADJ
app01-3965	5	2	-	-	PUNCT
app01-3965	5	3	speed	speed	NOUN
app01-3965	5	4	particle	particle	NOUN
app01-3965	5	5	image	image	NOUN
app01-3965	5	6	velocimetry	velocimetry	NOUN
app01-3965	5	7	has	have	AUX
app01-3965	5	8	shown	show	VERB
app01-3965	5	9	,	,	PUNCT
app01-3965	5	10	that	that	DET
app01-3965	5	11	propulsive	propulsive	ADJ
app01-3965	5	12	forces	force	NOUN
app01-3965	5	13	with	with	ADP
app01-3965	5	14	a	a	DET
app01-3965	5	15	peak	peak	NOUN
app01-3965	5	16	of	of	ADP
app01-3965	5	17	0.021	0.021	NUM
app01-3965	5	18	±	±	NUM
app01-3965	5	19	0.001	0.001	NUM
app01-3965	5	20	n	n	NUM
app01-3965	5	21	were	be	AUX
app01-3965	5	22	produced	produce	VERB
app01-3965	5	23	by	by	ADP
app01-3965	5	24	the	the	DET
app01-3965	5	25	hind	hind	NOUN
app01-3965	5	26	legs	leg	NOUN
app01-3965	5	27	to	to	PART
app01-3965	5	28	initiate	initiate	VERB
app01-3965	5	29	and	and	CCONJ
app01-3965	5	30	stop	stop	VERB
app01-3965	5	31	the	the	DET
app01-3965	5	32	rotation	rotation	NOUN
app01-3965	5	33	.	.	PUNCT
app01-3965	6	1	in	in	ADP
app01-3965	6	2	a	a	DET
app01-3965	6	3	numerical	numerical	ADJ
app01-3965	6	4	multibody	multibody	ADJ
app01-3965	6	5	simulation	simulation	NOUN
app01-3965	6	6	a	a	DET
app01-3965	6	7	constant	constant	ADJ
app01-3965	6	8	force	force	NOUN
app01-3965	6	9	of	of	ADP
app01-3965	6	10	0.009	0.009	NUM
app01-3965	6	11	n	n	NOUN
app01-3965	6	12	acting	act	VERB
app01-3965	6	13	for	for	ADP
app01-3965	6	14	0.2	0.2	NUM
app01-3965	6	15	s	s	NOUN
app01-3965	6	16	leads	lead	NOUN
app01-3965	6	17	to	to	ADP
app01-3965	6	18	the	the	DET
app01-3965	6	19	same	same	ADJ
app01-3965	6	20	rotation	rotation	NOUN
app01-3965	6	21	.	.	PUNCT
app01-3965	7	1	in	in	ADP
app01-3965	7	2	order	order	NOUN
app01-3965	7	3	to	to	PART
app01-3965	7	4	prove	prove	VERB
app01-3965	7	5	this	this	DET
app01-3965	7	6	mechanism	mechanism	NOUN
app01-3965	7	7	,	,	PUNCT
app01-3965	7	8	it	it	PRON
app01-3965	7	9	was	be	AUX
app01-3965	7	10	implemented	implement	VERB
app01-3965	7	11	into	into	ADP
app01-3965	7	12	a	a	DET
app01-3965	7	13	robotic	robotic	ADJ
app01-3965	7	14	system	system	NOUN
app01-3965	7	15	.	.	PUNCT
app01-3965	8	1	its	its	PRON
app01-3965	8	2	mean	mean	ADJ
app01-3965	8	3	density	density	NOUN
app01-3965	8	4	of	of	ADP
app01-3965	8	5	1.15	1.15	NUM
app01-3965	8	6	g	g	NOUN
app01-3965	8	7	/	/	SYM
app01-3965	8	8	cm3	cm3	NOUN
app01-3965	8	9	deviates	deviate	VERB
app01-3965	8	10	not	not	PART
app01-3965	8	11	more	more	ADJ
app01-3965	8	12	than	than	ADP
app01-3965	8	13	4	4	NUM
app01-3965	8	14	%	%	NOUN
app01-3965	8	15	from	from	ADP
app01-3965	8	16	the	the	DET
app01-3965	8	17	biological	biological	ADJ
app01-3965	8	18	and	and	CCONJ
app01-3965	8	19	numerical	numerical	ADJ
app01-3965	8	20	models	model	NOUN
app01-3965	8	21	.	.	PUNCT
app01-3965	9	1	it	it	PRON
app01-3965	9	2	can	can	AUX
app01-3965	9	3	complete	complete	VERB
app01-3965	9	4	a	a	DET
app01-3965	9	5	180	180	NUM
app01-3965	9	6	◦	◦	NOUN
app01-3965	9	7	-turn	-turn	NOUN
app01-3965	9	8	within	within	ADP
app01-3965	9	9	1.03	1.03	NUM
app01-3965	9	10	±	±	NUM
app01-3965	9	11	0.12	0.12	NUM
app01-3965	9	12	s	s	NOUN
app01-3965	9	13	with	with	ADP
app01-3965	9	14	a	a	DET
app01-3965	9	15	rotational	rotational	ADJ
app01-3965	9	16	velocity	velocity	NOUN
app01-3965	9	17	of	of	ADP
app01-3965	9	18	up	up	ADP
app01-3965	9	19	to	to	PART
app01-3965	9	20	4.25	4.25	NUM
app01-3965	9	21	s−1	s−1	PROPN
app01-3965	9	22	.	.	PUNCT
app01-3965	10	1	keywords	keyword	NOUN
app01-3965	10	2	:	:	PUNCT
app01-3965	10	3	biomimetics	biomimetic	NOUN
app01-3965	10	4	,	,	PUNCT
app01-3965	10	5	righting	right	VERB
app01-3965	10	6	maneuver	maneuver	NOUN
app01-3965	10	7	,	,	PUNCT
app01-3965	10	8	robot	robot	NOUN
app01-3965	10	9	stabilization	stabilization	NOUN
app01-3965	10	10	.	.	PUNCT
app01-3965	11	1	1	1	X
app01-3965	11	2	.	.	X
app01-3965	11	3	introduction	introduction	NOUN
app01-3965	11	4	since	since	SCONJ
app01-3965	11	5	the	the	DET
app01-3965	11	6	first	first	ADJ
app01-3965	11	7	success	success	NOUN
app01-3965	11	8	of	of	ADP
app01-3965	11	9	unmanned	unmanned	ADJ
app01-3965	11	10	underwater	underwater	ADJ
app01-3965	11	11	vehicles	vehicle	NOUN
app01-3965	11	12	(	(	PUNCT
app01-3965	11	13	uuvs	uuvs	NOUN
app01-3965	11	14	)	)	PUNCT
app01-3965	11	15	their	their	PRON
app01-3965	11	16	field	field	NOUN
app01-3965	11	17	of	of	ADP
app01-3965	11	18	operation	operation	NOUN
app01-3965	11	19	is	be	AUX
app01-3965	11	20	constantly	constantly	ADV
app01-3965	11	21	spreading	spread	VERB
app01-3965	11	22	.	.	PUNCT
app01-3965	12	1	in	in	ADP
app01-3965	12	2	spite	spite	NOUN
app01-3965	12	3	of	of	ADP
app01-3965	12	4	all	all	DET
app01-3965	12	5	the	the	DET
app01-3965	12	6	technology	technology	NOUN
app01-3965	12	7	,	,	PUNCT
app01-3965	12	8	the	the	DET
app01-3965	12	9	optimization	optimization	NOUN
app01-3965	12	10	of	of	ADP
app01-3965	12	11	their	their	PRON
app01-3965	12	12	stabilizing	stabilize	VERB
app01-3965	12	13	behavior	behavior	NOUN
app01-3965	12	14	is	be	AUX
app01-3965	12	15	still	still	ADV
app01-3965	12	16	a	a	DET
app01-3965	12	17	crucial	crucial	ADJ
app01-3965	12	18	topic	topic	NOUN
app01-3965	12	19	in	in	ADP
app01-3965	12	20	contemporary	contemporary	ADJ
app01-3965	12	21	research	research	NOUN
app01-3965	12	22	.	.	PUNCT
app01-3965	13	1	the	the	DET
app01-3965	13	2	reason	reason	NOUN
app01-3965	13	3	why	why	SCONJ
app01-3965	13	4	even	even	ADV
app01-3965	13	5	modern	modern	ADJ
app01-3965	13	6	uuvs	uuvs	NOUN
app01-3965	13	7	are	be	AUX
app01-3965	13	8	facing	face	VERB
app01-3965	13	9	problems	problem	NOUN
app01-3965	13	10	in	in	ADP
app01-3965	13	11	holding	hold	VERB
app01-3965	13	12	stable	stable	ADJ
app01-3965	13	13	positions	position	NOUN
app01-3965	13	14	,	,	PUNCT
app01-3965	13	15	to	to	PART
app01-3965	13	16	carry	carry	VERB
app01-3965	13	17	out	out	ADP
app01-3965	13	18	their	their	PRON
app01-3965	13	19	tasks	task	NOUN
app01-3965	13	20	or	or	CCONJ
app01-3965	13	21	turn	turn	VERB
app01-3965	13	22	around	around	ADP
app01-3965	13	23	quickly	quickly	ADV
app01-3965	13	24	once	once	SCONJ
app01-3965	13	25	they	they	PRON
app01-3965	13	26	have	have	AUX
app01-3965	13	27	lost	lose	VERB
app01-3965	13	28	their	their	PRON
app01-3965	13	29	preferred	preferred	ADJ
app01-3965	13	30	position	position	NOUN
app01-3965	13	31	,	,	PUNCT
app01-3965	13	32	is	be	AUX
app01-3965	13	33	the	the	DET
app01-3965	13	34	kind	kind	NOUN
app01-3965	13	35	of	of	ADP
app01-3965	13	36	drive	drive	NOUN
app01-3965	13	37	that	that	PRON
app01-3965	13	38	is	be	AUX
app01-3965	13	39	mainly	mainly	ADV
app01-3965	13	40	used	use	VERB
app01-3965	13	41	.	.	PUNCT
app01-3965	14	1	propeller	propeller	NOUN
app01-3965	14	2	and	and	CCONJ
app01-3965	14	3	pump	pump	NOUN
app01-3965	14	4	-	-	PUNCT
app01-3965	14	5	jets	jet	NOUN
app01-3965	14	6	are	be	AUX
app01-3965	14	7	advantageous	advantageous	ADJ
app01-3965	14	8	for	for	ADP
app01-3965	14	9	high	high	ADJ
app01-3965	14	10	-	-	PUNCT
app01-3965	14	11	speed	speed	NOUN
app01-3965	14	12	locomotion	locomotion	NOUN
app01-3965	14	13	,	,	PUNCT
app01-3965	14	14	but	but	CCONJ
app01-3965	14	15	too	too	ADV
app01-3965	14	16	expensive	expensive	ADJ
app01-3965	14	17	for	for	ADP
app01-3965	14	18	the	the	DET
app01-3965	14	19	use	use	NOUN
app01-3965	14	20	in	in	ADP
app01-3965	14	21	a	a	DET
app01-3965	14	22	seldom	seldom	ADV
app01-3965	14	23	occurring	occur	VERB
app01-3965	14	24	event	event	NOUN
app01-3965	14	25	.	.	PUNCT
app01-3965	15	1	to	to	PART
app01-3965	15	2	gain	gain	VERB
app01-3965	15	3	new	new	ADJ
app01-3965	15	4	ideas	idea	NOUN
app01-3965	15	5	for	for	ADP
app01-3965	15	6	solving	solve	VERB
app01-3965	15	7	such	such	ADJ
app01-3965	15	8	problems	problem	NOUN
app01-3965	15	9	more	more	ADV
app01-3965	15	10	and	and	CCONJ
app01-3965	15	11	more	more	ADJ
app01-3965	15	12	research	research	NOUN
app01-3965	15	13	groups	group	NOUN
app01-3965	15	14	are	be	AUX
app01-3965	15	15	investigating	investigate	VERB
app01-3965	15	16	biological	biological	ADJ
app01-3965	15	17	models	model	NOUN
app01-3965	15	18	.	.	PUNCT
app01-3965	16	1	first	first	ADJ
app01-3965	16	2	successful	successful	ADJ
app01-3965	16	3	terrestrial	terrestrial	ADJ
app01-3965	16	4	applications	application	NOUN
app01-3965	16	5	are	be	AUX
app01-3965	16	6	the	the	DET
app01-3965	16	7	amphibious	amphibious	ADJ
app01-3965	16	8	robot	robot	NOUN
app01-3965	16	9	robocrab	robocrab	NOUN
app01-3965	16	10	by	by	ADP
app01-3965	16	11	krummel	krummel	PROPN
app01-3965	16	12	et	et	PROPN
app01-3965	16	13	al	al	PROPN
app01-3965	16	14	.	.	PROPN
app01-3965	16	15	,	,	PUNCT
app01-3965	16	16	which	which	PRON
app01-3965	16	17	adapts	adapt	VERB
app01-3965	16	18	the	the	DET
app01-3965	16	19	skills	skill	NOUN
app01-3965	16	20	of	of	ADP
app01-3965	16	21	horseshoe	horseshoe	ADJ
app01-3965	16	22	crabs	crab	NOUN
app01-3965	16	23	within	within	ADP
app01-3965	16	24	the	the	DET
app01-3965	16	25	surf	surf	NOUN
app01-3965	16	26	zone	zone	NOUN
app01-3965	16	27	,	,	PUNCT
app01-3965	16	28	or	or	CCONJ
app01-3965	16	29	the	the	DET
app01-3965	16	30	four	four	NUM
app01-3965	16	31	-	-	PUNCT
app01-3965	16	32	wheeled	wheel	VERB
app01-3965	16	33	autonomous	autonomous	ADJ
app01-3965	16	34	robot	robot	NOUN
app01-3965	16	35	by	by	ADP
app01-3965	16	36	changsiu	changsiu	PROPN
app01-3965	16	37	et	et	PROPN
app01-3965	16	38	al	al	PROPN
app01-3965	16	39	.	.	PROPN
app01-3965	16	40	,	,	PUNCT
app01-3965	16	41	which	which	PRON
app01-3965	16	42	is	be	AUX
app01-3965	16	43	capable	capable	ADJ
app01-3965	16	44	of	of	ADP
app01-3965	16	45	mid	mid	ADJ
app01-3965	16	46	-	-	NOUN
app01-3965	16	47	air	air	NOUN
app01-3965	16	48	reorienting	reorienting	NOUN
app01-3965	16	49	during	during	ADP
app01-3965	16	50	free	free	ADJ
app01-3965	16	51	fall	fall	NOUN
app01-3965	16	52	modeled	model	VERB
app01-3965	16	53	on	on	ADP
app01-3965	16	54	geckoes	gecko	NOUN
app01-3965	16	55	(	(	PUNCT
app01-3965	16	56	hemidactylus	hemidactylus	ADJ
app01-3965	16	57	platyurus	platyurus	NOUN
app01-3965	16	58	)	)	PUNCT
app01-3965	17	1	[	[	X
app01-3965	17	2	1][2	1][2	NUM
app01-3965	17	3	]	]	PUNCT
app01-3965	17	4	.	.	PUNCT
app01-3965	18	1	but	but	CCONJ
app01-3965	18	2	the	the	DET
app01-3965	18	3	usage	usage	NOUN
app01-3965	18	4	of	of	ADP
app01-3965	18	5	biological	biological	ADJ
app01-3965	18	6	models	model	NOUN
app01-3965	18	7	for	for	ADP
app01-3965	18	8	improving	improve	VERB
app01-3965	18	9	aquatic	aquatic	ADJ
app01-3965	18	10	robots	robot	NOUN
app01-3965	18	11	is	be	AUX
app01-3965	18	12	poorly	poorly	ADV
app01-3965	18	13	documented	document	VERB
app01-3965	18	14	.	.	PUNCT
app01-3965	19	1	thus	thus	ADV
app01-3965	19	2	,	,	PUNCT
app01-3965	19	3	the	the	DET
app01-3965	19	4	research	research	NOUN
app01-3965	19	5	group	group	NOUN
app01-3965	19	6	dfu	dfu	NOUN
app01-3965	19	7	of	of	ADP
app01-3965	19	8	the	the	DET
app01-3965	19	9	department	department	PROPN
app01-3965	19	10	of	of	ADP
app01-3965	19	11	biomimetics	biomimetic	NOUN
app01-3965	19	12	in	in	ADP
app01-3965	19	13	bremen	breman	NOUN
app01-3965	19	14	started	start	VERB
app01-3965	19	15	investigations	investigation	NOUN
app01-3965	19	16	on	on	ADP
app01-3965	19	17	different	different	ADJ
app01-3965	19	18	benthic	benthic	ADJ
app01-3965	19	19	marine	marine	ADJ
app01-3965	19	20	animals	animal	NOUN
app01-3965	19	21	.	.	PUNCT
app01-3965	20	1	the	the	DET
app01-3965	20	2	aim	aim	NOUN
app01-3965	20	3	was	be	AUX
app01-3965	20	4	to	to	PART
app01-3965	20	5	search	search	VERB
app01-3965	20	6	for	for	ADP
app01-3965	20	7	a	a	DET
app01-3965	20	8	strategy	strategy	NOUN
app01-3965	20	9	that	that	PRON
app01-3965	20	10	allows	allow	VERB
app01-3965	20	11	a	a	DET
app01-3965	20	12	quick	quick	ADJ
app01-3965	20	13	turning	turning	NOUN
app01-3965	20	14	or	or	CCONJ
app01-3965	20	15	efficient	efficient	ADJ
app01-3965	20	16	reorientation	reorientation	NOUN
app01-3965	20	17	manoeuvre	manoeuvre	NOUN
app01-3965	20	18	which	which	PRON
app01-3965	20	19	uses	use	VERB
app01-3965	20	20	neither	neither	CCONJ
app01-3965	20	21	a	a	DET
app01-3965	20	22	propeller	propeller	NOUN
app01-3965	20	23	nor	nor	CCONJ
app01-3965	20	24	is	be	AUX
app01-3965	20	25	driven	drive	VERB
app01-3965	20	26	by	by	ADP
app01-3965	20	27	a	a	DET
app01-3965	20	28	permanent	permanent	ADJ
app01-3965	20	29	rotation	rotation	NOUN
app01-3965	20	30	.	.	PUNCT
app01-3965	21	1	especially	especially	ADV
app01-3965	21	2	promising	promising	ADJ
app01-3965	21	3	seemed	seem	VERB
app01-3965	21	4	the	the	DET
app01-3965	21	5	crustacean	crustacean	ADJ
app01-3965	21	6	order	order	NOUN
app01-3965	21	7	decapoda	decapoda	NOUN
app01-3965	21	8	.	.	PUNCT
app01-3965	22	1	therefore	therefore	ADV
app01-3965	22	2	the	the	DET
app01-3965	22	3	species	species	NOUN
app01-3965	22	4	eriocheir	eriocheir	NOUN
app01-3965	22	5	sinensis	sinensis	NOUN
app01-3965	22	6	has	have	AUX
app01-3965	22	7	been	be	AUX
app01-3965	22	8	studied	study	VERB
app01-3965	22	9	in	in	ADP
app01-3965	22	10	terms	term	NOUN
app01-3965	22	11	of	of	ADP
app01-3965	22	12	their	their	PRON
app01-3965	22	13	mid	mid	ADJ
app01-3965	22	14	-	-	ADJ
app01-3965	22	15	water	water	ADJ
app01-3965	22	16	righting	right	VERB
app01-3965	22	17	behavior	behavior	NOUN
app01-3965	23	1	[	[	X
app01-3965	23	2	3][4	3][4	X
app01-3965	23	3	]	]	X
app01-3965	23	4	.	.	PUNCT
app01-3965	24	1	besides	besides	SCONJ
app01-3965	24	2	the	the	DET
app01-3965	24	3	morphological	morphological	ADJ
app01-3965	24	4	biomechanical	biomechanical	ADJ
app01-3965	24	5	analysis	analysis	NOUN
app01-3965	24	6	,	,	PUNCT
app01-3965	24	7	also	also	ADV
app01-3965	24	8	the	the	DET
app01-3965	24	9	necessary	necessary	ADJ
app01-3965	24	10	figure	figure	NOUN
app01-3965	24	11	1	1	NUM
app01-3965	24	12	.	.	PUNCT
app01-3965	24	13	individual	individual	NOUN
app01-3965	24	14	of	of	ADP
app01-3965	24	15	e.	e.	PROPN
app01-3965	24	16	sinensis	sinensis	NOUN
app01-3965	24	17	(	(	PUNCT
app01-3965	24	18	a	a	X
app01-3965	24	19	,	,	PUNCT
app01-3965	24	20	[	[	X
app01-3965	24	21	3	3	NUM
app01-3965	24	22	]	]	X
app01-3965	24	23	modified	modify	VERB
app01-3965	24	24	)	)	PUNCT
app01-3965	24	25	,	,	PUNCT
app01-3965	24	26	its	its	PRON
app01-3965	24	27	numerical	numerical	ADJ
app01-3965	24	28	model	model	NOUN
app01-3965	24	29	(	(	PUNCT
app01-3965	24	30	b	b	NOUN
app01-3965	24	31	)	)	PUNCT
app01-3965	25	1	[	[	X
app01-3965	25	2	4	4	X
app01-3965	25	3	]	]	PUNCT
app01-3965	25	4	and	and	CCONJ
app01-3965	25	5	the	the	DET
app01-3965	25	6	adapted	adapt	VERB
app01-3965	25	7	robot	robot	NOUN
app01-3965	25	8	o	o	NOUN
app01-3965	25	9	-	-	NOUN
app01-3965	25	10	typus	typus	ADJ
app01-3965	25	11	(	(	PUNCT
app01-3965	25	12	c	c	NOUN
app01-3965	25	13	)	)	PUNCT
app01-3965	25	14	with	with	ADP
app01-3965	25	15	an	an	DET
app01-3965	25	16	insight	insight	NOUN
app01-3965	25	17	into	into	ADP
app01-3965	25	18	its	its	PRON
app01-3965	25	19	electronic	electronic	ADJ
app01-3965	25	20	devices	device	NOUN
app01-3965	25	21	(	(	PUNCT
app01-3965	25	22	d	d	NOUN
app01-3965	25	23	)	)	PUNCT
app01-3965	26	1	[	[	X
app01-3965	26	2	5	5	NUM
app01-3965	26	3	]	]	PUNCT
app01-3965	26	4	.	.	PUNCT
app01-3965	27	1	hydrodynamic	hydrodynamic	ADJ
app01-3965	27	2	forces	force	NOUN
app01-3965	27	3	have	have	VERB
app01-3965	27	4	to	to	PART
app01-3965	27	5	be	be	AUX
app01-3965	27	6	determined	determine	VERB
app01-3965	27	7	to	to	PART
app01-3965	27	8	show	show	VERB
app01-3965	27	9	,	,	PUNCT
app01-3965	27	10	that	that	SCONJ
app01-3965	27	11	such	such	DET
app01-3965	27	12	a	a	DET
app01-3965	27	13	strategy	strategy	NOUN
app01-3965	27	14	is	be	AUX
app01-3965	27	15	transferable	transferable	ADJ
app01-3965	27	16	to	to	ADP
app01-3965	27	17	a	a	DET
app01-3965	27	18	technical	technical	ADJ
app01-3965	27	19	application	application	NOUN
app01-3965	27	20	.	.	PUNCT
app01-3965	28	1	2	2	X
app01-3965	28	2	.	.	X
app01-3965	28	3	material	material	NOUN
app01-3965	28	4	and	and	CCONJ
app01-3965	28	5	methods	method	NOUN
app01-3965	28	6	2.1	2.1	NUM
app01-3965	28	7	.	.	PUNCT
app01-3965	29	1	eriocheir	eriocheir	NOUN
app01-3965	29	2	sinensis	sinensis	NOUN
app01-3965	29	3	biological	biological	ADJ
app01-3965	29	4	model	model	NOUN
app01-3965	29	5	in	in	ADP
app01-3965	29	6	total	total	ADJ
app01-3965	29	7	52	52	NUM
app01-3965	29	8	rotations	rotation	NOUN
app01-3965	29	9	of	of	ADP
app01-3965	29	10	10	10	NUM
app01-3965	29	11	individuals	individual	NOUN
app01-3965	29	12	of	of	ADP
app01-3965	29	13	e.	e.	PROPN
app01-3965	29	14	sinensis	sinensis	NOUN
app01-3965	29	15	were	be	AUX
app01-3965	29	16	analysed	analyse	VERB
app01-3965	29	17	.	.	PUNCT
app01-3965	30	1	the	the	DET
app01-3965	30	2	rotations	rotation	NOUN
app01-3965	30	3	are	be	AUX
app01-3965	30	4	differentiated	differentiate	VERB
app01-3965	30	5	in	in	ADP
app01-3965	30	6	the	the	DET
app01-3965	30	7	kinematic	kinematic	ADJ
app01-3965	30	8	approach	approach	NOUN
app01-3965	30	9	with	with	ADP
app01-3965	30	10	39	39	NUM
app01-3965	30	11	analysed	analyse	VERB
app01-3965	30	12	rotations	rotation	NOUN
app01-3965	30	13	(	(	PUNCT
app01-3965	30	14	28/11	28/11	NUM
app01-3965	30	15	,	,	PUNCT
app01-3965	30	16	initialising	initialising	NOUN
app01-3965	30	17	/	/	SYM
app01-3965	30	18	stopping	stop	VERB
app01-3965	30	19	rotation	rotation	NOUN
app01-3965	30	20	)	)	PUNCT
app01-3965	30	21	and	and	CCONJ
app01-3965	30	22	for	for	ADP
app01-3965	30	23	the	the	DET
app01-3965	30	24	piv	piv	NOUN
app01-3965	30	25	(	(	PUNCT
app01-3965	30	26	particle	particle	NOUN
app01-3965	30	27	image	image	NOUN
app01-3965	30	28	velocimetry	velocimetry	NOUN
app01-3965	30	29	)	)	PUNCT
app01-3965	30	30	analysis	analysis	NOUN
app01-3965	30	31	with	with	ADP
app01-3965	30	32	13	13	NUM
app01-3965	30	33	analysed	analyse	VERB
app01-3965	30	34	rotations	rotation	NOUN
app01-3965	30	35	(	(	PUNCT
app01-3965	30	36	9/4	9/4	NUM
app01-3965	30	37	,	,	PUNCT
app01-3965	30	38	initialising	initialising	NOUN
app01-3965	30	39	/	/	SYM
app01-3965	30	40	stopping	stop	VERB
app01-3965	30	41	rotation	rotation	NOUN
app01-3965	30	42	)	)	PUNCT
app01-3965	30	43	.	.	PUNCT
app01-3965	31	1	53	53	NUM
app01-3965	31	2	http://dx.doi.org/10.14311/app.2017.7.0053	http://dx.doi.org/10.14311/app.2017.7.0053	VERB
app01-3965	31	3	http://ojs.cvut.cz/ojs/index.php/app	http://ojs.cvut.cz/ojs/index.php/app	NOUN
app01-3965	31	4	t.	t.	PROPN
app01-3965	31	5	riphaus	riphaus	PROPN
app01-3965	31	6	,	,	PUNCT
app01-3965	31	7	f.	f.	PROPN
app01-3965	31	8	hoffmann	hoffmann	PROPN
app01-3965	31	9	,	,	PUNCT
app01-3965	31	10	s.	s.	PROPN
app01-3965	31	11	labisch	labisch	PROPN
app01-3965	31	12	acta	acta	PROPN
app01-3965	31	13	polytechnica	polytechnica	PROPN
app01-3965	31	14	ctu	ctu	NOUN
app01-3965	31	15	proceedings	proceeding	NOUN
app01-3965	31	16	2.1.1	2.1.1	NUM
app01-3965	31	17	.	.	PUNCT
app01-3965	32	1	kinematic	kinematic	ADJ
app01-3965	32	2	analysis	analysis	NOUN
app01-3965	32	3	to	to	PART
app01-3965	32	4	observe	observe	VERB
app01-3965	32	5	the	the	DET
app01-3965	32	6	natural	natural	ADJ
app01-3965	32	7	righting	right	VERB
app01-3965	32	8	behavior	behavior	NOUN
app01-3965	32	9	of	of	ADP
app01-3965	32	10	e.	e.	PROPN
app01-3965	32	11	sinensis	sinensis	NOUN
app01-3965	32	12	(	(	PUNCT
app01-3965	32	13	figure	figure	NOUN
app01-3965	32	14	1a	1a	NOUN
app01-3965	32	15	)	)	PUNCT
app01-3965	32	16	,	,	PUNCT
app01-3965	32	17	the	the	DET
app01-3965	32	18	crabs	crab	NOUN
app01-3965	32	19	were	be	AUX
app01-3965	32	20	held	hold	VERB
app01-3965	32	21	in	in	ADP
app01-3965	32	22	a	a	DET
app01-3965	32	23	supine	supine	NOUN
app01-3965	32	24	starting	start	VERB
app01-3965	32	25	position	position	NOUN
app01-3965	32	26	at	at	ADP
app01-3965	32	27	the	the	DET
app01-3965	32	28	height	height	NOUN
app01-3965	32	29	of	of	ADP
app01-3965	32	30	0.60	0.60	NUM
app01-3965	32	31	m	m	NOUN
app01-3965	32	32	within	within	ADP
app01-3965	32	33	a	a	DET
app01-3965	32	34	freshwater	freshwater	NOUN
app01-3965	32	35	tank	tank	NOUN
app01-3965	32	36	with	with	ADP
app01-3965	32	37	a	a	DET
app01-3965	32	38	ground	ground	NOUN
app01-3965	32	39	area	area	NOUN
app01-3965	32	40	of	of	ADP
app01-3965	32	41	0.6	0.6	NUM
app01-3965	32	42	×	×	NOUN
app01-3965	32	43	0.6	0.6	NUM
app01-3965	32	44	m	m	NOUN
app01-3965	32	45	and	and	CCONJ
app01-3965	32	46	a	a	DET
app01-3965	32	47	high	high	NOUN
app01-3965	32	48	of	of	ADP
app01-3965	32	49	0.8	0.8	NUM
app01-3965	32	50	m	m	NOUN
app01-3965	32	51	and	and	CCONJ
app01-3965	32	52	released	release	VERB
app01-3965	32	53	by	by	ADP
app01-3965	32	54	starting	start	VERB
app01-3965	32	55	device	device	NOUN
app01-3965	32	56	.	.	PUNCT
app01-3965	33	1	the	the	DET
app01-3965	33	2	body	body	NOUN
app01-3965	33	3	movement	movement	NOUN
app01-3965	33	4	was	be	AUX
app01-3965	33	5	high	high	ADJ
app01-3965	33	6	speed	speed	NOUN
app01-3965	33	7	recorded	record	VERB
app01-3965	33	8	(	(	PUNCT
app01-3965	33	9	250	250	NUM
app01-3965	33	10	fps	fps	PROPN
app01-3965	33	11	)	)	PUNCT
app01-3965	33	12	to	to	PART
app01-3965	33	13	be	be	AUX
app01-3965	33	14	able	able	ADJ
app01-3965	33	15	to	to	PART
app01-3965	33	16	manually	manually	ADV
app01-3965	33	17	track	track	VERB
app01-3965	33	18	two	two	NUM
app01-3965	33	19	points	point	NOUN
app01-3965	33	20	on	on	ADP
app01-3965	33	21	the	the	DET
app01-3965	33	22	body	body	NOUN
app01-3965	33	23	and	and	CCONJ
app01-3965	33	24	the	the	DET
app01-3965	33	25	tip	tip	NOUN
app01-3965	33	26	of	of	ADP
app01-3965	33	27	the	the	DET
app01-3965	33	28	5th	5th	ADJ
app01-3965	33	29	leg	leg	NOUN
app01-3965	33	30	.	.	PUNCT
app01-3965	34	1	furthermore	furthermore	ADV
app01-3965	34	2	falling	fall	VERB
app01-3965	34	3	speed	speed	NOUN
app01-3965	34	4	,	,	PUNCT
app01-3965	34	5	body	body	NOUN
app01-3965	34	6	angle	angle	NOUN
app01-3965	34	7	and	and	CCONJ
app01-3965	34	8	leg	leg	NOUN
app01-3965	34	9	trajectories	trajectory	NOUN
app01-3965	34	10	were	be	AUX
app01-3965	34	11	plotted	plot	VERB
app01-3965	34	12	and	and	CCONJ
app01-3965	34	13	the	the	DET
app01-3965	34	14	speed	speed	NOUN
app01-3965	34	15	of	of	ADP
app01-3965	34	16	the	the	DET
app01-3965	34	17	leg	leg	NOUN
app01-3965	34	18	tip	tip	NOUN
app01-3965	34	19	calculated	calculate	VERB
app01-3965	34	20	.	.	PUNCT
app01-3965	35	1	the	the	DET
app01-3965	35	2	leg	leg	NOUN
app01-3965	35	3	induced	induce	VERB
app01-3965	35	4	force	force	NOUN
app01-3965	35	5	(	(	PUNCT
app01-3965	35	6	fd	fd	PROPN
app01-3965	35	7	)	)	PUNCT
app01-3965	35	8	during	during	ADP
app01-3965	35	9	the	the	DET
app01-3965	35	10	strike	strike	NOUN
app01-3965	35	11	was	be	AUX
app01-3965	35	12	calculated	calculate	VERB
app01-3965	35	13	by	by	ADP
app01-3965	35	14	fd	fd	PROPN
app01-3965	35	15	=	=	SYM
app01-3965	35	16	1	1	NUM
app01-3965	35	17	2	2	NUM
app01-3965	35	18	ρ	ρ	NUM
app01-3965	35	19	v2	v2	NOUN
app01-3965	35	20	c	c	PROPN
app01-3965	35	21	cd	cd	PROPN
app01-3965	35	22	a	a	DET
app01-3965	35	23	(	(	PUNCT
app01-3965	35	24	1	1	NUM
app01-3965	35	25	)	)	PUNCT
app01-3965	35	26	where	where	SCONJ
app01-3965	35	27	ρ	ρ	NOUN
app01-3965	35	28	=	=	SYM
app01-3965	35	29	water	water	NOUN
app01-3965	35	30	density	density	NOUN
app01-3965	35	31	,	,	PUNCT
app01-3965	35	32	vc	vc	NOUN
app01-3965	35	33	=	=	PUNCT
app01-3965	35	34	leg	leg	NOUN
app01-3965	35	35	centroid	centroid	NOUN
app01-3965	35	36	velocity	velocity	NOUN
app01-3965	35	37	,	,	PUNCT
app01-3965	35	38	a	a	DET
app01-3965	35	39	=	=	NOUN
app01-3965	35	40	area	area	NOUN
app01-3965	35	41	of	of	ADP
app01-3965	35	42	5th	5th	ADJ
app01-3965	35	43	legs	leg	NOUN
app01-3965	35	44	and	and	CCONJ
app01-3965	35	45	cd	cd	PROPN
app01-3965	35	46	=	=	PUNCT
app01-3965	35	47	drag	drag	PROPN
app01-3965	35	48	coefficient	coefficient	NOUN
app01-3965	35	49	from	from	ADP
app01-3965	35	50	static	static	ADJ
app01-3965	35	51	force	force	NOUN
app01-3965	35	52	balance	balance	NOUN
app01-3965	35	53	measurements	measurement	NOUN
app01-3965	35	54	.	.	PUNCT
app01-3965	36	1	centroid	centroid	PROPN
app01-3965	36	2	velocity	velocity	NOUN
app01-3965	36	3	was	be	AUX
app01-3965	36	4	calculated	calculate	VERB
app01-3965	36	5	by	by	ADP
app01-3965	36	6	:	:	PUNCT
app01-3965	36	7	vc	vc	PROPN
app01-3965	36	8	=	=	SYM
app01-3965	36	9	vt	vt	PROPN
app01-3965	36	10	lbc	lbc	PROPN
app01-3965	36	11	lbt	lbt	PROPN
app01-3965	36	12	(	(	PUNCT
app01-3965	36	13	2	2	NUM
app01-3965	36	14	)	)	PUNCT
app01-3965	36	15	where	where	SCONJ
app01-3965	36	16	vc	vc	NOUN
app01-3965	36	17	=	=	PUNCT
app01-3965	36	18	velocity	velocity	NOUN
app01-3965	36	19	of	of	ADP
app01-3965	36	20	centroid	centroid	NOUN
app01-3965	36	21	,	,	PUNCT
app01-3965	36	22	vt	vt	NOUN
app01-3965	36	23	=	=	NOUN
app01-3965	36	24	velocity	velocity	NOUN
app01-3965	36	25	of	of	ADP
app01-3965	36	26	leg	leg	NOUN
app01-3965	36	27	tip	tip	NOUN
app01-3965	36	28	,	,	PUNCT
app01-3965	36	29	lbc	lbc	PROPN
app01-3965	36	30	=	=	SYM
app01-3965	36	31	length	length	NOUN
app01-3965	36	32	leg	leg	NOUN
app01-3965	36	33	base	base	NOUN
app01-3965	36	34	to	to	ADP
app01-3965	36	35	leg	leg	NOUN
app01-3965	36	36	centroid	centroid	NOUN
app01-3965	36	37	and	and	CCONJ
app01-3965	36	38	lbt	lbt	PROPN
app01-3965	36	39	=	=	PROPN
app01-3965	36	40	length	length	PROPN
app01-3965	36	41	leg	leg	NOUN
app01-3965	36	42	base	base	NOUN
app01-3965	36	43	to	to	ADP
app01-3965	36	44	leg	leg	NOUN
app01-3965	36	45	tip	tip	NOUN
app01-3965	36	46	.	.	PUNCT
app01-3965	37	1	lbt	lbt	PROPN
app01-3965	37	2	and	and	CCONJ
app01-3965	37	3	lbc	lbc	PROPN
app01-3965	37	4	were	be	AUX
app01-3965	37	5	experimental	experimental	ADV
app01-3965	37	6	determined	determined	ADJ
app01-3965	37	7	on	on	ADP
app01-3965	37	8	15	15	NUM
app01-3965	37	9	legs	leg	NOUN
app01-3965	37	10	of	of	ADP
app01-3965	37	11	10	10	NUM
app01-3965	37	12	dead	dead	ADJ
app01-3965	37	13	e.	e.	PROPN
app01-3965	37	14	sinensis	sinensis	NOUN
app01-3965	37	15	.	.	PUNCT
app01-3965	38	1	centroid	centroid	PROPN
app01-3965	38	2	x	x	X
app01-3965	38	3	/	/	SYM
app01-3965	38	4	y	y	PROPN
app01-3965	38	5	coordinates	coordinate	NOUN
app01-3965	38	6	were	be	AUX
app01-3965	38	7	calculated	calculate	VERB
app01-3965	38	8	with	with	ADP
app01-3965	38	9	an	an	DET
app01-3965	38	10	integrated	integrate	VERB
app01-3965	38	11	function	function	NOUN
app01-3965	38	12	of	of	ADP
app01-3965	38	13	imagej	imagej	ADV
app01-3965	38	14	from	from	ADP
app01-3965	38	15	the	the	DET
app01-3965	38	16	leg	leg	NOUN
app01-3965	38	17	area	area	NOUN
app01-3965	38	18	.	.	PUNCT
app01-3965	39	1	the	the	DET
app01-3965	39	2	resulting	result	VERB
app01-3965	39	3	factor	factor	NOUN
app01-3965	39	4	for	for	ADP
app01-3965	39	5	lbc	lbc	PROPN
app01-3965	39	6	/	/	SYM
app01-3965	39	7	lbt	lbt	PROPN
app01-3965	39	8	was	be	AUX
app01-3965	39	9	calculated	calculate	VERB
app01-3965	39	10	as	as	ADP
app01-3965	39	11	0.44	0.44	NUM
app01-3965	39	12	±	±	NUM
app01-3965	39	13	0.016	0.016	NUM
app01-3965	39	14	.	.	PUNCT
app01-3965	40	1	2.1.2	2.1.2	NUM
app01-3965	40	2	.	.	PUNCT
app01-3965	40	3	piv	piv	NOUN
app01-3965	40	4	measurements	measurement	NOUN
app01-3965	40	5	and	and	CCONJ
app01-3965	40	6	force	force	VERB
app01-3965	40	7	calculation	calculation	NOUN
app01-3965	40	8	the	the	DET
app01-3965	40	9	tank	tank	NOUN
app01-3965	40	10	of	of	ADP
app01-3965	40	11	the	the	DET
app01-3965	40	12	kinematic	kinematic	ADJ
app01-3965	40	13	study	study	NOUN
app01-3965	40	14	was	be	AUX
app01-3965	40	15	also	also	ADV
app01-3965	40	16	used	use	VERB
app01-3965	40	17	for	for	ADP
app01-3965	40	18	the	the	DET
app01-3965	40	19	piv	piv	NOUN
app01-3965	40	20	measurements	measurement	NOUN
app01-3965	40	21	.	.	PUNCT
app01-3965	41	1	crabs	crab	NOUN
app01-3965	41	2	were	be	AUX
app01-3965	41	3	released	release	VERB
app01-3965	41	4	by	by	ADP
app01-3965	41	5	hand	hand	NOUN
app01-3965	41	6	or	or	CCONJ
app01-3965	41	7	the	the	DET
app01-3965	41	8	automated	automate	VERB
app01-3965	41	9	release	release	NOUN
app01-3965	41	10	fixture	fixture	NOUN
app01-3965	41	11	.	.	PUNCT
app01-3965	42	1	the	the	DET
app01-3965	42	2	laser	laser	NOUN
app01-3965	42	3	sheet	sheet	NOUN
app01-3965	42	4	was	be	AUX
app01-3965	42	5	placed	place	VERB
app01-3965	42	6	vertically	vertically	ADV
app01-3965	42	7	in	in	ADP
app01-3965	42	8	the	the	DET
app01-3965	42	9	middle	middle	NOUN
app01-3965	42	10	of	of	ADP
app01-3965	42	11	the	the	DET
app01-3965	42	12	tank	tank	NOUN
app01-3965	42	13	illuminating	illuminate	VERB
app01-3965	42	14	a	a	DET
app01-3965	42	15	surface	surface	NOUN
app01-3965	42	16	of	of	ADP
app01-3965	42	17	approx	approx	PROPN
app01-3965	42	18	.	.	PUNCT
app01-3965	43	1	0.3	0.3	NUM
app01-3965	43	2	x	x	SYM
app01-3965	43	3	0.3	0.3	NUM
app01-3965	43	4	m.	m.	NOUN
app01-3965	43	5	flow	flow	NOUN
app01-3965	43	6	was	be	AUX
app01-3965	43	7	visualized	visualize	VERB
app01-3965	43	8	by	by	ADP
app01-3965	43	9	polyamid	polyamid	ADJ
app01-3965	43	10	seeding	seed	VERB
app01-3965	43	11	particles	particle	NOUN
app01-3965	43	12	(	(	PUNCT
app01-3965	43	13	ø	ø	PROPN
app01-3965	43	14	57	57	NUM
app01-3965	43	15	µm	µm	NOUN
app01-3965	43	16	,	,	PUNCT
app01-3965	43	17	density	density	NOUN
app01-3965	43	18	:	:	PUNCT
app01-3965	43	19	1.03	1.03	NUM
app01-3965	43	20	g	g	NOUN
app01-3965	43	21	/	/	SYM
app01-3965	43	22	cm3	cm3	NOUN
app01-3965	43	23	)	)	PUNCT
app01-3965	43	24	.	.	PUNCT
app01-3965	44	1	images	image	NOUN
app01-3965	44	2	were	be	AUX
app01-3965	44	3	taken	take	VERB
app01-3965	44	4	by	by	ADP
app01-3965	44	5	a	a	DET
app01-3965	44	6	high	high	ADJ
app01-3965	44	7	speed	speed	NOUN
app01-3965	44	8	camera	camera	NOUN
app01-3965	44	9	(	(	PUNCT
app01-3965	44	10	photron	photron	NOUN
app01-3965	44	11	apx	apx	NOUN
app01-3965	44	12	-	-	PUNCT
app01-3965	44	13	rs	rs	NOUN
app01-3965	44	14	)	)	PUNCT
app01-3965	44	15	at	at	ADP
app01-3965	44	16	an	an	DET
app01-3965	44	17	interframing	interframing	ADJ
app01-3965	44	18	time	time	NOUN
app01-3965	44	19	of	of	ADP
app01-3965	44	20	3.75	3.75	NUM
app01-3965	44	21	ms	ms	NOUN
app01-3965	44	22	(	(	PUNCT
app01-3965	44	23	266	266	NUM
app01-3965	44	24	fps	fps	PROPN
app01-3965	44	25	)	)	PUNCT
app01-3965	44	26	.	.	PUNCT
app01-3965	45	1	crabs	crab	NOUN
app01-3965	45	2	were	be	AUX
app01-3965	45	3	released	release	VERB
app01-3965	45	4	at	at	ADP
app01-3965	45	5	different	different	ADJ
app01-3965	45	6	distances	distance	NOUN
app01-3965	45	7	to	to	ADP
app01-3965	45	8	the	the	DET
app01-3965	45	9	lasersheet	lasersheet	NOUN
app01-3965	45	10	depending	depend	VERB
app01-3965	45	11	on	on	ADP
app01-3965	45	12	the	the	DET
app01-3965	45	13	leg	leg	NOUN
app01-3965	45	14	length	length	NOUN
app01-3965	45	15	.	.	PUNCT
app01-3965	46	1	we	we	PRON
app01-3965	46	2	used	use	VERB
app01-3965	46	3	falling	fall	VERB
app01-3965	46	4	sequences	sequence	NOUN
app01-3965	46	5	where	where	SCONJ
app01-3965	46	6	the	the	DET
app01-3965	46	7	last	last	ADJ
app01-3965	46	8	leg	leg	NOUN
app01-3965	46	9	was	be	AUX
app01-3965	46	10	cutting	cut	VERB
app01-3965	46	11	the	the	DET
app01-3965	46	12	lasersheet	lasersheet	NOUN
app01-3965	46	13	at	at	ADP
app01-3965	46	14	positions	position	NOUN
app01-3965	46	15	from	from	ADP
app01-3965	46	16	50	50	NUM
app01-3965	46	17	to	to	PART
app01-3965	46	18	80	80	NUM
app01-3965	46	19	%	%	NOUN
app01-3965	46	20	of	of	ADP
app01-3965	46	21	the	the	DET
app01-3965	46	22	leg	leg	NOUN
app01-3965	46	23	.	.	PUNCT
app01-3965	47	1	by	by	ADP
app01-3965	47	2	measuring	measure	VERB
app01-3965	47	3	the	the	DET
app01-3965	47	4	bound	bound	ADJ
app01-3965	47	5	circulation	circulation	NOUN
app01-3965	47	6	forces	force	NOUN
app01-3965	47	7	around	around	ADP
app01-3965	47	8	the	the	DET
app01-3965	47	9	leg	leg	NOUN
app01-3965	47	10	the	the	DET
app01-3965	47	11	generated	generate	VERB
app01-3965	47	12	propulsion	propulsion	NOUN
app01-3965	47	13	force	force	NOUN
app01-3965	47	14	was	be	AUX
app01-3965	47	15	calculated	calculate	VERB
app01-3965	47	16	by	by	ADP
app01-3965	47	17	using	use	VERB
app01-3965	47	18	the	the	DET
app01-3965	47	19	kutta	kutta	NOUN
app01-3965	47	20	-	-	PUNCT
app01-3965	47	21	joukowski	joukowski	PROPN
app01-3965	47	22	theorem	theorem	NOUN
app01-3965	47	23	.	.	PUNCT
app01-3965	48	1	circulation	circulation	NOUN
app01-3965	48	2	γ	γ	PROPN
app01-3965	48	3	was	be	AUX
app01-3965	48	4	measured	measure	VERB
app01-3965	48	5	from	from	ADP
app01-3965	48	6	the	the	DET
app01-3965	48	7	beginning	beginning	NOUN
app01-3965	48	8	to	to	ADP
app01-3965	48	9	the	the	DET
app01-3965	48	10	end	end	NOUN
app01-3965	48	11	of	of	ADP
app01-3965	48	12	the	the	DET
app01-3965	48	13	leg	leg	NOUN
app01-3965	48	14	stroke	stroke	NOUN
app01-3965	48	15	in	in	ADP
app01-3965	48	16	order	order	NOUN
app01-3965	48	17	to	to	PART
app01-3965	48	18	get	get	VERB
app01-3965	48	19	a	a	DET
app01-3965	48	20	temporal	temporal	ADJ
app01-3965	48	21	resolution	resolution	NOUN
app01-3965	48	22	of	of	ADP
app01-3965	48	23	the	the	DET
app01-3965	48	24	circulation	circulation	NOUN
app01-3965	48	25	.	.	PUNCT
app01-3965	49	1	in	in	ADP
app01-3965	49	2	pivlab	pivlab	NOUN
app01-3965	49	3	[	[	X
app01-3965	49	4	6	6	NUM
app01-3965	49	5	]	]	PUNCT
app01-3965	49	6	under	under	ADP
app01-3965	49	7	matlab	matlab	PROPN
app01-3965	49	8	(	(	PUNCT
app01-3965	49	9	the	the	DET
app01-3965	49	10	mathworks	mathworks	PROPN
app01-3965	49	11	inc	inc	PROPN
app01-3965	49	12	.	.	PUNCT
app01-3965	49	13	)	)	PUNCT
app01-3965	50	1	the	the	DET
app01-3965	50	2	piv	piv	NOUN
app01-3965	50	3	images	image	NOUN
app01-3965	50	4	were	be	AUX
app01-3965	50	5	analysed	analyse	VERB
app01-3965	50	6	and	and	CCONJ
app01-3965	50	7	the	the	DET
app01-3965	50	8	spanwise	spanwise	ADJ
app01-3965	50	9	circulation	circulation	NOUN
app01-3965	50	10	(	(	PUNCT
app01-3965	50	11	circulation	circulation	NOUN
app01-3965	50	12	around	around	ADP
app01-3965	50	13	the	the	DET
app01-3965	50	14	spanwise	spanwise	PROPN
app01-3965	50	15	axis	axis	NOUN
app01-3965	50	16	)	)	PUNCT
app01-3965	50	17	was	be	AUX
app01-3965	50	18	derived	derive	VERB
app01-3965	50	19	by	by	ADP
app01-3965	50	20	a	a	DET
app01-3965	50	21	loop	loop	NOUN
app01-3965	50	22	integral	integral	ADJ
app01-3965	50	23	of	of	ADP
app01-3965	50	24	the	the	DET
app01-3965	50	25	tangent	tangent	NOUN
app01-3965	50	26	velocity	velocity	NOUN
app01-3965	50	27	:	:	PUNCT
app01-3965	50	28	γ	γ	X
app01-3965	50	29	=	=	SYM
app01-3965	50	30	∮	∮	NUM
app01-3965	50	31	svort	svort	NOUN
app01-3965	50	32	vt	vt	PROPN
app01-3965	50	33	dsvort	dsvort	PROPN
app01-3965	50	34	=	=	SYM
app01-3965	50	35	∫	∫	PROPN
app01-3965	50	36	avort	avort	NOUN
app01-3965	50	37	ωz	ωz	INTJ
app01-3965	50	38	davort	davort	PROPN
app01-3965	50	39	(	(	PUNCT
app01-3965	50	40	3	3	X
app01-3965	50	41	)	)	PUNCT
app01-3965	50	42	where	where	SCONJ
app01-3965	50	43	svort	svort	NOUN
app01-3965	50	44	=	=	SYM
app01-3965	50	45	circular	circular	ADJ
app01-3965	50	46	path	path	NOUN
app01-3965	50	47	around	around	ADP
app01-3965	50	48	the	the	DET
app01-3965	50	49	vortex	vortex	NOUN
app01-3965	50	50	core	core	NOUN
app01-3965	50	51	,	,	PUNCT
app01-3965	50	52	vt	vt	NOUN
app01-3965	50	53	=	=	SYM
app01-3965	50	54	tangential	tangential	ADJ
app01-3965	50	55	velocity	velocity	NOUN
app01-3965	50	56	,	,	PUNCT
app01-3965	51	1	avort	avort	NOUN
app01-3965	51	2	=	=	SYM
app01-3965	51	3	area	area	NOUN
app01-3965	51	4	of	of	ADP
app01-3965	51	5	the	the	DET
app01-3965	51	6	vortex	vortex	NOUN
app01-3965	51	7	core	core	NOUN
app01-3965	51	8	and	and	CCONJ
app01-3965	51	9	ωz	ωz	X
app01-3965	51	10	=	=	PUNCT
app01-3965	51	11	spanwise	spanwise	VERB
app01-3965	51	12	vorticity	vorticity	NOUN
app01-3965	51	13	.	.	PUNCT
app01-3965	52	1	the	the	DET
app01-3965	52	2	vortex	vortex	NOUN
app01-3965	52	3	ring	ring	NOUN
app01-3965	52	4	momentum	momentum	NOUN
app01-3965	52	5	calculation	calculation	NOUN
app01-3965	52	6	model	model	NOUN
app01-3965	52	7	was	be	AUX
app01-3965	52	8	used	use	VERB
app01-3965	52	9	to	to	PART
app01-3965	52	10	estimate	estimate	VERB
app01-3965	52	11	an	an	DET
app01-3965	52	12	average	average	ADJ
app01-3965	52	13	propulsive	propulsive	ADJ
app01-3965	52	14	force	force	NOUN
app01-3965	53	1	[	[	X
app01-3965	53	2	7][8	7][8	X
app01-3965	53	3	]	]	X
app01-3965	53	4	.	.	PUNCT
app01-3965	54	1	the	the	DET
app01-3965	54	2	average	average	ADJ
app01-3965	54	3	propulsive	propulsive	ADJ
app01-3965	54	4	force	force	NOUN
app01-3965	54	5	of	of	ADP
app01-3965	54	6	the	the	DET
app01-3965	54	7	leg	leg	NOUN
app01-3965	54	8	stroke	stroke	NOUN
app01-3965	54	9	was	be	AUX
app01-3965	54	10	herewith	herewith	NOUN
app01-3965	54	11	calculated	calculate	VERB
app01-3965	54	12	by	by	ADP
app01-3965	54	13	f	f	PROPN
app01-3965	54	14	=	=	SYM
app01-3965	54	15	2	2	NUM
app01-3965	54	16	γ	γ	X
app01-3965	54	17	ρ	ρ	NOUN
app01-3965	54	18	ν	ν	X
app01-3965	54	19	b	b	PROPN
app01-3965	54	20	(	(	PUNCT
app01-3965	54	21	4	4	NUM
app01-3965	54	22	)	)	PUNCT
app01-3965	54	23	where	where	SCONJ
app01-3965	54	24	γ	γ	NOUN
app01-3965	54	25	=	=	SYM
app01-3965	54	26	circulation	circulation	NOUN
app01-3965	54	27	,	,	PUNCT
app01-3965	54	28	ρ	ρ	NOUN
app01-3965	54	29	=	=	SYM
app01-3965	54	30	fluid	fluid	ADJ
app01-3965	54	31	density	density	NOUN
app01-3965	54	32	,	,	PUNCT
app01-3965	54	33	ν	ν	X
app01-3965	54	34	=	=	SYM
app01-3965	54	35	fluid	fluid	ADJ
app01-3965	54	36	velocity	velocity	NOUN
app01-3965	54	37	and	and	CCONJ
app01-3965	54	38	b	b	NOUN
app01-3965	54	39	=	=	NOUN
app01-3965	54	40	leg	leg	NOUN
app01-3965	54	41	length	length	NOUN
app01-3965	54	42	.	.	PUNCT
app01-3965	55	1	the	the	DET
app01-3965	55	2	force	force	NOUN
app01-3965	55	3	results	result	NOUN
app01-3965	55	4	were	be	AUX
app01-3965	55	5	multiplied	multiply	VERB
app01-3965	55	6	by	by	ADP
app01-3965	55	7	two	two	NUM
app01-3965	55	8	,	,	PUNCT
app01-3965	55	9	to	to	PART
app01-3965	55	10	get	get	VERB
app01-3965	55	11	the	the	DET
app01-3965	55	12	force	force	NOUN
app01-3965	55	13	of	of	ADP
app01-3965	55	14	both	both	DET
app01-3965	55	15	legs	leg	NOUN
app01-3965	55	16	.	.	PUNCT
app01-3965	56	1	2.2	2.2	NUM
app01-3965	56	2	.	.	PUNCT
app01-3965	56	3	simulated	simulate	VERB
app01-3965	56	4	model	model	NOUN
app01-3965	56	5	for	for	ADP
app01-3965	56	6	the	the	DET
app01-3965	56	7	numerical	numerical	PROPN
app01-3965	56	8	simulation	simulation	NOUN
app01-3965	56	9	of	of	ADP
app01-3965	56	10	the	the	DET
app01-3965	56	11	physical	physical	ADJ
app01-3965	56	12	behavior	behavior	NOUN
app01-3965	56	13	the	the	DET
app01-3965	56	14	software	software	NOUN
app01-3965	56	15	adams	adams	PROPN
app01-3965	56	16	(	(	PUNCT
app01-3965	56	17	rel	rel	PROPN
app01-3965	56	18	.	.	NOUN
app01-3965	56	19	2013.1	2013.1	NUM
app01-3965	56	20	)	)	PUNCT
app01-3965	56	21	was	be	AUX
app01-3965	56	22	used	use	VERB
app01-3965	56	23	.	.	PUNCT
app01-3965	57	1	it	it	PRON
app01-3965	57	2	allows	allow	VERB
app01-3965	57	3	to	to	PART
app01-3965	57	4	describe	describe	VERB
app01-3965	57	5	the	the	DET
app01-3965	57	6	limb	limb	NOUN
app01-3965	57	7	movement	movement	NOUN
app01-3965	57	8	as	as	ADP
app01-3965	57	9	a	a	DET
app01-3965	57	10	motion	motion	NOUN
app01-3965	57	11	of	of	ADP
app01-3965	57	12	mechanically	mechanically	ADV
app01-3965	57	13	joint	joint	ADJ
app01-3965	57	14	rigid	rigid	ADJ
app01-3965	57	15	bodies	body	NOUN
app01-3965	57	16	,	,	PUNCT
app01-3965	57	17	builds	build	VERB
app01-3965	57	18	the	the	DET
app01-3965	57	19	relevant	relevant	ADJ
app01-3965	57	20	differential	differential	ADJ
app01-3965	57	21	equations	equation	NOUN
app01-3965	57	22	of	of	ADP
app01-3965	57	23	motion	motion	NOUN
app01-3965	57	24	and	and	CCONJ
app01-3965	57	25	solves	solve	VERB
app01-3965	57	26	them	they	PRON
app01-3965	57	27	numerically	numerically	ADV
app01-3965	57	28	.	.	PUNCT
app01-3965	58	1	basis	basis	NOUN
app01-3965	58	2	for	for	ADP
app01-3965	58	3	the	the	DET
app01-3965	58	4	multi	multi	ADJ
app01-3965	58	5	-	-	ADJ
app01-3965	58	6	body	body	ADJ
app01-3965	58	7	-	-	PUNCT
app01-3965	58	8	analysis	analysis	NOUN
app01-3965	58	9	is	be	AUX
app01-3965	58	10	experimental	experimental	ADJ
app01-3965	58	11	gained	gain	VERB
app01-3965	58	12	data	datum	NOUN
app01-3965	58	13	of	of	ADP
app01-3965	58	14	an	an	DET
app01-3965	58	15	individual	individual	ADJ
app01-3965	58	16	crab	crab	NOUN
app01-3965	58	17	showing	show	VERB
app01-3965	58	18	the	the	DET
app01-3965	58	19	dimensions	dimension	NOUN
app01-3965	58	20	,	,	PUNCT
app01-3965	58	21	the	the	DET
app01-3965	58	22	mass	mass	PROPN
app01-3965	58	23	,	,	PUNCT
app01-3965	58	24	the	the	DET
app01-3965	58	25	density	density	NOUN
app01-3965	58	26	and	and	CCONJ
app01-3965	58	27	the	the	DET
app01-3965	58	28	center	center	NOUN
app01-3965	58	29	of	of	ADP
app01-3965	58	30	mass	mass	NOUN
app01-3965	58	31	(	(	PUNCT
app01-3965	58	32	com	com	NOUN
app01-3965	58	33	)	)	PUNCT
app01-3965	58	34	of	of	ADP
app01-3965	58	35	each	each	DET
app01-3965	58	36	limb	limb	NOUN
app01-3965	58	37	.	.	PUNCT
app01-3965	59	1	all	all	DET
app01-3965	59	2	body	body	NOUN
app01-3965	59	3	-	-	PUNCT
app01-3965	59	4	parts	part	NOUN
app01-3965	59	5	are	be	AUX
app01-3965	59	6	connected	connect	VERB
app01-3965	59	7	with	with	ADP
app01-3965	59	8	rigid	rigid	ADJ
app01-3965	59	9	joints	joint	NOUN
app01-3965	59	10	.	.	PUNCT
app01-3965	60	1	in	in	ADP
app01-3965	60	2	order	order	NOUN
app01-3965	60	3	to	to	PART
app01-3965	60	4	simulate	simulate	VERB
app01-3965	60	5	the	the	DET
app01-3965	60	6	correct	correct	ADJ
app01-3965	60	7	falling	fall	VERB
app01-3965	60	8	speed	speed	NOUN
app01-3965	60	9	in	in	ADP
app01-3965	60	10	water	water	NOUN
app01-3965	60	11	the	the	DET
app01-3965	60	12	gravity	gravity	NOUN
app01-3965	60	13	was	be	AUX
app01-3965	60	14	reduced	reduce	VERB
app01-3965	60	15	to	to	ADP
app01-3965	60	16	1.09	1.09	NUM
app01-3965	60	17	m	m	NOUN
app01-3965	60	18	/	/	SYM
app01-3965	60	19	s2	s2	PROPN
app01-3965	60	20	.	.	PUNCT
app01-3965	61	1	during	during	ADP
app01-3965	61	2	movement	movement	NOUN
app01-3965	61	3	the	the	DET
app01-3965	61	4	crabs	crab	NOUN
app01-3965	61	5	hold	hold	VERB
app01-3965	61	6	their	their	PRON
app01-3965	61	7	front	front	ADJ
app01-3965	61	8	legs	leg	NOUN
app01-3965	61	9	close	close	ADV
app01-3965	61	10	to	to	ADP
app01-3965	61	11	the	the	DET
app01-3965	61	12	carapax	carapax	NOUN
app01-3965	61	13	and	and	CCONJ
app01-3965	61	14	stretching	stretch	VERB
app01-3965	61	15	out	out	ADP
app01-3965	61	16	only	only	ADV
app01-3965	61	17	the	the	DET
app01-3965	61	18	hind	hind	NOUN
app01-3965	61	19	legs	leg	NOUN
app01-3965	61	20	.	.	PUNCT
app01-3965	62	1	therefore	therefore	ADV
app01-3965	62	2	the	the	DET
app01-3965	62	3	main	main	ADJ
app01-3965	62	4	body	body	NOUN
app01-3965	62	5	can	can	AUX
app01-3965	62	6	easily	easily	ADV
app01-3965	62	7	be	be	AUX
app01-3965	62	8	simplified	simplify	VERB
app01-3965	62	9	to	to	ADP
app01-3965	62	10	a	a	DET
app01-3965	62	11	cylinder	cylinder	NOUN
app01-3965	62	12	.	.	PUNCT
app01-3965	63	1	with	with	ADP
app01-3965	63	2	a	a	DET
app01-3965	63	3	diameter	diameter	NOUN
app01-3965	63	4	of	of	ADP
app01-3965	63	5	6.00	6.00	NUM
app01-3965	63	6	cm	cm	NOUN
app01-3965	63	7	and	and	CCONJ
app01-3965	63	8	a	a	DET
app01-3965	63	9	height	height	NOUN
app01-3965	63	10	of	of	ADP
app01-3965	63	11	2.75	2.75	NUM
app01-3965	63	12	cm	cm	NOUN
app01-3965	63	13	for	for	ADP
app01-3965	63	14	carapax	carapax	NOUN
app01-3965	63	15	and	and	CCONJ
app01-3965	63	16	front	front	ADJ
app01-3965	63	17	legs	leg	NOUN
app01-3965	63	18	such	such	DET
app01-3965	63	19	a	a	DET
app01-3965	63	20	cylinder	cylinder	NOUN
app01-3965	63	21	will	will	AUX
app01-3965	63	22	have	have	VERB
app01-3965	63	23	an	an	DET
app01-3965	63	24	average	average	ADJ
app01-3965	63	25	density	density	NOUN
app01-3965	63	26	of	of	ADP
app01-3965	63	27	1.12	1.12	NUM
app01-3965	63	28	g	g	NOUN
app01-3965	63	29	/	/	SYM
app01-3965	63	30	cm3	cm3	NOUN
app01-3965	63	31	which	which	PRON
app01-3965	63	32	leads	lead	VERB
app01-3965	63	33	to	to	ADP
app01-3965	63	34	a	a	DET
app01-3965	63	35	mass	mass	NOUN
app01-3965	63	36	of	of	ADP
app01-3965	63	37	87	87	NUM
app01-3965	63	38	g.	g.	NOUN
app01-3965	63	39	this	this	DET
app01-3965	63	40	data	data	NOUN
app01-3965	63	41	fits	fit	VERB
app01-3965	63	42	the	the	DET
app01-3965	63	43	measured	measured	ADJ
app01-3965	63	44	crab	crab	NOUN
app01-3965	63	45	very	very	ADV
app01-3965	63	46	well	well	ADV
app01-3965	63	47	.	.	PUNCT
app01-3965	64	1	the	the	DET
app01-3965	64	2	hind	hind	NOUN
app01-3965	64	3	leg	leg	NOUN
app01-3965	64	4	pair	pair	NOUN
app01-3965	64	5	is	be	AUX
app01-3965	64	6	modelled	model	VERB
app01-3965	64	7	with	with	ADP
app01-3965	64	8	the	the	DET
app01-3965	64	9	merus	merus	NOUN
app01-3965	64	10	/	/	SYM
app01-3965	64	11	ischium	ischium	NOUN
app01-3965	64	12	,	,	PUNCT
app01-3965	64	13	the	the	DET
app01-3965	64	14	propodus	propodus	NOUN
app01-3965	64	15	/	/	SYM
app01-3965	64	16	carpus	carpus	NOUN
app01-3965	64	17	and	and	CCONJ
app01-3965	64	18	the	the	DET
app01-3965	64	19	dactylus	dactylus	NOUN
app01-3965	64	20	in	in	ADP
app01-3965	64	21	their	their	PRON
app01-3965	64	22	measured	measure	VERB
app01-3965	64	23	length	length	NOUN
app01-3965	64	24	and	and	CCONJ
app01-3965	64	25	density	density	NOUN
app01-3965	64	26	.	.	PUNCT
app01-3965	65	1	the	the	DET
app01-3965	65	2	parts	part	NOUN
app01-3965	65	3	of	of	ADP
app01-3965	65	4	the	the	DET
app01-3965	65	5	leg	leg	NOUN
app01-3965	65	6	are	be	AUX
app01-3965	65	7	conical	conical	ADJ
app01-3965	65	8	so	so	SCONJ
app01-3965	65	9	that	that	SCONJ
app01-3965	65	10	the	the	DET
app01-3965	65	11	com	com	NOUN
app01-3965	65	12	of	of	ADP
app01-3965	65	13	these	these	DET
app01-3965	65	14	parts	part	NOUN
app01-3965	65	15	matches	match	NOUN
app01-3965	65	16	also	also	ADV
app01-3965	65	17	(	(	PUNCT
app01-3965	65	18	figure	figure	NOUN
app01-3965	65	19	1b	1b	NUM
app01-3965	65	20	)	)	PUNCT
app01-3965	65	21	.	.	PUNCT
app01-3965	66	1	the	the	DET
app01-3965	66	2	acting	act	VERB
app01-3965	66	3	forces	force	NOUN
app01-3965	66	4	are	be	AUX
app01-3965	66	5	applied	apply	VERB
app01-3965	66	6	on	on	ADP
app01-3965	66	7	the	the	DET
app01-3965	66	8	joint	joint	NOUN
app01-3965	66	9	between	between	ADP
app01-3965	66	10	dactylus	dactylus	NOUN
app01-3965	66	11	and	and	CCONJ
app01-3965	66	12	propodus	propodus	NOUN
app01-3965	66	13	with	with	ADP
app01-3965	66	14	a	a	DET
app01-3965	66	15	constant	constant	ADJ
app01-3965	66	16	value	value	NOUN
app01-3965	66	17	for	for	ADP
app01-3965	66	18	a	a	DET
app01-3965	66	19	given	give	VERB
app01-3965	66	20	duration	duration	NOUN
app01-3965	66	21	(	(	PUNCT
app01-3965	66	22	thick	thick	ADJ
app01-3965	66	23	arrows	arrow	NOUN
app01-3965	66	24	in	in	ADP
app01-3965	66	25	fig	fig	NOUN
app01-3965	66	26	1b	1b	NUM
app01-3965	66	27	)	)	PUNCT
app01-3965	66	28	.	.	PUNCT
app01-3965	67	1	2.3	2.3	NUM
app01-3965	67	2	.	.	PUNCT
app01-3965	68	1	o	o	X
app01-3965	68	2	-	-	PUNCT
app01-3965	68	3	typus	typus	ADJ
app01-3965	68	4	technical	technical	ADJ
app01-3965	68	5	model	model	PROPN
app01-3965	68	6	2.3.1	2.3.1	PROPN
app01-3965	68	7	.	.	PUNCT
app01-3965	68	8	setup	setup	NOUN
app01-3965	68	9	to	to	PART
app01-3965	68	10	confirm	confirm	VERB
app01-3965	68	11	whether	whether	SCONJ
app01-3965	68	12	the	the	DET
app01-3965	68	13	observed	observed	ADJ
app01-3965	68	14	mechanism	mechanism	NOUN
app01-3965	68	15	is	be	AUX
app01-3965	68	16	correctly	correctly	ADV
app01-3965	68	17	understood	understand	VERB
app01-3965	68	18	,	,	PUNCT
app01-3965	68	19	the	the	DET
app01-3965	68	20	basic	basic	ADJ
app01-3965	68	21	model	model	NOUN
app01-3965	68	22	is	be	AUX
app01-3965	68	23	implemented	implement	VERB
app01-3965	68	24	in	in	ADP
app01-3965	68	25	the	the	DET
app01-3965	68	26	purpose	purpose	NOUN
app01-3965	68	27	-	-	PUNCT
app01-3965	68	28	built	build	VERB
app01-3965	68	29	robot	robot	NOUN
app01-3965	68	30	o	o	NOUN
app01-3965	68	31	-	-	NOUN
app01-3965	68	32	typus	typus	ADJ
app01-3965	68	33	(	(	PUNCT
app01-3965	68	34	figure	figure	NOUN
app01-3965	68	35	1c+d	1c+d	NUM
app01-3965	68	36	)	)	PUNCT
app01-3965	69	1	[	[	X
app01-3965	69	2	5	5	NUM
app01-3965	69	3	]	]	PUNCT
app01-3965	69	4	.	.	PUNCT
app01-3965	70	1	its	its	PRON
app01-3965	70	2	chassis	chassis	NOUN
app01-3965	70	3	is	be	AUX
app01-3965	70	4	congruent	congruent	ADJ
app01-3965	70	5	with	with	ADP
app01-3965	70	6	the	the	DET
app01-3965	70	7	carapace	carapace	NOUN
app01-3965	70	8	of	of	ADP
app01-3965	70	9	an	an	DET
app01-3965	70	10	individual	individual	NOUN
app01-3965	70	11	of	of	ADP
app01-3965	70	12	e.	e.	PROPN
app01-3965	70	13	sinensis	sinensis	NOUN
app01-3965	70	14	and	and	CCONJ
app01-3965	70	15	scaled	scale	VERB
app01-3965	70	16	2:1	2:1	NUM
app01-3965	70	17	,	,	PUNCT
app01-3965	70	18	to	to	ADP
app01-3965	70	19	house	house	PROPN
app01-3965	70	20	drive	drive	PROPN
app01-3965	70	21	units	unit	NOUN
app01-3965	70	22	and	and	CCONJ
app01-3965	70	23	the	the	DET
app01-3965	70	24	sensor	sensor	NOUN
app01-3965	70	25	system	system	NOUN
app01-3965	70	26	.	.	PUNCT
app01-3965	71	1	the	the	DET
app01-3965	71	2	actuating	actuate	VERB
app01-3965	71	3	elements	element	NOUN
app01-3965	71	4	consist	consist	VERB
app01-3965	71	5	of	of	ADP
app01-3965	71	6	two	two	NUM
app01-3965	71	7	waterproof	waterproof	ADJ
app01-3965	71	8	hk15328d	hk15328d	NOUN
app01-3965	71	9	servo	servo	PROPN
app01-3965	71	10	motors	motor	NOUN
app01-3965	71	11	(	(	PUNCT
app01-3965	71	12	max	max	PROPN
app01-3965	71	13	torque	torque	NOUN
app01-3965	71	14	:	:	PUNCT
app01-3965	71	15	12,8	12,8	NUM
app01-3965	71	16	kg.cm	kg.cm	PROPN
app01-3965	71	17	)	)	PUNCT
app01-3965	71	18	with	with	ADP
app01-3965	71	19	a	a	DET
app01-3965	71	20	6v	6v	ADJ
app01-3965	71	21	external	external	ADJ
app01-3965	71	22	power	power	NOUN
app01-3965	71	23	supply	supply	NOUN
app01-3965	71	24	(	(	PUNCT
app01-3965	71	25	2250	2250	NUM
app01-3965	71	26	ma	ma	PROPN
app01-3965	71	27	)	)	PUNCT
app01-3965	71	28	.	.	PUNCT
app01-3965	72	1	their	their	PRON
app01-3965	72	2	control	control	NOUN
app01-3965	72	3	is	be	AUX
app01-3965	72	4	based	base	VERB
app01-3965	72	5	on	on	ADP
app01-3965	72	6	the	the	DET
app01-3965	72	7	pwm	pwm	NOUN
app01-3965	72	8	-	-	PUNCT
app01-3965	72	9	signals	signal	NOUN
app01-3965	72	10	from	from	ADP
app01-3965	72	11	an	an	DET
app01-3965	72	12	arduino	arduino	NOUN
app01-3965	72	13	uno	uno	NOUN
app01-3965	72	14	.	.	PUNCT
app01-3965	73	1	the	the	DET
app01-3965	73	2	position	position	NOUN
app01-3965	73	3	tracking	tracking	NOUN
app01-3965	73	4	is	be	AUX
app01-3965	73	5	enabled	enable	VERB
app01-3965	73	6	by	by	ADP
app01-3965	73	7	the	the	DET
app01-3965	73	8	mpu6050	mpu6050	PROPN
app01-3965	73	9	accelerometer	accelerometer	NOUN
app01-3965	73	10	.	.	PUNCT
app01-3965	74	1	the	the	DET
app01-3965	74	2	real	real	ADJ
app01-3965	74	3	time	time	NOUN
app01-3965	74	4	operation	operation	NOUN
app01-3965	74	5	sends	send	VERB
app01-3965	74	6	the	the	DET
app01-3965	74	7	current	current	ADJ
app01-3965	74	8	yaw-/	yaw-/	NOUN
app01-3965	74	9	pitch-/	pitch-/	NOUN
app01-3965	74	10	roll	roll	NOUN
app01-3965	74	11	-	-	PUNCT
app01-3965	74	12	angles	angle	NOUN
app01-3965	74	13	(	(	PUNCT
app01-3965	74	14	ypr	ypr	PROPN
app01-3965	74	15	)	)	PUNCT
app01-3965	74	16	to	to	ADP
app01-3965	74	17	the	the	DET
app01-3965	74	18	arduino	arduino	NOUN
app01-3965	74	19	uno	uno	PROPN
app01-3965	74	20	to	to	PART
app01-3965	74	21	log	log	VERB
app01-3965	74	22	the	the	DET
app01-3965	74	23	data	datum	NOUN
app01-3965	74	24	(	(	PUNCT
app01-3965	74	25	~27	~27	PUNCT
app01-3965	74	26	hz	hz	NOUN
app01-3965	74	27	)	)	PUNCT
app01-3965	74	28	.	.	PUNCT
app01-3965	75	1	54	54	NUM
app01-3965	75	2	vol	vol	NOUN
app01-3965	75	3	.	.	PUNCT
app01-3965	76	1	7/2017	7/2017	NUM
app01-3965	76	2	righting	righting	NOUN
app01-3965	76	3	of	of	ADP
app01-3965	76	4	chinese	chinese	ADJ
app01-3965	76	5	mitten	mitten	NOUN
app01-3965	76	6	crabs	crab	NOUN
app01-3965	76	7	(	(	PUNCT
app01-3965	76	8	eriocheir	eriocheir	NOUN
app01-3965	76	9	sinensis	sinensis	NOUN
app01-3965	76	10	)	)	PUNCT
app01-3965	76	11	and	and	CCONJ
app01-3965	76	12	their	their	PRON
app01-3965	76	13	models	model	NOUN
app01-3965	76	14	figure	figure	VERB
app01-3965	76	15	2	2	NUM
app01-3965	76	16	.	.	PUNCT
app01-3965	76	17	a.	a.	NOUN
app01-3965	76	18	stereotypical	stereotypical	ADJ
app01-3965	76	19	turning	turn	VERB
app01-3965	76	20	maneuvers	maneuver	NOUN
app01-3965	76	21	observed	observe	VERB
app01-3965	76	22	for	for	ADP
app01-3965	76	23	e.	e.	PROPN
app01-3965	76	24	sinensis	sinensis	NOUN
app01-3965	76	25	after	after	ADP
app01-3965	76	26	a	a	DET
app01-3965	76	27	virtually	virtually	ADV
app01-3965	76	28	moment	moment	NOUN
app01-3965	76	29	-	-	PUNCT
app01-3965	76	30	free	free	ADJ
app01-3965	76	31	start	start	NOUN
app01-3965	76	32	(	(	PUNCT
app01-3965	76	33	[	[	X
app01-3965	76	34	9	9	NUM
app01-3965	76	35	]	]	PUNCT
app01-3965	76	36	,	,	PUNCT
app01-3965	76	37	modified	modify	VERB
app01-3965	76	38	)	)	PUNCT
app01-3965	76	39	.	.	PUNCT
app01-3965	77	1	∆t	∆t	PROPN
app01-3965	77	2	=	=	PUNCT
app01-3965	77	3	0.2	0.2	NUM
app01-3965	77	4	s.	s.	PROPN
app01-3965	77	5	b.	b.	PROPN
app01-3965	77	6	positions	position	NOUN
app01-3965	77	7	of	of	ADP
app01-3965	77	8	body	body	NOUN
app01-3965	77	9	axis	axis	NOUN
app01-3965	77	10	,	,	PUNCT
app01-3965	77	11	right	right	ADJ
app01-3965	77	12	5th	5th	ADJ
app01-3965	77	13	leg	leg	NOUN
app01-3965	77	14	and	and	CCONJ
app01-3965	77	15	com	com	NOUN
app01-3965	77	16	for	for	ADP
app01-3965	77	17	one	one	NUM
app01-3965	77	18	individual	individual	NOUN
app01-3965	77	19	(	(	PUNCT
app01-3965	77	20	e.	e.	PROPN
app01-3965	77	21	s.	s.	PROPN
app01-3965	77	22	)	)	PUNCT
app01-3965	77	23	.	.	PUNCT
app01-3965	78	1	origin	origin	NOUN
app01-3965	78	2	of	of	ADP
app01-3965	78	3	ordinates	ordinate	NOUN
app01-3965	78	4	on	on	ADP
app01-3965	78	5	caudal	caudal	NOUN
app01-3965	78	6	end	end	NOUN
app01-3965	78	7	of	of	ADP
app01-3965	78	8	carapace	carapace	NOUN
app01-3965	78	9	at	at	ADP
app01-3965	78	10	starting	starting	NOUN
app01-3965	78	11	point	point	NOUN
app01-3965	78	12	.	.	PUNCT
app01-3965	79	1	∆t	∆t	PROPN
app01-3965	80	1	=	=	PUNCT
app01-3965	80	2	0.02	0.02	NUM
app01-3965	80	3	s	s	NOUN
app01-3965	80	4	(	(	PUNCT
app01-3965	80	5	0.1	0.1	NUM
app01-3965	80	6	s	s	NOUN
app01-3965	80	7	for	for	ADP
app01-3965	80	8	body	body	NOUN
app01-3965	80	9	axis	axis	NOUN
app01-3965	80	10	)	)	PUNCT
app01-3965	80	11	.	.	PUNCT
app01-3965	81	1	2.3.2	2.3.2	X
app01-3965	81	2	.	.	PUNCT
app01-3965	81	3	experiments	experiment	NOUN
app01-3965	81	4	the	the	DET
app01-3965	81	5	performed	perform	VERB
app01-3965	81	6	tests	test	NOUN
app01-3965	81	7	are	be	AUX
app01-3965	81	8	adapted	adapt	VERB
app01-3965	81	9	by	by	ADP
app01-3965	81	10	the	the	DET
app01-3965	81	11	setup	setup	NOUN
app01-3965	81	12	of	of	ADP
app01-3965	81	13	the	the	DET
app01-3965	81	14	experiments	experiment	NOUN
app01-3965	81	15	carried	carry	VERB
app01-3965	81	16	out	out	ADP
app01-3965	81	17	in	in	ADP
app01-3965	81	18	section	section	NOUN
app01-3965	81	19	2.1.1	2.1.1	NUM
app01-3965	81	20	.	.	PUNCT
app01-3965	82	1	therefore	therefore	ADV
app01-3965	82	2	,	,	PUNCT
app01-3965	82	3	the	the	DET
app01-3965	82	4	robot	robot	NOUN
app01-3965	82	5	starts	start	VERB
app01-3965	82	6	in	in	ADP
app01-3965	82	7	a	a	DET
app01-3965	82	8	supine	supine	ADJ
app01-3965	82	9	position	position	NOUN
app01-3965	82	10	at	at	ADP
app01-3965	82	11	the	the	DET
app01-3965	82	12	top	top	NOUN
app01-3965	82	13	of	of	ADP
app01-3965	82	14	the	the	DET
app01-3965	82	15	tank	tank	NOUN
app01-3965	82	16	.	.	PUNCT
app01-3965	83	1	to	to	PART
app01-3965	83	2	initialize	initialize	VERB
app01-3965	83	3	the	the	DET
app01-3965	83	4	turning	turning	NOUN
app01-3965	83	5	,	,	PUNCT
app01-3965	83	6	the	the	DET
app01-3965	83	7	two	two	NUM
app01-3965	83	8	legs	leg	NOUN
app01-3965	83	9	will	will	AUX
app01-3965	83	10	strike	strike	VERB
app01-3965	83	11	simultaneously	simultaneously	ADV
app01-3965	83	12	.	.	PUNCT
app01-3965	84	1	the	the	DET
app01-3965	84	2	appropriate	appropriate	ADJ
app01-3965	84	3	kinematic	kinematic	ADJ
app01-3965	84	4	parameters	parameter	NOUN
app01-3965	84	5	were	be	AUX
app01-3965	84	6	determined	determine	VERB
app01-3965	84	7	by	by	ADP
app01-3965	84	8	an	an	DET
app01-3965	84	9	iteratively	iteratively	ADJ
app01-3965	84	10	change	change	NOUN
app01-3965	84	11	of	of	ADP
app01-3965	84	12	the	the	DET
app01-3965	84	13	striking	striking	ADJ
app01-3965	84	14	angle	angle	NOUN
app01-3965	84	15	θ	θ	PROPN
app01-3965	84	16	at	at	ADP
app01-3965	84	17	the	the	DET
app01-3965	84	18	maximum	maximum	ADJ
app01-3965	84	19	angular	angular	ADJ
app01-3965	84	20	striking	striking	ADJ
app01-3965	84	21	velocity	velocity	NOUN
app01-3965	84	22	ω	ω	NOUN
app01-3965	84	23	of	of	ADP
app01-3965	84	24	4.76	4.76	NUM
app01-3965	84	25	s−1	s−1	PROPN
app01-3965	84	26	.	.	PUNCT
app01-3965	85	1	the	the	DET
app01-3965	85	2	acting	act	VERB
app01-3965	85	3	forces	force	NOUN
app01-3965	85	4	were	be	AUX
app01-3965	85	5	kinematically	kinematically	ADV
app01-3965	85	6	analyzed	analyze	VERB
app01-3965	85	7	by	by	ADP
app01-3965	85	8	equation	equation	NOUN
app01-3965	85	9	1	1	NUM
app01-3965	85	10	.	.	NOUN
app01-3965	86	1	3	3	X
app01-3965	86	2	.	.	NOUN
app01-3965	86	3	results	result	NOUN
app01-3965	86	4	falling	fall	VERB
app01-3965	86	5	e.	e.	PROPN
app01-3965	86	6	sinensis	sinensis	NOUN
app01-3965	86	7	show	show	VERB
app01-3965	86	8	a	a	DET
app01-3965	86	9	body	body	NOUN
app01-3965	86	10	rotation	rotation	NOUN
app01-3965	86	11	along	along	ADP
app01-3965	86	12	the	the	DET
app01-3965	86	13	transversal	transversal	NOUN
app01-3965	86	14	axis	axis	NOUN
app01-3965	86	15	during	during	ADP
app01-3965	86	16	free	free	ADJ
app01-3965	86	17	fall	fall	NOUN
app01-3965	86	18	(	(	PUNCT
app01-3965	86	19	see	see	VERB
app01-3965	86	20	figure	figure	NOUN
app01-3965	86	21	2a	2a	NUM
app01-3965	86	22	)	)	PUNCT
app01-3965	86	23	.	.	PUNCT
app01-3965	87	1	the	the	DET
app01-3965	87	2	rotation	rotation	NOUN
app01-3965	87	3	is	be	AUX
app01-3965	87	4	initiated	initiate	VERB
app01-3965	87	5	directly	directly	ADV
app01-3965	87	6	after	after	ADP
app01-3965	87	7	release	release	NOUN
app01-3965	87	8	by	by	ADP
app01-3965	87	9	one	one	NUM
app01-3965	87	10	stroke	stroke	NOUN
app01-3965	87	11	cycle	cycle	NOUN
app01-3965	87	12	of	of	ADP
app01-3965	87	13	the	the	DET
app01-3965	87	14	5th	5th	ADJ
app01-3965	87	15	leg	leg	NOUN
app01-3965	87	16	pair	pair	NOUN
app01-3965	87	17	followed	follow	VERB
app01-3965	87	18	by	by	ADP
app01-3965	87	19	a	a	DET
app01-3965	87	20	passive	passive	ADJ
app01-3965	87	21	phase	phase	NOUN
app01-3965	87	22	and	and	CCONJ
app01-3965	87	23	stopped	stop	VERB
app01-3965	87	24	again	again	ADV
app01-3965	87	25	with	with	ADP
app01-3965	87	26	the	the	DET
app01-3965	87	27	5th	5th	ADJ
app01-3965	87	28	leg	leg	NOUN
app01-3965	87	29	pair	pair	NOUN
app01-3965	87	30	by	by	ADP
app01-3965	87	31	a	a	DET
app01-3965	87	32	counterstrike	counterstrike	NOUN
app01-3965	87	33	.	.	PUNCT
app01-3965	88	1	the	the	DET
app01-3965	88	2	turn	turn	NOUN
app01-3965	88	3	is	be	AUX
app01-3965	88	4	completed	complete	VERB
app01-3965	88	5	in	in	ADP
app01-3965	88	6	0.76	0.76	NUM
app01-3965	88	7	±	±	NUM
app01-3965	88	8	0.15	0.15	NUM
app01-3965	88	9	s	s	NOUN
app01-3965	88	10	which	which	PRON
app01-3965	88	11	leads	lead	VERB
app01-3965	88	12	to	to	ADP
app01-3965	88	13	a	a	DET
app01-3965	88	14	mean	mean	ADJ
app01-3965	88	15	angular	angular	ADJ
app01-3965	88	16	velocity	velocity	NOUN
app01-3965	88	17	of	of	ADP
app01-3965	88	18	ω	ω	PROPN
app01-3965	88	19	=	=	NOUN
app01-3965	88	20	4.3	4.3	NUM
app01-3965	88	21	s−1	s−1	PROPN
app01-3965	88	22	.	.	PUNCT
app01-3965	89	1	in	in	ADP
app01-3965	89	2	figure	figure	NOUN
app01-3965	89	3	2b	2b	NOUN
app01-3965	89	4	the	the	DET
app01-3965	89	5	trace	trace	NOUN
app01-3965	89	6	of	of	ADP
app01-3965	89	7	one	one	NUM
app01-3965	89	8	individual	individual	ADJ
app01-3965	89	9	turning	turning	NOUN
app01-3965	89	10	maneuver	maneuver	NOUN
app01-3965	89	11	is	be	AUX
app01-3965	89	12	given	give	VERB
app01-3965	89	13	in	in	ADP
app01-3965	89	14	sagittal	sagittal	ADJ
app01-3965	89	15	view	view	NOUN
app01-3965	89	16	.	.	PUNCT
app01-3965	90	1	besides	besides	SCONJ
app01-3965	90	2	the	the	DET
app01-3965	90	3	reorientation	reorientation	NOUN
app01-3965	90	4	of	of	ADP
app01-3965	90	5	the	the	DET
app01-3965	90	6	body	body	NOUN
app01-3965	90	7	axis	axis	VERB
app01-3965	90	8	the	the	DET
app01-3965	90	9	trajectory	trajectory	NOUN
app01-3965	90	10	of	of	ADP
app01-3965	90	11	the	the	DET
app01-3965	90	12	5th	5th	ADJ
app01-3965	90	13	leg	leg	NOUN
app01-3965	90	14	tip	tip	NOUN
app01-3965	90	15	is	be	AUX
app01-3965	90	16	given	give	VERB
app01-3965	90	17	to	to	PART
app01-3965	90	18	show	show	VERB
app01-3965	90	19	the	the	DET
app01-3965	90	20	efficient	efficient	ADJ
app01-3965	90	21	strike	strike	NOUN
app01-3965	90	22	and	and	CCONJ
app01-3965	90	23	counterstrike	counterstrike	NOUN
app01-3965	90	24	.	.	PUNCT
app01-3965	91	1	the	the	DET
app01-3965	91	2	moving	move	VERB
app01-3965	91	3	location	location	NOUN
app01-3965	91	4	of	of	ADP
app01-3965	91	5	the	the	DET
app01-3965	91	6	com	com	NOUN
app01-3965	91	7	testifies	testify	VERB
app01-3965	91	8	the	the	DET
app01-3965	91	9	complex	complex	ADJ
app01-3965	91	10	interaction	interaction	NOUN
app01-3965	91	11	of	of	ADP
app01-3965	91	12	the	the	DET
app01-3965	91	13	acting	act	VERB
app01-3965	91	14	forces	force	NOUN
app01-3965	91	15	.	.	PUNCT
app01-3965	92	1	3.1	3.1	NUM
app01-3965	92	2	.	.	PUNCT
app01-3965	93	1	force	force	NOUN
app01-3965	93	2	calculation	calculation	NOUN
app01-3965	93	3	of	of	ADP
app01-3965	93	4	5th	5th	ADJ
app01-3965	93	5	leg	leg	NOUN
app01-3965	93	6	pair	pair	NOUN
app01-3965	93	7	by	by	ADP
app01-3965	93	8	kinematic	kinematic	ADJ
app01-3965	93	9	approach	approach	NOUN
app01-3965	93	10	and	and	CCONJ
app01-3965	93	11	piv	piv	NOUN
app01-3965	93	12	forces	force	NOUN
app01-3965	93	13	which	which	PRON
app01-3965	93	14	are	be	AUX
app01-3965	93	15	induced	induce	VERB
app01-3965	93	16	by	by	ADP
app01-3965	93	17	moving	move	VERB
app01-3965	93	18	the	the	DET
app01-3965	93	19	hind	hind	NOUN
app01-3965	93	20	leg	leg	NOUN
app01-3965	93	21	pair	pair	NOUN
app01-3965	93	22	in	in	ADP
app01-3965	93	23	phase	phase	NOUN
app01-3965	93	24	2a	2a	NUM
app01-3965	93	25	(	(	PUNCT
app01-3965	93	26	see	see	VERB
app01-3965	93	27	figure	figure	NOUN
app01-3965	93	28	3b	3b	NUM
app01-3965	93	29	)	)	PUNCT
app01-3965	93	30	have	have	VERB
app01-3965	93	31	a	a	DET
app01-3965	93	32	maximum	maximum	NOUN
app01-3965	93	33	at	at	ADP
app01-3965	93	34	33	33	NUM
app01-3965	93	35	%	%	NOUN
app01-3965	93	36	of	of	ADP
app01-3965	93	37	the	the	DET
app01-3965	93	38	stroke	stroke	NOUN
app01-3965	93	39	with	with	ADP
app01-3965	93	40	a	a	DET
app01-3965	93	41	mean	mean	ADJ
app01-3965	93	42	force	force	NOUN
app01-3965	93	43	of	of	ADP
app01-3965	93	44	0.018	0.018	NUM
app01-3965	93	45	±	±	NUM
app01-3965	93	46	0.004	0.004	NUM
app01-3965	93	47	n	n	NOUN
app01-3965	93	48	and	and	CCONJ
app01-3965	93	49	a	a	DET
app01-3965	93	50	maximum	maximum	ADJ
app01-3965	93	51	peak	peak	NOUN
app01-3965	93	52	of	of	ADP
app01-3965	93	53	0.023	0.023	NUM
app01-3965	93	54	±	±	NUM
app01-3965	93	55	0.002	0.002	NUM
app01-3965	93	56	n.	n.	NOUN
app01-3965	93	57	the	the	DET
app01-3965	93	58	total	total	ADJ
app01-3965	93	59	momentum	momentum	NOUN
app01-3965	93	60	during	during	ADP
app01-3965	93	61	phase	phase	NOUN
app01-3965	93	62	2a	2a	NUM
app01-3965	93	63	is	be	AUX
app01-3965	93	64	0.0036	0.0036	NUM
app01-3965	93	65	ns	ns	NOUN
app01-3965	93	66	.	.	PUNCT
app01-3965	94	1	for	for	ADP
app01-3965	94	2	phase	phase	NOUN
app01-3965	94	3	3a	3a	PRON
app01-3965	94	4	the	the	DET
app01-3965	94	5	maximum	maximum	NOUN
app01-3965	94	6	is	be	AUX
app01-3965	94	7	at	at	ADP
app01-3965	94	8	35	35	NUM
app01-3965	94	9	%	%	NOUN
app01-3965	94	10	of	of	ADP
app01-3965	94	11	leg	leg	NOUN
app01-3965	94	12	stroke	stroke	NOUN
app01-3965	94	13	with	with	ADP
app01-3965	94	14	a	a	DET
app01-3965	94	15	mean	mean	ADJ
app01-3965	94	16	force	force	NOUN
app01-3965	94	17	0.015	0.015	NUM
app01-3965	94	18	±	±	NUM
app01-3965	94	19	0.003	0.003	NUM
app01-3965	94	20	n	n	NOUN
app01-3965	94	21	and	and	CCONJ
app01-3965	94	22	a	a	DET
app01-3965	94	23	maximum	maximum	ADJ
app01-3965	94	24	peak	peak	NOUN
app01-3965	94	25	of	of	ADP
app01-3965	94	26	0.018	0.018	NUM
app01-3965	94	27	±	±	NUM
app01-3965	94	28	0.002	0.002	NUM
app01-3965	94	29	n.	n.	NOUN
app01-3965	94	30	figure	figure	NOUN
app01-3965	94	31	3	3	NUM
app01-3965	94	32	.	.	NOUN
app01-3965	94	33	results	result	NOUN
app01-3965	94	34	from	from	ADP
app01-3965	94	35	experiment	experiment	NOUN
app01-3965	94	36	and	and	CCONJ
app01-3965	94	37	multibodysimulation	multibodysimulation	NOUN
app01-3965	94	38	for	for	ADP
app01-3965	94	39	a	a	DET
app01-3965	94	40	:	:	PUNCT
app01-3965	94	41	body	body	NOUN
app01-3965	94	42	angle	angle	NOUN
app01-3965	94	43	and	and	CCONJ
app01-3965	94	44	b	b	NOUN
app01-3965	94	45	:	:	PUNCT
app01-3965	94	46	induced	induced	ADJ
app01-3965	94	47	forces	force	NOUN
app01-3965	94	48	.	.	PUNCT
app01-3965	95	1	experimental	experimental	ADJ
app01-3965	95	2	forces	force	NOUN
app01-3965	95	3	are	be	AUX
app01-3965	95	4	mean	mean	ADJ
app01-3965	95	5	values	value	NOUN
app01-3965	95	6	of	of	ADP
app01-3965	95	7	the	the	DET
app01-3965	95	8	force	force	NOUN
app01-3965	95	9	calculations	calculation	NOUN
app01-3965	95	10	.	.	PUNCT
app01-3965	96	1	body	body	NOUN
app01-3965	96	2	angle	angle	NOUN
app01-3965	96	3	of	of	ADP
app01-3965	96	4	experimental	experimental	ADJ
app01-3965	96	5	data	datum	NOUN
app01-3965	96	6	(	(	PUNCT
app01-3965	96	7	blue	blue	ADJ
app01-3965	96	8	rhomb	rhomb	NOUN
app01-3965	96	9	)	)	PUNCT
app01-3965	96	10	,	,	PUNCT
app01-3965	96	11	n=8	n=8	PROPN
app01-3965	96	12	and	and	CCONJ
app01-3965	96	13	multibody	multibody	ADJ
app01-3965	96	14	-	-	PUNCT
app01-3965	96	15	simulation	simulation	NOUN
app01-3965	96	16	(	(	PUNCT
app01-3965	96	17	red	red	ADJ
app01-3965	96	18	line	line	NOUN
app01-3965	96	19	)	)	PUNCT
app01-3965	96	20	are	be	AUX
app01-3965	96	21	showing	show	VERB
app01-3965	96	22	the	the	DET
app01-3965	96	23	same	same	ADJ
app01-3965	96	24	trend	trend	NOUN
app01-3965	96	25	in	in	ADP
app01-3965	96	26	time	time	NOUN
app01-3965	96	27	and	and	CCONJ
app01-3965	96	28	angle	angle	NOUN
app01-3965	96	29	.	.	PUNCT
app01-3965	97	1	the	the	DET
app01-3965	97	2	calculated	calculate	VERB
app01-3965	97	3	forces	force	NOUN
app01-3965	97	4	are	be	AUX
app01-3965	97	5	1.5	1.5	NUM
app01-3965	97	6	to	to	PART
app01-3965	97	7	2	2	NUM
app01-3965	97	8	times	time	NOUN
app01-3965	97	9	higher	high	ADJ
app01-3965	97	10	(	(	PUNCT
app01-3965	97	11	piv	piv	NOUN
app01-3965	97	12	:	:	PUNCT
app01-3965	97	13	2a	2a	NUM
app01-3965	97	14	n=9	n=9	PROPN
app01-3965	97	15	,	,	PUNCT
app01-3965	97	16	3a	3a	NUM
app01-3965	97	17	n=3	n=3	NOUN
app01-3965	97	18	,	,	PUNCT
app01-3965	97	19	kinematic	kinematic	ADJ
app01-3965	97	20	:	:	PUNCT
app01-3965	97	21	2a	2a	NUM
app01-3965	97	22	n=28	n=28	NOUN
app01-3965	97	23	,	,	PUNCT
app01-3965	97	24	3a	3a	PROPN
app01-3965	97	25	n=11	n=11	NOUN
app01-3965	97	26	)	)	PUNCT
app01-3965	97	27	than	than	ADP
app01-3965	97	28	the	the	DET
app01-3965	97	29	forces	force	NOUN
app01-3965	97	30	used	use	VERB
app01-3965	97	31	in	in	ADP
app01-3965	97	32	the	the	DET
app01-3965	97	33	simulation	simulation	NOUN
app01-3965	97	34	.	.	PUNCT
app01-3965	98	1	the	the	DET
app01-3965	98	2	piv	piv	NOUN
app01-3965	98	3	data	data	PROPN
app01-3965	98	4	shows	show	VERB
app01-3965	98	5	that	that	SCONJ
app01-3965	98	6	propulsive	propulsive	ADJ
app01-3965	98	7	forces	force	NOUN
app01-3965	98	8	were	be	AUX
app01-3965	98	9	produced	produce	VERB
app01-3965	98	10	by	by	ADP
app01-3965	98	11	the	the	DET
app01-3965	98	12	hind	hind	NOUN
app01-3965	98	13	legs	leg	NOUN
app01-3965	98	14	to	to	PART
app01-3965	98	15	initiate	initiate	VERB
app01-3965	98	16	and	and	CCONJ
app01-3965	98	17	stop	stop	VERB
app01-3965	98	18	the	the	DET
app01-3965	98	19	rotation	rotation	NOUN
app01-3965	98	20	.	.	PUNCT
app01-3965	99	1	peak	peak	NOUN
app01-3965	99	2	forces	force	NOUN
app01-3965	99	3	to	to	PART
app01-3965	99	4	initiate	initiate	VERB
app01-3965	99	5	the	the	DET
app01-3965	99	6	rotation	rotation	NOUN
app01-3965	99	7	(	(	PUNCT
app01-3965	99	8	45	45	NUM
app01-3965	99	9	%	%	NOUN
app01-3965	99	10	of	of	ADP
app01-3965	99	11	stroke	stroke	NOUN
app01-3965	99	12	cycle	cycle	NOUN
app01-3965	99	13	)	)	PUNCT
app01-3965	99	14	of	of	ADP
app01-3965	99	15	0.021	0.021	NUM
app01-3965	99	16	n	n	PROPN
app01-3965	99	17	(	(	PUNCT
app01-3965	99	18	±	±	NOUN
app01-3965	99	19	0.001	0.001	NUM
app01-3965	99	20	n	n	CCONJ
app01-3965	99	21	)	)	PUNCT
app01-3965	99	22	(	(	PUNCT
app01-3965	99	23	n=9	n=9	NOUN
app01-3965	99	24	)	)	PUNCT
app01-3965	99	25	lead	lead	VERB
app01-3965	99	26	to	to	ADP
app01-3965	99	27	a	a	DET
app01-3965	99	28	total	total	ADJ
app01-3965	99	29	momentum	momentum	NOUN
app01-3965	99	30	of	of	ADP
app01-3965	99	31	0.0021	0.0021	NUM
app01-3965	99	32	ns	ns	NUM
app01-3965	99	33	.	.	PROPN
app01-3965	99	34	3.2	3.2	NUM
app01-3965	99	35	.	.	PUNCT
app01-3965	100	1	simulation	simulation	NOUN
app01-3965	100	2	the	the	DET
app01-3965	100	3	simulation	simulation	NOUN
app01-3965	100	4	shows	show	VERB
app01-3965	100	5	that	that	SCONJ
app01-3965	100	6	a	a	DET
app01-3965	100	7	constant	constant	ADJ
app01-3965	100	8	force	force	NOUN
app01-3965	100	9	of	of	ADP
app01-3965	100	10	0.0045	0.0045	NUM
app01-3965	100	11	n	n	CCONJ
app01-3965	100	12	acting	act	VERB
app01-3965	100	13	on	on	ADP
app01-3965	100	14	each	each	DET
app01-3965	100	15	hind	hind	NOUN
app01-3965	100	16	leg	leg	NOUN
app01-3965	100	17	respectively	respectively	ADV
app01-3965	100	18	for	for	ADP
app01-3965	100	19	0.2	0.2	NUM
app01-3965	100	20	s	s	NOUN
app01-3965	100	21	leads	lead	NOUN
app01-3965	100	22	to	to	ADP
app01-3965	100	23	a	a	DET
app01-3965	100	24	successful	successful	ADJ
app01-3965	100	25	rotation	rotation	NOUN
app01-3965	100	26	within	within	ADP
app01-3965	100	27	time	time	NOUN
app01-3965	100	28	.	.	PUNCT
app01-3965	101	1	this	this	PRON
app01-3965	101	2	means	mean	VERB
app01-3965	101	3	that	that	SCONJ
app01-3965	101	4	the	the	DET
app01-3965	101	5	total	total	ADJ
app01-3965	101	6	momentum	momentum	NOUN
app01-3965	101	7	of	of	ADP
app01-3965	101	8	0.0018	0.0018	NUM
app01-3965	101	9	ns	ns	NUM
app01-3965	101	10	causes	cause	VERB
app01-3965	101	11	a	a	DET
app01-3965	101	12	constant	constant	ADJ
app01-3965	101	13	angular	angular	ADJ
app01-3965	101	14	velocity	velocity	NOUN
app01-3965	101	15	of	of	ADP
app01-3965	101	16	3.99	3.99	NUM
app01-3965	101	17	s−1	s−1	PROPN
app01-3965	101	18	in	in	ADP
app01-3965	101	19	the	the	DET
app01-3965	101	20	middle	middle	ADJ
app01-3965	101	21	part	part	NOUN
app01-3965	101	22	of	of	ADP
app01-3965	101	23	the	the	DET
app01-3965	101	24	turning	turning	NOUN
app01-3965	101	25	maneuver	maneuver	NOUN
app01-3965	101	26	,	,	PUNCT
app01-3965	101	27	part	part	NOUN
app01-3965	101	28	2b	2b	NUM
app01-3965	101	29	in	in	ADP
app01-3965	101	30	figure	figure	NOUN
app01-3965	101	31	3	3	NUM
app01-3965	101	32	.	.	NOUN
app01-3965	101	33	3.3	3.3	NUM
app01-3965	101	34	.	.	PUNCT
app01-3965	102	1	technical	technical	ADJ
app01-3965	102	2	model	model	NOUN
app01-3965	102	3	the	the	DET
app01-3965	102	4	experiments	experiment	NOUN
app01-3965	102	5	confirmed	confirm	VERB
app01-3965	102	6	the	the	DET
app01-3965	102	7	assumption	assumption	NOUN
app01-3965	102	8	,	,	PUNCT
app01-3965	102	9	that	that	SCONJ
app01-3965	102	10	a	a	DET
app01-3965	102	11	stroke	stroke	NOUN
app01-3965	102	12	with	with	ADP
app01-3965	102	13	two	two	NUM
app01-3965	102	14	legs	leg	NOUN
app01-3965	102	15	is	be	AUX
app01-3965	102	16	sufficient	sufficient	ADJ
app01-3965	102	17	for	for	ADP
app01-3965	102	18	a	a	DET
app01-3965	102	19	180	180	NUM
app01-3965	102	20	◦	◦	NOUN
app01-3965	102	21	-turn	-turn	NOUN
app01-3965	102	22	(	(	PUNCT
app01-3965	102	23	see	see	VERB
app01-3965	102	24	figure	figure	NOUN
app01-3965	102	25	4b	4b	PROPN
app01-3965	102	26	)	)	PUNCT
app01-3965	102	27	.	.	PUNCT
app01-3965	103	1	the	the	DET
app01-3965	103	2	correspondent	correspondent	NOUN
app01-3965	103	3	kinematic	kinematic	ADJ
app01-3965	103	4	parameters	parameter	NOUN
app01-3965	103	5	are	be	AUX
app01-3965	103	6	θ	θ	NOUN
app01-3965	103	7	=	=	SYM
app01-3965	103	8	2.44	2.44	NUM
app01-3965	103	9	and	and	CCONJ
app01-3965	103	10	ω	ω	NUM
app01-3965	103	11	=	=	SYM
app01-3965	103	12	4.76	4.76	NUM
app01-3965	103	13	s−1	s−1	PROPN
app01-3965	103	14	.	.	PUNCT
app01-3965	104	1	the	the	DET
app01-3965	104	2	complete	complete	ADJ
app01-3965	104	3	turn	turn	NOUN
app01-3965	104	4	was	be	AUX
app01-3965	104	5	herewith	herewith	NOUN
app01-3965	104	6	possible	possible	ADJ
app01-3965	104	7	within	within	ADP
app01-3965	104	8	1.00	1.00	NUM
app01-3965	104	9	±	±	NUM
app01-3965	104	10	0.12	0.12	NUM
app01-3965	104	11	s	s	PART
app01-3965	104	12	(	(	PUNCT
app01-3965	104	13	n	n	NOUN
app01-3965	104	14	=	=	SYM
app01-3965	104	15	6	6	NUM
app01-3965	104	16	)	)	PUNCT
app01-3965	104	17	.	.	PUNCT
app01-3965	105	1	an	an	DET
app01-3965	105	2	exemplary	exemplary	ADJ
app01-3965	105	3	run	run	NOUN
app01-3965	105	4	is	be	AUX
app01-3965	105	5	shown	show	VERB
app01-3965	105	6	in	in	ADP
app01-3965	105	7	figure	figure	NOUN
app01-3965	105	8	4b	4b	PROPN
app01-3965	105	9	.	.	PUNCT
app01-3965	106	1	the	the	DET
app01-3965	106	2	turn	turn	NOUN
app01-3965	106	3	is	be	AUX
app01-3965	106	4	divisible	divisible	ADJ
app01-3965	106	5	into	into	ADP
app01-3965	106	6	the	the	DET
app01-3965	106	7	same	same	ADJ
app01-3965	106	8	five	five	NUM
app01-3965	106	9	phases	phase	NOUN
app01-3965	106	10	like	like	ADP
app01-3965	106	11	e.	e.	PROPN
app01-3965	106	12	sinensis	sinensis	NOUN
app01-3965	106	13	.	.	PUNCT
app01-3965	107	1	during	during	ADP
app01-3965	107	2	the	the	DET
app01-3965	107	3	initializing	initializing	NOUN
app01-3965	107	4	(	(	PUNCT
app01-3965	107	5	1	1	X
app01-3965	107	6	)	)	PUNCT
app01-3965	107	7	the	the	DET
app01-3965	107	8	chassis	chassis	NOUN
app01-3965	107	9	is	be	AUX
app01-3965	107	10	descending	descend	VERB
app01-3965	107	11	in	in	ADP
app01-3965	107	12	a	a	DET
app01-3965	107	13	supine	supine	ADJ
app01-3965	107	14	position	position	NOUN
app01-3965	107	15	(	(	PUNCT
app01-3965	107	16	till	till	SCONJ
app01-3965	107	17	i/	i/	NOUN
app01-3965	107	18	2	2	NUM
app01-3965	107	19	)	)	PUNCT
app01-3965	107	20	.	.	PUNCT
app01-3965	108	1	the	the	DET
app01-3965	108	2	striking	strike	VERB
app01-3965	108	3	phase	phase	NOUN
app01-3965	108	4	(	(	PUNCT
app01-3965	108	5	2a	2a	NUM
app01-3965	108	6	)	)	PUNCT
app01-3965	108	7	includes	include	VERB
app01-3965	108	8	the	the	DET
app01-3965	108	9	active	active	ADJ
app01-3965	108	10	leg	leg	NOUN
app01-3965	108	11	movement	movement	NOUN
app01-3965	108	12	and	and	CCONJ
app01-3965	108	13	thereby	thereby	ADV
app01-3965	108	14	the	the	DET
app01-3965	108	15	acceleration	acceleration	NOUN
app01-3965	108	16	(	(	PUNCT
app01-3965	108	17	i	i	NOUN
app01-3965	108	18	-	-	PUNCT
app01-3965	108	19	ii/	ii/	VERB
app01-3965	108	20	2	2	NUM
app01-3965	108	21	-	-	SYM
app01-3965	108	22	3	3	NUM
app01-3965	108	23	)	)	PUNCT
app01-3965	108	24	.	.	PUNCT
app01-3965	109	1	the	the	DET
app01-3965	109	2	following	follow	VERB
app01-3965	109	3	gliding	gliding	NOUN
app01-3965	109	4	phase	phase	NOUN
app01-3965	109	5	(	(	PUNCT
app01-3965	109	6	2b	2b	NOUN
app01-3965	109	7	)	)	PUNCT
app01-3965	109	8	describes	describe	VERB
app01-3965	109	9	the	the	DET
app01-3965	109	10	passive	passive	ADJ
app01-3965	109	11	turning	turning	NOUN
app01-3965	109	12	based	base	VERB
app01-3965	109	13	on	on	ADP
app01-3965	109	14	inertia	inertia	NOUN
app01-3965	109	15	(	(	PUNCT
app01-3965	109	16	ii	ii	NOUN
app01-3965	109	17	-	-	PUNCT
app01-3965	109	18	iii/	iii/	VERB
app01-3965	109	19	55	55	NUM
app01-3965	109	20	t.	t.	NOUN
app01-3965	109	21	riphaus	riphaus	NOUN
app01-3965	109	22	,	,	PUNCT
app01-3965	109	23	f.	f.	PROPN
app01-3965	109	24	hoffmann	hoffmann	PROPN
app01-3965	109	25	,	,	PUNCT
app01-3965	109	26	s.	s.	PROPN
app01-3965	109	27	labisch	labisch	PROPN
app01-3965	109	28	acta	acta	PROPN
app01-3965	109	29	polytechnica	polytechnica	PROPN
app01-3965	109	30	ctu	ctu	PROPN
app01-3965	109	31	proceedings	proceeding	NOUN
app01-3965	109	32	figure	figure	VERB
app01-3965	109	33	4	4	NUM
app01-3965	109	34	.	.	PUNCT
app01-3965	110	1	turning	turn	VERB
app01-3965	110	2	movement	movement	NOUN
app01-3965	110	3	of	of	ADP
app01-3965	110	4	o	o	NOUN
app01-3965	110	5	-	-	NOUN
app01-3965	110	6	typus	typus	NOUN
app01-3965	110	7	.	.	PUNCT
app01-3965	111	1	b.	b.	PROPN
app01-3965	111	2	observed	observe	VERB
app01-3965	111	3	turning	turn	VERB
app01-3965	111	4	behavior	behavior	NOUN
app01-3965	111	5	with	with	ADP
app01-3965	111	6	five	five	NUM
app01-3965	111	7	characteristic	characteristic	ADJ
app01-3965	111	8	phases	phase	NOUN
app01-3965	111	9	(	(	PUNCT
app01-3965	111	10	initializing	initializing	NOUN
app01-3965	111	11	pi=̂1	pi=̂1	NOUN
app01-3965	111	12	,	,	PUNCT
app01-3965	111	13	striking	striking	ADJ
app01-3965	111	14	ps=̂2a	ps=̂2a	NOUN
app01-3965	111	15	,	,	PUNCT
app01-3965	111	16	gliding	glide	VERB
app01-3965	111	17	pg=̂2b	pg=̂2b	NOUN
app01-3965	111	18	,	,	PUNCT
app01-3965	111	19	counterstriking	counterstrike	VERB
app01-3965	111	20	pc=̂3a	pc=̂3a	NOUN
app01-3965	111	21	,	,	PUNCT
app01-3965	111	22	descending	descend	VERB
app01-3965	111	23	pd=̂3b	pd=̂3b	ADJ
app01-3965	111	24	)	)	PUNCT
app01-3965	111	25	;	;	PUNCT
app01-3965	111	26	ø∆t	ø∆t	NOUN
app01-3965	111	27	=	=	SYM
app01-3965	111	28	0,36	0,36	PUNCT
app01-3965	111	29	s.	s.	PROPN
app01-3965	111	30	a.	a.	PROPN
app01-3965	111	31	course	course	NOUN
app01-3965	111	32	of	of	ADP
app01-3965	111	33	the	the	DET
app01-3965	111	34	body	body	NOUN
app01-3965	111	35	axis	axis	NOUN
app01-3965	111	36	and	and	CCONJ
app01-3965	111	37	trajectory	trajectory	NOUN
app01-3965	111	38	of	of	ADP
app01-3965	111	39	the	the	DET
app01-3965	111	40	left	left	ADJ
app01-3965	111	41	leg	leg	NOUN
app01-3965	111	42	’s	’s	PART
app01-3965	111	43	tip	tip	NOUN
app01-3965	111	44	.	.	PUNCT
app01-3965	112	1	leg	leg	NOUN
app01-3965	112	2	positions	position	NOUN
app01-3965	112	3	at	at	ADP
app01-3965	112	4	the	the	DET
app01-3965	112	5	end	end	NOUN
app01-3965	112	6	of	of	ADP
app01-3965	112	7	pi	pi	NOUN
app01-3965	112	8	(	(	PUNCT
app01-3965	112	9	i	i	NOUN
app01-3965	112	10	)	)	PUNCT
app01-3965	112	11	,	,	PUNCT
app01-3965	112	12	end	end	NOUN
app01-3965	112	13	of	of	ADP
app01-3965	112	14	ps	ps	PROPN
app01-3965	112	15	(	(	PUNCT
app01-3965	112	16	ii	ii	PROPN
app01-3965	112	17	)	)	PUNCT
app01-3965	112	18	and	and	CCONJ
app01-3965	112	19	the	the	DET
app01-3965	112	20	target	target	NOUN
app01-3965	112	21	position	position	NOUN
app01-3965	112	22	(	(	PUNCT
app01-3965	112	23	iii	iii	NOUN
app01-3965	112	24	)	)	PUNCT
app01-3965	112	25	in	in	ADP
app01-3965	112	26	grey	grey	PROPN
app01-3965	112	27	.	.	PUNCT
app01-3965	113	1	iv	iv	NUM
app01-3965	113	2	shows	show	VERB
app01-3965	113	3	the	the	DET
app01-3965	113	4	maximal	maximal	ADJ
app01-3965	113	5	overwinding	overwinding	NOUN
app01-3965	113	6	;	;	PUNCT
app01-3965	113	7	∆t	∆t	PROPN
app01-3965	113	8	=	=	SYM
app01-3965	113	9	0,2	0,2	NUM
app01-3965	113	10	s	s	NOUN
app01-3965	113	11	(	(	PUNCT
app01-3965	113	12	0,1	0,1	NUM
app01-3965	113	13	s	s	X
app01-3965	113	14	during	during	ADP
app01-3965	113	15	passive	passive	ADJ
app01-3965	113	16	turning	turning	NOUN
app01-3965	113	17	(	(	PUNCT
app01-3965	113	18	ii	ii	NOUN
app01-3965	113	19	-	-	PUNCT
app01-3965	113	20	iii	iii	NOUN
app01-3965	113	21	)	)	PUNCT
app01-3965	113	22	)	)	PUNCT
app01-3965	113	23	.	.	PUNCT
app01-3965	114	1	c.	c.	PROPN
app01-3965	114	2	angle	angle	NOUN
app01-3965	114	3	of	of	ADP
app01-3965	114	4	attack	attack	NOUN
app01-3965	114	5	(	(	PUNCT
app01-3965	114	6	green	green	ADJ
app01-3965	114	7	)	)	PUNCT
app01-3965	114	8	and	and	CCONJ
app01-3965	114	9	angular	angular	ADJ
app01-3965	114	10	velocity	velocity	NOUN
app01-3965	114	11	(	(	PUNCT
app01-3965	114	12	red	red	NOUN
app01-3965	114	13	)	)	PUNCT
app01-3965	114	14	of	of	ADP
app01-3965	114	15	three	three	NUM
app01-3965	114	16	runs	run	NOUN
app01-3965	114	17	.	.	PUNCT
app01-3965	115	1	3	3	NUM
app01-3965	115	2	-	-	SYM
app01-3965	115	3	5	5	NUM
app01-3965	115	4	)	)	PUNCT
app01-3965	115	5	.	.	PUNCT
app01-3965	116	1	when	when	SCONJ
app01-3965	116	2	the	the	DET
app01-3965	116	3	horizontal	horizontal	ADJ
app01-3965	116	4	target	target	NOUN
app01-3965	116	5	position	position	NOUN
app01-3965	116	6	is	be	AUX
app01-3965	116	7	reached	reach	VERB
app01-3965	116	8	,	,	PUNCT
app01-3965	116	9	the	the	DET
app01-3965	116	10	counterstriking	counterstrike	VERB
app01-3965	116	11	phase	phase	NOUN
app01-3965	116	12	(	(	PUNCT
app01-3965	116	13	3a	3a	NUM
app01-3965	116	14	)	)	PUNCT
app01-3965	116	15	starts	start	VERB
app01-3965	116	16	with	with	ADP
app01-3965	116	17	a	a	DET
app01-3965	116	18	counter	counter	ADJ
app01-3965	116	19	movement	movement	NOUN
app01-3965	116	20	of	of	ADP
app01-3965	116	21	the	the	DET
app01-3965	116	22	legs	leg	NOUN
app01-3965	116	23	,	,	PUNCT
app01-3965	116	24	to	to	PART
app01-3965	116	25	stop	stop	VERB
app01-3965	116	26	the	the	DET
app01-3965	116	27	rotation	rotation	NOUN
app01-3965	116	28	(	(	PUNCT
app01-3965	116	29	iii	iii	NOUN
app01-3965	116	30	-	-	ADJ
app01-3965	116	31	iv/	iv/	NOUN
app01-3965	116	32	5	5	NUM
app01-3965	116	33	-	-	SYM
app01-3965	116	34	6	6	NUM
app01-3965	116	35	)	)	PUNCT
app01-3965	116	36	.	.	PUNCT
app01-3965	117	1	thereafter	thereafter	ADV
app01-3965	117	2	the	the	DET
app01-3965	117	3	chassis	chassis	NOUN
app01-3965	117	4	descends	descend	VERB
app01-3965	117	5	(	(	PUNCT
app01-3965	117	6	3b	3b	NUM
app01-3965	117	7	)	)	PUNCT
app01-3965	117	8	in	in	ADP
app01-3965	117	9	a	a	DET
app01-3965	117	10	stable	stable	ADJ
app01-3965	117	11	up	up	ADP
app01-3965	117	12	-	-	PUNCT
app01-3965	117	13	right	right	NOUN
app01-3965	117	14	position	position	NOUN
app01-3965	117	15	.	.	PUNCT
app01-3965	118	1	additionally	additionally	ADV
app01-3965	118	2	figure	figure	VERB
app01-3965	118	3	4a	4a	NOUN
app01-3965	118	4	shows	show	VERB
app01-3965	118	5	the	the	DET
app01-3965	118	6	trajectory	trajectory	NOUN
app01-3965	118	7	of	of	ADP
app01-3965	118	8	one	one	NUM
app01-3965	118	9	striking	striking	ADJ
app01-3965	118	10	leg	leg	NOUN
app01-3965	118	11	.	.	PUNCT
app01-3965	119	1	point	point	NOUN
app01-3965	119	2	i	i	PRON
app01-3965	119	3	poses	pose	VERB
app01-3965	119	4	the	the	DET
app01-3965	119	5	initiation	initiation	NOUN
app01-3965	119	6	of	of	ADP
app01-3965	119	7	the	the	DET
app01-3965	119	8	stroke	stroke	NOUN
app01-3965	119	9	,	,	PUNCT
app01-3965	119	10	point	point	VERB
app01-3965	119	11	ii	ii	PROPN
app01-3965	119	12	the	the	DET
app01-3965	119	13	end	end	NOUN
app01-3965	119	14	of	of	ADP
app01-3965	119	15	the	the	DET
app01-3965	119	16	stroke	stroke	NOUN
app01-3965	119	17	,	,	PUNCT
app01-3965	119	18	point	point	VERB
app01-3965	119	19	iii	iii	NUM
app01-3965	119	20	the	the	DET
app01-3965	119	21	end	end	NOUN
app01-3965	119	22	of	of	ADP
app01-3965	119	23	the	the	DET
app01-3965	119	24	180	180	NUM
app01-3965	119	25	◦	◦	NOUN
app01-3965	119	26	-turn	-turn	NOUN
app01-3965	119	27	and	and	CCONJ
app01-3965	119	28	thereby	thereby	ADV
app01-3965	119	29	the	the	DET
app01-3965	119	30	initiation	initiation	NOUN
app01-3965	119	31	of	of	ADP
app01-3965	119	32	the	the	DET
app01-3965	119	33	counterstrike	counterstrike	NOUN
app01-3965	119	34	and	and	CCONJ
app01-3965	119	35	point	point	NOUN
app01-3965	119	36	iv	iv	NUM
app01-3965	119	37	the	the	DET
app01-3965	119	38	eventual	eventual	ADJ
app01-3965	119	39	slight	slight	ADJ
app01-3965	119	40	overwinding	overwinding	NOUN
app01-3965	119	41	.	.	PUNCT
app01-3965	120	1	the	the	DET
app01-3965	120	2	graphs	graph	NOUN
app01-3965	120	3	of	of	ADP
app01-3965	120	4	figure	figure	NOUN
app01-3965	120	5	4c	4c	NOUN
app01-3965	120	6	are	be	AUX
app01-3965	120	7	describing	describe	VERB
app01-3965	120	8	the	the	DET
app01-3965	120	9	shifting	shifting	NOUN
app01-3965	120	10	of	of	ADP
app01-3965	120	11	the	the	DET
app01-3965	120	12	angle	angle	NOUN
app01-3965	120	13	of	of	ADP
app01-3965	120	14	attack	attack	NOUN
app01-3965	120	15	and	and	CCONJ
app01-3965	120	16	its	its	PRON
app01-3965	120	17	angular	angular	ADJ
app01-3965	120	18	velocity	velocity	NOUN
app01-3965	120	19	.	.	PUNCT
app01-3965	121	1	the	the	DET
app01-3965	121	2	same	same	ADJ
app01-3965	121	3	phases	phase	NOUN
app01-3965	121	4	can	can	AUX
app01-3965	121	5	be	be	AUX
app01-3965	121	6	located	locate	VERB
app01-3965	121	7	here	here	ADV
app01-3965	121	8	.	.	PUNCT
app01-3965	122	1	the	the	DET
app01-3965	122	2	stroke	stroke	NOUN
app01-3965	122	3	starts	start	VERB
app01-3965	122	4	at	at	ADP
app01-3965	122	5	2000	2000	NUM
app01-3965	122	6	ms	ms	NOUN
app01-3965	122	7	and	and	CCONJ
app01-3965	122	8	leads	lead	VERB
app01-3965	122	9	over	over	ADP
app01-3965	122	10	from	from	ADP
app01-3965	122	11	phase	phase	NOUN
app01-3965	122	12	1	1	NUM
app01-3965	122	13	to	to	ADP
app01-3965	122	14	2a	2a	NUM
app01-3965	122	15	.	.	PUNCT
app01-3965	123	1	the	the	DET
app01-3965	123	2	maximal	maximal	ADJ
app01-3965	123	3	angular	angular	ADJ
app01-3965	123	4	velocity	velocity	NOUN
app01-3965	123	5	of	of	ADP
app01-3965	123	6	4.06	4.06	NUM
app01-3965	123	7	s−1	s−1	PROPN
app01-3965	123	8	is	be	AUX
app01-3965	123	9	reached	reach	VERB
app01-3965	123	10	at	at	ADP
app01-3965	123	11	the	the	DET
app01-3965	123	12	end	end	NOUN
app01-3965	123	13	of	of	ADP
app01-3965	123	14	2a	2a	NUM
app01-3965	123	15	.	.	PUNCT
app01-3965	124	1	subsequently	subsequently	ADV
app01-3965	124	2	ω	ω	X
app01-3965	124	3	starts	start	VERB
app01-3965	124	4	decreasing	decrease	VERB
app01-3965	124	5	within	within	ADP
app01-3965	124	6	phase	phase	NOUN
app01-3965	124	7	2b	2b	NOUN
app01-3965	124	8	.	.	PUNCT
app01-3965	125	1	after	after	ADP
app01-3965	125	2	approximately	approximately	ADV
app01-3965	125	3	1150	1150	NUM
app01-3965	125	4	ms	ms	NOUN
app01-3965	125	5	the	the	DET
app01-3965	125	6	turn	turn	NOUN
app01-3965	125	7	is	be	AUX
app01-3965	125	8	completed	complete	VERB
app01-3965	125	9	and	and	CCONJ
app01-3965	125	10	results	result	NOUN
app01-3965	125	11	in	in	ADP
app01-3965	125	12	phase	phase	NOUN
app01-3965	125	13	3a	3a	NUM
app01-3965	125	14	,	,	PUNCT
app01-3965	125	15	which	which	PRON
app01-3965	125	16	prevents	prevent	VERB
app01-3965	125	17	overwinding	overwinde	VERB
app01-3965	125	18	.	.	PUNCT
app01-3965	126	1	afterwards	afterwards	ADV
app01-3965	126	2	the	the	DET
app01-3965	126	3	body	body	NOUN
app01-3965	126	4	descends	descend	VERB
app01-3965	126	5	stable	stable	ADJ
app01-3965	126	6	with	with	ADP
app01-3965	126	7	minor	minor	ADJ
app01-3965	126	8	wobbling	wobbling	NOUN
app01-3965	126	9	.	.	PUNCT
app01-3965	127	1	the	the	DET
app01-3965	127	2	force	force	NOUN
app01-3965	127	3	which	which	PRON
app01-3965	127	4	is	be	AUX
app01-3965	127	5	induced	induce	VERB
app01-3965	127	6	by	by	ADP
app01-3965	127	7	the	the	DET
app01-3965	127	8	moving	move	VERB
app01-3965	127	9	leg	leg	NOUN
app01-3965	127	10	pair	pair	NOUN
app01-3965	127	11	in	in	ADP
app01-3965	127	12	phase	phase	NOUN
app01-3965	127	13	2a	2a	NUM
app01-3965	127	14	has	have	VERB
app01-3965	127	15	a	a	DET
app01-3965	127	16	mean	mean	ADJ
app01-3965	127	17	value	value	NOUN
app01-3965	127	18	of	of	ADP
app01-3965	127	19	0.0175	0.0175	NUM
app01-3965	127	20	n.	n.	NOUN
app01-3965	127	21	this	this	DET
app01-3965	127	22	propulsive	propulsive	ADJ
app01-3965	127	23	force	force	NOUN
app01-3965	127	24	is	be	AUX
app01-3965	127	25	acting	act	VERB
app01-3965	127	26	over	over	ADP
app01-3965	127	27	0.51	0.51	NUM
app01-3965	127	28	s	s	NOUN
app01-3965	127	29	,	,	PUNCT
app01-3965	127	30	which	which	PRON
app01-3965	127	31	results	result	VERB
app01-3965	127	32	in	in	ADP
app01-3965	127	33	a	a	DET
app01-3965	127	34	total	total	ADJ
app01-3965	127	35	generated	generate	VERB
app01-3965	127	36	momentum	momentum	NOUN
app01-3965	127	37	of	of	ADP
app01-3965	127	38	0.00898	0.00898	NUM
app01-3965	127	39	ns	ns	PROPN
app01-3965	127	40	.	.	PROPN
app01-3965	127	41	figure	figure	NOUN
app01-3965	127	42	5	5	NUM
app01-3965	127	43	.	.	PUNCT
app01-3965	127	44	comparison	comparison	NOUN
app01-3965	127	45	of	of	ADP
app01-3965	127	46	characteristic	characteristic	ADJ
app01-3965	127	47	turning	turning	NOUN
app01-3965	127	48	phases	phase	NOUN
app01-3965	127	49	of	of	ADP
app01-3965	127	50	(	(	PUNCT
app01-3965	127	51	a	a	PRON
app01-3965	127	52	)	)	PUNCT
app01-3965	127	53	e.	e.	PROPN
app01-3965	127	54	sinensis	sinensis	NOUN
app01-3965	127	55	,	,	PUNCT
app01-3965	127	56	(	(	PUNCT
app01-3965	127	57	b	b	X
app01-3965	127	58	)	)	PUNCT
app01-3965	127	59	o	o	NOUN
app01-3965	127	60	-	-	NOUN
app01-3965	127	61	typus	typus	NOUN
app01-3965	127	62	and	and	CCONJ
app01-3965	127	63	(	(	PUNCT
app01-3965	127	64	c	c	X
app01-3965	127	65	)	)	PUNCT
app01-3965	127	66	the	the	DET
app01-3965	127	67	simulated	simulated	ADJ
app01-3965	127	68	model	model	NOUN
app01-3965	127	69	.	.	PUNCT
app01-3965	128	1	phases	phase	NOUN
app01-3965	128	2	:	:	PUNCT
app01-3965	128	3	1	1	NUM
app01-3965	128	4	(	(	PUNCT
app01-3965	128	5	yellow	yellow	NOUN
app01-3965	128	6	)	)	PUNCT
app01-3965	128	7	,	,	PUNCT
app01-3965	128	8	2a	2a	NUM
app01-3965	128	9	(	(	PUNCT
app01-3965	128	10	blue	blue	ADJ
app01-3965	128	11	)	)	PUNCT
app01-3965	128	12	,	,	PUNCT
app01-3965	128	13	2b	2b	NUM
app01-3965	128	14	(	(	PUNCT
app01-3965	128	15	green	green	NOUN
app01-3965	128	16	)	)	PUNCT
app01-3965	128	17	,	,	PUNCT
app01-3965	128	18	3a	3a	NUM
app01-3965	128	19	(	(	PUNCT
app01-3965	128	20	orange	orange	PROPN
app01-3965	128	21	)	)	PUNCT
app01-3965	128	22	and	and	CCONJ
app01-3965	128	23	3b	3b	NUM
app01-3965	128	24	(	(	PUNCT
app01-3965	128	25	grey	grey	PROPN
app01-3965	128	26	)	)	PUNCT
app01-3965	128	27	.	.	PUNCT
app01-3965	129	1	4	4	X
app01-3965	129	2	.	.	X
app01-3965	129	3	conclusions	conclusion	NOUN
app01-3965	129	4	4.1	4.1	NUM
app01-3965	129	5	.	.	PUNCT
app01-3965	130	1	comparison	comparison	NOUN
app01-3965	130	2	of	of	ADP
app01-3965	130	3	e.	e.	PROPN
app01-3965	130	4	sinensis	sinensis	NOUN
app01-3965	130	5	with	with	ADP
app01-3965	130	6	its	its	PRON
app01-3965	130	7	models	model	NOUN
app01-3965	130	8	a	a	DET
app01-3965	130	9	qualitative	qualitative	ADJ
app01-3965	130	10	comparison	comparison	NOUN
app01-3965	130	11	of	of	ADP
app01-3965	130	12	the	the	DET
app01-3965	130	13	righting	right	VERB
app01-3965	130	14	behavior	behavior	NOUN
app01-3965	130	15	of	of	ADP
app01-3965	130	16	e.	e.	PROPN
app01-3965	130	17	sinensis	sinensis	NOUN
app01-3965	130	18	with	with	ADP
app01-3965	130	19	the	the	DET
app01-3965	130	20	turning	turn	VERB
app01-3965	130	21	characteristics	characteristic	NOUN
app01-3965	130	22	of	of	ADP
app01-3965	130	23	the	the	DET
app01-3965	130	24	adapted	adapt	VERB
app01-3965	130	25	robot	robot	NOUN
app01-3965	130	26	and	and	CCONJ
app01-3965	130	27	the	the	DET
app01-3965	130	28	multibody	multibody	ADJ
app01-3965	130	29	simulation	simulation	NOUN
app01-3965	130	30	is	be	AUX
app01-3965	130	31	shown	show	VERB
app01-3965	130	32	in	in	ADP
app01-3965	130	33	figure	figure	NOUN
app01-3965	130	34	5	5	NUM
app01-3965	130	35	.	.	PUNCT
app01-3965	131	1	o	o	NOUN
app01-3965	131	2	-	-	PUNCT
app01-3965	131	3	typus	typus	ADJ
app01-3965	131	4	shows	show	NOUN
app01-3965	131	5	like	like	ADP
app01-3965	131	6	the	the	DET
app01-3965	131	7	biological	biological	ADJ
app01-3965	131	8	model	model	NOUN
app01-3965	131	9	a	a	DET
app01-3965	131	10	complete	complete	ADJ
app01-3965	131	11	rotation	rotation	NOUN
app01-3965	131	12	after	after	ADP
app01-3965	131	13	a	a	DET
app01-3965	131	14	single	single	ADJ
app01-3965	131	15	stroke	stroke	NOUN
app01-3965	131	16	.	.	PUNCT
app01-3965	132	1	its	its	PRON
app01-3965	132	2	rotation	rotation	NOUN
app01-3965	132	3	could	could	AUX
app01-3965	132	4	be	be	AUX
app01-3965	132	5	divided	divide	VERB
app01-3965	132	6	into	into	ADP
app01-3965	132	7	the	the	DET
app01-3965	132	8	exact	exact	ADJ
app01-3965	132	9	same	same	ADJ
app01-3965	132	10	phases	phase	NOUN
app01-3965	132	11	like	like	ADP
app01-3965	132	12	e.	e.	PROPN
app01-3965	132	13	sinensis	sinensis	NOUN
app01-3965	132	14	.	.	PUNCT
app01-3965	133	1	the	the	DET
app01-3965	133	2	correspondence	correspondence	NOUN
app01-3965	133	3	can	can	AUX
app01-3965	133	4	be	be	AUX
app01-3965	133	5	seen	see	VERB
app01-3965	133	6	by	by	ADP
app01-3965	133	7	comparing	compare	VERB
app01-3965	133	8	the	the	DET
app01-3965	133	9	phases	phase	NOUN
app01-3965	133	10	.	.	PUNCT
app01-3965	134	1	the	the	DET
app01-3965	134	2	duration	duration	NOUN
app01-3965	134	3	of	of	ADP
app01-3965	134	4	some	some	DET
app01-3965	134	5	phases	phase	NOUN
app01-3965	134	6	are	be	AUX
app01-3965	134	7	partially	partially	ADV
app01-3965	134	8	varying	vary	VERB
app01-3965	134	9	.	.	PUNCT
app01-3965	135	1	a	a	DET
app01-3965	135	2	considerable	considerable	ADJ
app01-3965	135	3	difference	difference	NOUN
app01-3965	135	4	between	between	ADP
app01-3965	135	5	a	a	PRON
app01-3965	135	6	and	and	CCONJ
app01-3965	135	7	b	b	NOUN
app01-3965	135	8	can	can	AUX
app01-3965	135	9	be	be	AUX
app01-3965	135	10	seen	see	VERB
app01-3965	135	11	within	within	ADP
app01-3965	135	12	phase	phase	NOUN
app01-3965	135	13	2b	2b	NOUN
app01-3965	135	14	.	.	PUNCT
app01-3965	136	1	according	accord	VERB
app01-3965	136	2	to	to	ADP
app01-3965	136	3	this	this	PRON
app01-3965	136	4	,	,	PUNCT
app01-3965	136	5	the	the	DET
app01-3965	136	6	larger	large	ADJ
app01-3965	136	7	o	o	NOUN
app01-3965	136	8	-	-	ADJ
app01-3965	136	9	typus	typus	NOUN
app01-3965	136	10	needs	need	NOUN
app01-3965	136	11	significantly	significantly	ADV
app01-3965	136	12	more	more	ADJ
app01-3965	136	13	time	time	NOUN
app01-3965	136	14	to	to	PART
app01-3965	136	15	complete	complete	VERB
app01-3965	136	16	the	the	DET
app01-3965	136	17	passive	passive	ADJ
app01-3965	136	18	turn	turn	NOUN
app01-3965	136	19	.	.	PUNCT
app01-3965	137	1	a	a	DET
app01-3965	137	2	full	full	ADJ
app01-3965	137	3	comparison	comparison	NOUN
app01-3965	137	4	of	of	ADP
app01-3965	137	5	the	the	DET
app01-3965	137	6	designed	design	VERB
app01-3965	137	7	and	and	CCONJ
app01-3965	137	8	measured	measured	ADJ
app01-3965	137	9	parameters	parameter	NOUN
app01-3965	137	10	is	be	AUX
app01-3965	137	11	shown	show	VERB
app01-3965	137	12	in	in	ADP
app01-3965	137	13	table	table	NOUN
app01-3965	137	14	1	1	NUM
app01-3965	137	15	.	.	PUNCT
app01-3965	137	16	while	while	SCONJ
app01-3965	137	17	the	the	DET
app01-3965	137	18	numerical	numerical	ADJ
app01-3965	137	19	model	model	NOUN
app01-3965	137	20	could	could	AUX
app01-3965	137	21	be	be	AUX
app01-3965	137	22	simulated	simulate	VERB
app01-3965	137	23	in	in	ADP
app01-3965	137	24	the	the	DET
app01-3965	137	25	original	original	ADJ
app01-3965	137	26	scale	scale	NOUN
app01-3965	137	27	,	,	PUNCT
app01-3965	137	28	the	the	DET
app01-3965	137	29	robot	robot	NOUN
app01-3965	137	30	had	have	VERB
app01-3965	137	31	to	to	PART
app01-3965	137	32	be	be	AUX
app01-3965	137	33	enlarged	enlarge	VERB
app01-3965	137	34	to	to	PART
app01-3965	137	35	fit	fit	VERB
app01-3965	137	36	all	all	DET
app01-3965	137	37	devices	device	NOUN
app01-3965	137	38	.	.	PUNCT
app01-3965	138	1	however	however	ADV
app01-3965	138	2	the	the	DET
app01-3965	138	3	mean	mean	ADJ
app01-3965	138	4	density	density	NOUN
app01-3965	138	5	was	be	AUX
app01-3965	138	6	adapted	adapt	VERB
app01-3965	138	7	.	.	PUNCT
app01-3965	139	1	the	the	DET
app01-3965	139	2	measured	measure	VERB
app01-3965	139	3	propulsive	propulsive	ADJ
app01-3965	139	4	forces	force	NOUN
app01-3965	139	5	of	of	ADP
app01-3965	139	6	e.	e.	PROPN
app01-3965	139	7	sinensis	sinensis	PROPN
app01-3965	139	8	deviate	deviate	VERB
app01-3965	139	9	among	among	ADP
app01-3965	139	10	the	the	DET
app01-3965	139	11	two	two	NUM
app01-3965	139	12	methods	method	NOUN
app01-3965	139	13	.	.	PUNCT
app01-3965	140	1	while	while	SCONJ
app01-3965	140	2	the	the	DET
app01-3965	140	3	piv	piv	NOUN
app01-3965	140	4	data	data	NOUN
app01-3965	140	5	corresponds	correspond	VERB
app01-3965	140	6	closely	closely	ADV
app01-3965	140	7	to	to	ADP
app01-3965	140	8	the	the	DET
app01-3965	140	9	values	value	NOUN
app01-3965	140	10	gained	gain	VERB
app01-3965	140	11	by	by	ADP
app01-3965	140	12	the	the	DET
app01-3965	140	13	simulation	simulation	NOUN
app01-3965	140	14	,	,	PUNCT
app01-3965	140	15	the	the	DET
app01-3965	140	16	kinematic	kinematic	ADJ
app01-3965	140	17	approach	approach	NOUN
app01-3965	140	18	matches	match	VERB
app01-3965	140	19	nicely	nicely	ADV
app01-3965	140	20	with	with	ADP
app01-3965	140	21	the	the	DET
app01-3965	140	22	acting	act	VERB
app01-3965	140	23	forces	force	NOUN
app01-3965	140	24	on	on	ADP
app01-3965	140	25	o	o	NOUN
app01-3965	140	26	-	-	NOUN
app01-3965	140	27	typus	typus	NOUN
app01-3965	140	28	.	.	PUNCT
app01-3965	141	1	due	due	ADP
app01-3965	141	2	to	to	ADP
app01-3965	141	3	the	the	DET
app01-3965	141	4	considerable	considerable	ADJ
app01-3965	141	5	bigger	big	ADJ
app01-3965	141	6	dimensions	dimension	NOUN
app01-3965	141	7	of	of	ADP
app01-3965	141	8	o	o	NOUN
app01-3965	141	9	-	-	NOUN
app01-3965	141	10	typus	typus	NOUN
app01-3965	141	11	,	,	PUNCT
app01-3965	141	12	the	the	DET
app01-3965	141	13	total	total	ADJ
app01-3965	141	14	momentum	momentum	NOUN
app01-3965	141	15	to	to	PART
app01-3965	141	16	generate	generate	VERB
app01-3965	141	17	a	a	DET
app01-3965	141	18	similar	similar	ADJ
app01-3965	141	19	turn	turn	NOUN
app01-3965	141	20	is	be	AUX
app01-3965	141	21	about	about	ADV
app01-3965	141	22	3	3	NUM
app01-3965	141	23	times	time	NOUN
app01-3965	141	24	of	of	ADP
app01-3965	141	25	e.	e.	PROPN
app01-3965	141	26	sinensis	sinensis	NOUN
app01-3965	141	27	value	value	NOUN
app01-3965	141	28	.	.	PUNCT
app01-3965	142	1	herewith	herewith	NOUN
app01-3965	143	1	o	o	NOUN
app01-3965	143	2	-	-	PUNCT
app01-3965	143	3	typus	typus	NOUN
app01-3965	143	4	reaches	reach	VERB
app01-3965	143	5	a	a	DET
app01-3965	143	6	mean	mean	ADJ
app01-3965	143	7	angular	angular	ADJ
app01-3965	143	8	velocity	velocity	NOUN
app01-3965	143	9	of	of	ADP
app01-3965	143	10	3.93	3.93	NUM
app01-3965	143	11	±	±	NUM
app01-3965	143	12	0.30	0.30	NUM
app01-3965	143	13	s−1	s−1	PROPN
app01-3965	143	14	,	,	PUNCT
app01-3965	143	15	which	which	PRON
app01-3965	143	16	deviates	deviate	VERB
app01-3965	143	17	no	no	DET
app01-3965	143	18	more	more	ADJ
app01-3965	143	19	than	than	ADP
app01-3965	143	20	8.6	8.6	NUM
app01-3965	143	21	%	%	NOUN
app01-3965	143	22	of	of	ADP
app01-3965	143	23	its	its	PRON
app01-3965	143	24	model	model	NOUN
app01-3965	143	25	.	.	PUNCT
app01-3965	144	1	4.2	4.2	NUM
app01-3965	144	2	.	.	PUNCT
app01-3965	144	3	transferability	transferability	NOUN
app01-3965	144	4	to	to	ADP
app01-3965	144	5	aquatic	aquatic	ADJ
app01-3965	144	6	robots	robot	NOUN
app01-3965	144	7	as	as	SCONJ
app01-3965	144	8	the	the	DET
app01-3965	144	9	motivation	motivation	NOUN
app01-3965	144	10	for	for	ADP
app01-3965	144	11	this	this	DET
app01-3965	144	12	study	study	NOUN
app01-3965	144	13	showed	show	VERB
app01-3965	144	14	,	,	PUNCT
app01-3965	144	15	there	there	PRON
app01-3965	144	16	is	be	VERB
app01-3965	144	17	a	a	DET
app01-3965	144	18	desperate	desperate	ADJ
app01-3965	144	19	need	need	NOUN
app01-3965	144	20	in	in	ADP
app01-3965	144	21	new	new	ADJ
app01-3965	144	22	stabilizing	stabilizing	NOUN
app01-3965	144	23	systems	system	NOUN
app01-3965	144	24	for	for	ADP
app01-3965	144	25	technical	technical	ADJ
app01-3965	144	26	aquatic	aquatic	ADJ
app01-3965	144	27	applications	application	NOUN
app01-3965	144	28	.	.	PUNCT
app01-3965	145	1	the	the	DET
app01-3965	145	2	observed	observe	VERB
app01-3965	145	3	and	and	CCONJ
app01-3965	145	4	tested	test	VERB
app01-3965	145	5	righting	right	VERB
app01-3965	145	6	behavior	behavior	NOUN
app01-3965	145	7	of	of	ADP
app01-3965	145	8	e.	e.	PROPN
app01-3965	145	9	sinensis	sinensis	NOUN
app01-3965	145	10	revealed	reveal	VERB
app01-3965	145	11	a	a	DET
app01-3965	145	12	high	high	ADJ
app01-3965	145	13	efficiency	efficiency	NOUN
app01-3965	145	14	and	and	CCONJ
app01-3965	145	15	therefor	therefor	ADP
app01-3965	145	16	a	a	DET
app01-3965	145	17	potential	potential	ADJ
app01-3965	145	18	approach	approach	NOUN
app01-3965	145	19	to	to	PART
app01-3965	145	20	solve	solve	VERB
app01-3965	145	21	the	the	DET
app01-3965	145	22	problem	problem	NOUN
app01-3965	145	23	.	.	PUNCT
app01-3965	146	1	in	in	ADP
app01-3965	146	2	order	order	NOUN
app01-3965	146	3	to	to	PART
app01-3965	146	4	verify	verify	VERB
app01-3965	146	5	,	,	PUNCT
app01-3965	146	6	whether	whether	SCONJ
app01-3965	146	7	this	this	DET
app01-3965	146	8	new	new	ADJ
app01-3965	146	9	stabilizing	stabilizing	NOUN
app01-3965	146	10	system	system	NOUN
app01-3965	146	11	is	be	AUX
app01-3965	146	12	an	an	DET
app01-3965	146	13	optimization	optimization	NOUN
app01-3965	146	14	compared	compare	VERB
app01-3965	146	15	to	to	ADP
app01-3965	146	16	current	current	ADJ
app01-3965	146	17	methods	method	NOUN
app01-3965	146	18	,	,	PUNCT
app01-3965	146	19	further	far	ADV
app01-3965	146	20	56	56	NUM
app01-3965	146	21	vol	vol	NOUN
app01-3965	146	22	.	.	PUNCT
app01-3965	147	1	7/2017	7/2017	NUM
app01-3965	147	2	righting	righting	NOUN
app01-3965	147	3	of	of	ADP
app01-3965	147	4	chinese	chinese	ADJ
app01-3965	147	5	mitten	mitten	NOUN
app01-3965	147	6	crabs	crab	NOUN
app01-3965	147	7	(	(	PUNCT
app01-3965	147	8	eriocheir	eriocheir	NOUN
app01-3965	147	9	sinensis	sinensis	NOUN
app01-3965	147	10	)	)	PUNCT
app01-3965	147	11	and	and	CCONJ
app01-3965	147	12	their	their	PRON
app01-3965	147	13	models	model	NOUN
app01-3965	147	14	parameter	parameter	PROPN
app01-3965	147	15	e.	e.	PROPN
app01-3965	147	16	sinensis	sinensis	PROPN
app01-3965	147	17	simulation	simulation	NOUN
app01-3965	147	18	robot	robot	PROPN
app01-3965	147	19	kinematic	kinematic	PROPN
app01-3965	147	20	piv	piv	NOUN
app01-3965	147	21	scaling	scale	VERB
app01-3965	147	22	100	100	NUM
app01-3965	147	23	%	%	NOUN
app01-3965	147	24	100	100	NUM
app01-3965	147	25	%	%	NOUN
app01-3965	147	26	200	200	NUM
app01-3965	147	27	%	%	NOUN
app01-3965	147	28	mass	mass	NOUN
app01-3965	148	1	[	[	X
app01-3965	148	2	g	g	X
app01-3965	148	3	]	]	PUNCT
app01-3965	148	4	88.65	88.65	NUM
app01-3965	148	5	87	87	NUM
app01-3965	148	6	220	220	NUM
app01-3965	148	7	mean	mean	NOUN
app01-3965	148	8	density	density	NOUN
app01-3965	149	1	[	[	X
app01-3965	149	2	g	g	NOUN
app01-3965	149	3	/	/	SYM
app01-3965	149	4	cm3	cm3	NOUN
app01-3965	149	5	]	]	PUNCT
app01-3965	149	6	1.12	1.12	NUM
app01-3965	149	7	1.12	1.12	NUM
app01-3965	149	8	1.15	1.15	NUM
app01-3965	149	9	mean	mean	NOUN
app01-3965	149	10	force	force	NOUN
app01-3965	149	11	[	[	X
app01-3965	149	12	n	n	X
app01-3965	149	13	]	]	X
app01-3965	149	14	0.018	0.018	NUM
app01-3965	149	15	0.011	0.011	NUM
app01-3965	149	16	0.009	0.009	NUM
app01-3965	149	17	0.0175	0.0175	NUM
app01-3965	149	18	±	±	NUM
app01-3965	149	19	0.004	0.004	NUM
app01-3965	149	20	±	±	NUM
app01-3965	149	21	0.003	0.003	NUM
app01-3965	149	22	momentum	momentum	NOUN
app01-3965	150	1	[	[	X
app01-3965	150	2	ns	ns	X
app01-3965	150	3	]	]	X
app01-3965	150	4	0.0036	0.0036	NUM
app01-3965	150	5	0.0021	0.0021	NUM
app01-3965	150	6	0.0018	0.0018	NUM
app01-3965	150	7	0.00898	0.00898	NUM
app01-3965	150	8	mean	mean	ADJ
app01-3965	150	9	angular	angular	ADJ
app01-3965	150	10	vel	vel	NOUN
app01-3965	150	11	.	.	PUNCT
app01-3965	151	1	[	[	X
app01-3965	151	2	s−1	s−1	X
app01-3965	151	3	]	]	X
app01-3965	151	4	4.30	4.30	NUM
app01-3965	151	5	3.99	3.99	NUM
app01-3965	151	6	3.93	3.93	NUM
app01-3965	151	7	±	±	NUM
app01-3965	151	8	0.30	0.30	NUM
app01-3965	151	9	table	table	NOUN
app01-3965	151	10	1	1	NUM
app01-3965	151	11	.	.	PUNCT
app01-3965	151	12	summary	summary	NOUN
app01-3965	151	13	of	of	ADP
app01-3965	151	14	relevant	relevant	ADJ
app01-3965	151	15	parameters	parameter	NOUN
app01-3965	151	16	regarding	regard	VERB
app01-3965	151	17	the	the	DET
app01-3965	151	18	turning	turning	NOUN
app01-3965	151	19	of	of	ADP
app01-3965	151	20	e.	e.	PROPN
app01-3965	151	21	sinensis	sinensis	NOUN
app01-3965	151	22	,	,	PUNCT
app01-3965	151	23	its	its	PRON
app01-3965	151	24	numerical	numerical	ADJ
app01-3965	151	25	model	model	NOUN
app01-3965	151	26	and	and	CCONJ
app01-3965	151	27	its	its	PRON
app01-3965	151	28	technical	technical	ADJ
app01-3965	151	29	application	application	NOUN
app01-3965	151	30	.	.	PUNCT
app01-3965	152	1	values	value	NOUN
app01-3965	152	2	of	of	ADP
app01-3965	152	3	the	the	DET
app01-3965	152	4	measured	measure	VERB
app01-3965	152	5	force	force	NOUN
app01-3965	152	6	are	be	AUX
app01-3965	152	7	mean	mean	ADJ
app01-3965	152	8	values	value	NOUN
app01-3965	152	9	during	during	ADP
app01-3965	152	10	the	the	DET
app01-3965	152	11	striking	striking	ADJ
app01-3965	152	12	phase	phase	NOUN
app01-3965	152	13	2a	2a	NUM
app01-3965	152	14	.	.	PUNCT
app01-3965	153	1	the	the	DET
app01-3965	153	2	angular	angular	ADJ
app01-3965	153	3	velocity	velocity	NOUN
app01-3965	153	4	is	be	AUX
app01-3965	153	5	the	the	DET
app01-3965	153	6	averaged	average	VERB
app01-3965	153	7	value	value	NOUN
app01-3965	153	8	of	of	ADP
app01-3965	153	9	the	the	DET
app01-3965	153	10	whole	whole	ADJ
app01-3965	153	11	turn	turn	NOUN
app01-3965	153	12	.	.	PUNCT
app01-3965	154	1	figure	figure	VERB
app01-3965	154	2	6	6	NUM
app01-3965	154	3	.	.	PUNCT
app01-3965	154	4	smart	smart	PROPN
app01-3965	154	5	-	-	PUNCT
app01-3965	154	6	e.	e.	PROPN
app01-3965	154	7	modern	modern	ADJ
app01-3965	154	8	thruster	thruster	NOUN
app01-3965	154	9	-	-	PUNCT
app01-3965	154	10	driven	drive	VERB
app01-3965	154	11	auv	auv	PROPN
app01-3965	154	12	,	,	PUNCT
app01-3965	154	13	which	which	PRON
app01-3965	154	14	is	be	AUX
app01-3965	154	15	declared	declare	VERB
app01-3965	154	16	to	to	PART
app01-3965	154	17	be	be	AUX
app01-3965	154	18	highly	highly	ADV
app01-3965	154	19	efficient	efficient	ADJ
app01-3965	155	1	[	[	X
app01-3965	155	2	10	10	NUM
app01-3965	155	3	]	]	PUNCT
app01-3965	155	4	.	.	PUNCT
app01-3965	156	1	studies	study	NOUN
app01-3965	156	2	have	have	VERB
app01-3965	156	3	to	to	PART
app01-3965	156	4	be	be	AUX
app01-3965	156	5	carried	carry	VERB
app01-3965	156	6	out	out	ADP
app01-3965	156	7	.	.	PUNCT
app01-3965	157	1	thus	thus	ADV
app01-3965	157	2	,	,	PUNCT
app01-3965	157	3	two	two	NUM
app01-3965	157	4	different	different	ADJ
app01-3965	157	5	efficiencies	efficiency	NOUN
app01-3965	157	6	have	have	VERB
app01-3965	157	7	to	to	PART
app01-3965	157	8	be	be	AUX
app01-3965	157	9	compared	compare	VERB
app01-3965	157	10	.	.	PUNCT
app01-3965	158	1	on	on	ADP
app01-3965	158	2	one	one	NUM
app01-3965	158	3	hand	hand	NOUN
app01-3965	158	4	,	,	PUNCT
app01-3965	158	5	the	the	DET
app01-3965	158	6	power	power	NOUN
app01-3965	158	7	consumption	consumption	NOUN
app01-3965	158	8	has	have	VERB
app01-3965	158	9	to	to	PART
app01-3965	158	10	be	be	AUX
app01-3965	158	11	evaluated	evaluate	VERB
app01-3965	158	12	.	.	PUNCT
app01-3965	159	1	at	at	ADP
app01-3965	159	2	the	the	DET
app01-3965	159	3	current	current	ADJ
app01-3965	159	4	state	state	NOUN
app01-3965	159	5	of	of	ADP
app01-3965	159	6	research	research	NOUN
app01-3965	159	7	no	no	DET
app01-3965	159	8	statement	statement	NOUN
app01-3965	159	9	is	be	AUX
app01-3965	159	10	possible	possible	ADJ
app01-3965	159	11	,	,	PUNCT
app01-3965	159	12	as	as	SCONJ
app01-3965	159	13	there	there	PRON
app01-3965	159	14	is	be	VERB
app01-3965	159	15	no	no	DET
app01-3965	159	16	data	datum	NOUN
app01-3965	159	17	about	about	ADP
app01-3965	159	18	robotic	robotic	ADJ
app01-3965	159	19	devices	device	NOUN
app01-3965	159	20	,	,	PUNCT
app01-3965	159	21	driven	drive	VERB
app01-3965	159	22	by	by	ADP
app01-3965	159	23	thruster	thruster	NOUN
app01-3965	159	24	,	,	PUNCT
app01-3965	159	25	available	available	ADJ
app01-3965	159	26	to	to	PART
app01-3965	159	27	compare	compare	VERB
app01-3965	159	28	it	it	PRON
app01-3965	159	29	with	with	ADP
app01-3965	159	30	.	.	PUNCT
app01-3965	160	1	it	it	PRON
app01-3965	160	2	would	would	AUX
app01-3965	160	3	be	be	AUX
app01-3965	160	4	worth	worth	ADJ
app01-3965	160	5	to	to	PART
app01-3965	160	6	use	use	VERB
app01-3965	160	7	an	an	DET
app01-3965	160	8	existing	exist	VERB
app01-3965	160	9	modern	modern	ADJ
app01-3965	160	10	robot	robot	NOUN
app01-3965	160	11	like	like	ADP
app01-3965	160	12	the	the	DET
app01-3965	160	13	auv	auv	PROPN
app01-3965	160	14	smart	smart	ADJ
app01-3965	160	15	-	-	PUNCT
app01-3965	160	16	e	e	NOUN
app01-3965	160	17	[	[	X
app01-3965	160	18	10	10	NUM
app01-3965	160	19	]	]	PUNCT
app01-3965	160	20	,	,	PUNCT
app01-3965	160	21	to	to	PART
app01-3965	160	22	compare	compare	VERB
app01-3965	160	23	the	the	DET
app01-3965	160	24	two	two	NUM
app01-3965	160	25	mechanisms	mechanism	NOUN
app01-3965	160	26	at	at	ADP
app01-3965	160	27	the	the	DET
app01-3965	160	28	same	same	ADJ
app01-3965	160	29	chassis	chassis	NOUN
app01-3965	160	30	.	.	PUNCT
app01-3965	161	1	on	on	ADP
app01-3965	161	2	the	the	DET
app01-3965	161	3	other	other	ADJ
app01-3965	161	4	hand	hand	NOUN
app01-3965	161	5	,	,	PUNCT
app01-3965	161	6	time	time	NOUN
app01-3965	161	7	efficiency	efficiency	NOUN
app01-3965	161	8	has	have	VERB
app01-3965	161	9	to	to	PART
app01-3965	161	10	be	be	AUX
app01-3965	161	11	considered	consider	VERB
app01-3965	161	12	.	.	PUNCT
app01-3965	162	1	most	most	ADV
app01-3965	162	2	remotely	remotely	ADV
app01-3965	162	3	operated	operate	VERB
app01-3965	162	4	vehicles	vehicle	NOUN
app01-3965	162	5	are	be	AUX
app01-3965	162	6	featuring	feature	VERB
app01-3965	162	7	slow	slow	ADJ
app01-3965	162	8	turning	turn	VERB
app01-3965	162	9	capabilities	capability	NOUN
app01-3965	162	10	.	.	PUNCT
app01-3965	163	1	unfortunately	unfortunately	ADV
app01-3965	163	2	non	non	PRON
app01-3965	163	3	published	publish	VERB
app01-3965	163	4	the	the	DET
app01-3965	163	5	specific	specific	ADJ
app01-3965	163	6	turning	turn	VERB
app01-3965	163	7	kinematics	kinematic	NOUN
app01-3965	163	8	.	.	PUNCT
app01-3965	164	1	however	however	ADV
app01-3965	164	2	,	,	PUNCT
app01-3965	164	3	the	the	DET
app01-3965	164	4	maximum	maximum	ADJ
app01-3965	164	5	angular	angular	ADJ
app01-3965	164	6	velocity	velocity	NOUN
app01-3965	164	7	of	of	ADP
app01-3965	164	8	4.25	4.25	NUM
app01-3965	164	9	s−1	s−1	PROPN
app01-3965	164	10	reached	reach	VERB
app01-3965	164	11	by	by	ADP
app01-3965	164	12	otypus	otypus	NOUN
app01-3965	164	13	is	be	AUX
app01-3965	164	14	considerably	considerably	ADV
app01-3965	164	15	(	(	PUNCT
app01-3965	164	16	visually	visually	ADV
app01-3965	164	17	)	)	PUNCT
app01-3965	164	18	higher	high	ADJ
app01-3965	164	19	than	than	ADP
app01-3965	164	20	of	of	ADP
app01-3965	164	21	most	most	ADV
app01-3965	164	22	found	find	VERB
app01-3965	164	23	thruster	thruster	NOUN
app01-3965	164	24	-	-	PUNCT
app01-3965	164	25	driven	drive	VERB
app01-3965	164	26	devices	device	NOUN
app01-3965	164	27	.	.	PUNCT
app01-3965	165	1	acknowledgements	acknowledgement	NOUN
app01-3965	165	2	special	special	ADJ
app01-3965	165	3	thanks	thank	NOUN
app01-3965	165	4	are	be	AUX
app01-3965	165	5	referring	refer	VERB
app01-3965	165	6	to	to	ADP
app01-3965	165	7	the	the	DET
app01-3965	165	8	department	department	PROPN
app01-3965	165	9	of	of	ADP
app01-3965	165	10	biomimetics	biomimetic	NOUN
app01-3965	165	11	in	in	ADP
app01-3965	165	12	bremen	breman	NOUN
app01-3965	165	13	,	,	PUNCT
app01-3965	165	14	which	which	PRON
app01-3965	165	15	made	make	VERB
app01-3965	165	16	these	these	DET
app01-3965	165	17	studies	study	NOUN
app01-3965	165	18	possible	possible	ADJ
app01-3965	165	19	.	.	PUNCT
app01-3965	166	1	references	reference	NOUN
app01-3965	166	2	[	[	X
app01-3965	166	3	1	1	NUM
app01-3965	166	4	]	]	X
app01-3965	166	5	g.	g.	PROPN
app01-3965	166	6	krummel	krummel	PROPN
app01-3965	166	7	,	,	PUNCT
app01-3965	166	8	k.	k.	PROPN
app01-3965	166	9	n.	n.	PROPN
app01-3965	166	10	kaipa	kaipa	PROPN
app01-3965	166	11	,	,	PUNCT
app01-3965	166	12	s.	s.	PROPN
app01-3965	166	13	k.	k.	PROPN
app01-3965	166	14	gupta	gupta	PROPN
app01-3965	166	15	.	.	PUNCT
app01-3965	167	1	a	a	DET
app01-3965	167	2	horseshoe	horseshoe	PROPN
app01-3965	167	3	crab	crab	NOUN
app01-3965	167	4	inspired	inspire	VERB
app01-3965	167	5	surf	surf	NOUN
app01-3965	167	6	zone	zone	NOUN
app01-3965	167	7	robot	robot	NOUN
app01-3965	167	8	with	with	ADP
app01-3965	167	9	righting	right	VERB
app01-3965	167	10	capabilities	capability	NOUN
app01-3965	167	11	.	.	PUNCT
app01-3965	168	1	in	in	ADP
app01-3965	168	2	proc	proc	NOUN
app01-3965	168	3	.	.	PUNCT
app01-3965	169	1	of	of	ADP
app01-3965	169	2	the	the	DET
app01-3965	169	3	asme	asme	PROPN
app01-3965	169	4	2014	2014	NUM
app01-3965	169	5	int	int	NOUN
app01-3965	169	6	.	.	PUNCT
app01-3965	170	1	design	design	PROPN
app01-3965	170	2	eng	eng	PROPN
app01-3965	170	3	.	.	PUNCT
app01-3965	170	4	tech	tech	PROPN
app01-3965	170	5	.	.	PUNCT
app01-3965	170	6	conf	conf	PROPN
app01-3965	170	7	.	.	PUNCT
app01-3965	170	8	&	&	CCONJ
app01-3965	170	9	comput	comput	PROPN
app01-3965	170	10	.	.	PUNCT
app01-3965	171	1	and	and	CCONJ
app01-3965	171	2	inform	inform	VERB
app01-3965	171	3	.	.	PUNCT
app01-3965	172	1	in	in	ADP
app01-3965	172	2	eng	eng	PROPN
app01-3965	172	3	.	.	PROPN
app01-3965	172	4	conf	conf	PROPN
app01-3965	172	5	.	.	PUNCT
app01-3965	172	6	2014	2014	NUM
app01-3965	172	7	.	.	PUNCT
app01-3965	173	1	doi:10.1115	doi:10.1115	NOUN
app01-3965	173	2	/	/	SYM
app01-3965	173	3	detc2014	detc2014	PROPN
app01-3965	173	4	-	-	PUNCT
app01-3965	173	5	34679	34679	NUM
app01-3965	173	6	.	.	PUNCT
app01-3965	174	1	[	[	X
app01-3965	174	2	2	2	X
app01-3965	174	3	]	]	PUNCT
app01-3965	174	4	e.	e.	PROPN
app01-3965	174	5	chang	chang	PROPN
app01-3965	174	6	-	-	PUNCT
app01-3965	174	7	siu	siu	PROPN
app01-3965	174	8	,	,	PUNCT
app01-3965	174	9	t.	t.	PROPN
app01-3965	174	10	libby	libby	PROPN
app01-3965	174	11	,	,	PUNCT
app01-3965	174	12	m.	m.	NOUN
app01-3965	174	13	tomizuka	tomizuka	PROPN
app01-3965	174	14	,	,	PUNCT
app01-3965	174	15	r.	r.	PROPN
app01-3965	174	16	j.	j.	PROPN
app01-3965	174	17	full	full	PROPN
app01-3965	174	18	.	.	PUNCT
app01-3965	175	1	a	a	DET
app01-3965	175	2	lizard	lizard	NOUN
app01-3965	175	3	-	-	PUNCT
app01-3965	175	4	inspired	inspire	VERB
app01-3965	175	5	active	active	ADJ
app01-3965	175	6	tail	tail	NOUN
app01-3965	175	7	enables	enable	VERB
app01-3965	175	8	rapid	rapid	ADJ
app01-3965	175	9	maneuvers	maneuver	NOUN
app01-3965	175	10	and	and	CCONJ
app01-3965	175	11	dynamic	dynamic	ADJ
app01-3965	175	12	stabilization	stabilization	NOUN
app01-3965	175	13	in	in	ADP
app01-3965	175	14	a	a	DET
app01-3965	175	15	terrestrial	terrestrial	ADJ
app01-3965	175	16	robot	robot	NOUN
app01-3965	175	17	.	.	PUNCT
app01-3965	176	1	ieee	ieee	PROPN
app01-3965	176	2	/	/	SYM
app01-3965	176	3	rsj	rsj	NOUN
app01-3965	176	4	int	int	NOUN
app01-3965	176	5	conf	conf	NOUN
app01-3965	176	6	of	of	ADP
app01-3965	176	7	intelligent	intelligent	ADJ
app01-3965	176	8	robots	robot	NOUN
app01-3965	176	9	and	and	CCONJ
app01-3965	176	10	syst	syst	PROPN
app01-3965	176	11	2011	2011	NUM
app01-3965	176	12	.	.	PUNCT
app01-3965	177	1	doi:10.1109	doi:10.1109	VERB
app01-3965	177	2	/	/	SYM
app01-3965	177	3	iros.2011.6094658	iros.2011.6094658	NOUN
app01-3965	177	4	.	.	PUNCT
app01-3965	178	1	[	[	X
app01-3965	178	2	3	3	X
app01-3965	178	3	]	]	X
app01-3965	178	4	p.	p.	PROPN
app01-3965	178	5	bausch	bausch	PROPN
app01-3965	178	6	,	,	PUNCT
app01-3965	178	7	f.	f.	PROPN
app01-3965	178	8	hoffmann	hoffmann	PROPN
app01-3965	178	9	,	,	PUNCT
app01-3965	178	10	a.	a.	PROPN
app01-3965	178	11	b.	b.	PROPN
app01-3965	178	12	kesel	kesel	PROPN
app01-3965	178	13	.	.	PUNCT
app01-3965	179	1	i	i	PRON
app01-3965	179	2	m	m	VERB
app01-3965	179	3	freien	freien	PROPN
app01-3965	179	4	fall	fall	VERB
app01-3965	179	5	unter	unter	NOUN
app01-3965	179	6	wasser	wasser	NOUN
app01-3965	179	7	lagestabilisierung	lagestabilisierung	PROPN
app01-3965	179	8	bei	bei	PROPN
app01-3965	179	9	wollhandkrabben	wollhandkrabben	PROPN
app01-3965	179	10	.	.	PUNCT
app01-3965	180	1	eine	eine	PROPN
app01-3965	180	2	experimentelle	experimentelle	PROPN
app01-3965	180	3	analyse	analyse	PROPN
app01-3965	180	4	.	.	PUNCT
app01-3965	181	1	in	in	ADP
app01-3965	181	2	bionik	bionik	NOUN
app01-3965	181	3	:	:	PUNCT
app01-3965	181	4	patente	patente	PROPN
app01-3965	181	5	aus	aus	PROPN
app01-3965	181	6	der	der	PROPN
app01-3965	181	7	natur	natur	PROPN
app01-3965	181	8	(	(	PUNCT
app01-3965	181	9	ed	ed	NOUN
app01-3965	181	10	.	.	PUNCT
app01-3965	181	11	a.b	a.b	AUX
app01-3965	181	12	.	.	PROPN
app01-3965	181	13	kesel	kesel	PROPN
app01-3965	181	14	und	und	VERB
app01-3965	181	15	d.	d.	PROPN
app01-3965	181	16	zehren	zehren	PROPN
app01-3965	181	17	)	)	PUNCT
app01-3965	181	18	.	.	PUNCT
app01-3965	182	1	155	155	NUM
app01-3965	182	2	-	-	SYM
app01-3965	182	3	161	161	NUM
app01-3965	182	4	,	,	PUNCT
app01-3965	182	5	bionik	bionik	X
app01-3965	182	6	-	-	PUNCT
app01-3965	182	7	innovations	innovation	NOUN
app01-3965	182	8	-	-	PUNCT
app01-3965	182	9	centrum	centrum	NOUN
app01-3965	182	10	,	,	PUNCT
app01-3965	182	11	bremen	breman	NOUN
app01-3965	182	12	,	,	PUNCT
app01-3965	182	13	2015	2015	NUM
app01-3965	182	14	.	.	PUNCT
app01-3965	183	1	[	[	X
app01-3965	183	2	4	4	X
app01-3965	183	3	]	]	X
app01-3965	183	4	f.	f.	PROPN
app01-3965	183	5	hoffmann	hoffmann	PROPN
app01-3965	183	6	,	,	PUNCT
app01-3965	183	7	s.	s.	PROPN
app01-3965	183	8	labisch	labisch	PROPN
app01-3965	183	9	,	,	PUNCT
app01-3965	183	10	r.	r.	PROPN
app01-3965	183	11	sonntag	sonntag	PROPN
app01-3965	183	12	,	,	PUNCT
app01-3965	183	13	et	et	PROPN
app01-3965	183	14	al	al	PROPN
app01-3965	183	15	.	.	PUNCT
app01-3965	184	1	analysis	analysis	NOUN
app01-3965	184	2	of	of	ADP
app01-3965	184	3	underwater	underwater	ADJ
app01-3965	184	4	righting	right	VERB
app01-3965	184	5	reflex	reflex	NOUN
app01-3965	184	6	of	of	ADP
app01-3965	184	7	the	the	DET
app01-3965	184	8	chinese	chinese	ADJ
app01-3965	184	9	mitten	mitten	NOUN
app01-3965	184	10	crab	crab	NOUN
app01-3965	184	11	(	(	PUNCT
app01-3965	184	12	eriocheir	eriocheir	NOUN
app01-3965	184	13	sinensis	sinensis	NOUN
app01-3965	184	14	)	)	PUNCT
app01-3965	184	15	using	use	VERB
app01-3965	184	16	piv	piv	NOUN
app01-3965	184	17	and	and	CCONJ
app01-3965	184	18	numerical	numerical	PROPN
app01-3965	184	19	multibody	multibody	PROPN
app01-3965	184	20	simulation	simulation	NOUN
app01-3965	184	21	.	.	PUNCT
app01-3965	185	1	in	in	ADP
app01-3965	185	2	proceedings	proceeding	NOUN
app01-3965	185	3	of	of	ADP
app01-3965	185	4	the	the	DET
app01-3965	185	5	annual	annual	ADJ
app01-3965	185	6	main	main	ADJ
app01-3965	185	7	meeting	meeting	NOUN
app01-3965	185	8	of	of	ADP
app01-3965	185	9	the	the	DET
app01-3965	185	10	society	society	NOUN
app01-3965	185	11	for	for	ADP
app01-3965	185	12	experimental	experimental	ADJ
app01-3965	185	13	biology	biology	NOUN
app01-3965	185	14	,	,	PUNCT
app01-3965	185	15	prag	prag	PROPN
app01-3965	185	16	,	,	PUNCT
app01-3965	185	17	[	[	X
app01-3965	185	18	a	a	DET
app01-3965	185	19	11.68	11.68	NUM
app01-3965	185	20	]	]	SYM
app01-3965	185	21	.	.	PUNCT
app01-3965	185	22	2015	2015	NUM
app01-3965	185	23	.	.	PUNCT
app01-3965	186	1	[	[	X
app01-3965	186	2	5	5	X
app01-3965	186	3	]	]	PUNCT
app01-3965	186	4	t.	t.	NOUN
app01-3965	186	5	riphaus	riphaus	PROPN
app01-3965	186	6	,	,	PUNCT
app01-3965	186	7	s.	s.	PROPN
app01-3965	186	8	labisch	labisch	PROPN
app01-3965	186	9	.	.	PUNCT
app01-3965	187	1	konstruktion	konstruktion	PROPN
app01-3965	187	2	des	des	PROPN
app01-3965	187	3	biologisch	biologisch	PROPN
app01-3965	187	4	inspirierten	inspirierten	PROPN
app01-3965	187	5	roboters	roboter	NOUN
app01-3965	187	6	o	o	NOUN
app01-3965	187	7	-	-	NOUN
app01-3965	187	8	typus	typus	ADJ
app01-3965	187	9	zur	zur	NOUN
app01-3965	187	10	implementierung	implementierung	PROPN
app01-3965	187	11	und	und	VERB
app01-3965	187	12	untersuchung	untersuchung	PROPN
app01-3965	187	13	des	des	PROPN
app01-3965	187	14	stabilisationsverhaltens	stabilisationsverhaltens	PROPN
app01-3965	187	15	von	von	PROPN
app01-3965	187	16	decapoden	decapoden	PROPN
app01-3965	187	17	.	.	PUNCT
app01-3965	188	1	in	in	ADP
app01-3965	188	2	proceedings	proceeding	NOUN
app01-3965	188	3	of	of	ADP
app01-3965	188	4	the	the	DET
app01-3965	188	5	7	7	NUM
app01-3965	188	6	.	.	PUNCT
app01-3965	188	7	ieee	ieee	PROPN
app01-3965	188	8	germany	germany	PROPN
app01-3965	188	9	student	student	PROPN
app01-3965	188	10	conference	conference	PROPN
app01-3965	188	11	,	,	PUNCT
app01-3965	188	12	magdeburg	magdeburg	PROPN
app01-3965	188	13	.	.	PUNCT
app01-3965	188	14	2016	2016	NUM
app01-3965	188	15	.	.	PUNCT
app01-3965	189	1	[	[	X
app01-3965	189	2	6	6	NUM
app01-3965	189	3	]	]	PUNCT
app01-3965	189	4	w.	w.	PROPN
app01-3965	189	5	thielicke	thielicke	PROPN
app01-3965	189	6	,	,	PUNCT
app01-3965	189	7	e.	e.	PROPN
app01-3965	189	8	j.	j.	PROPN
app01-3965	189	9	stamhuis	stamhuis	PROPN
app01-3965	189	10	.	.	PUNCT
app01-3965	189	11	pivlab	pivlab	NOUN
app01-3965	189	12	towards	towards	ADP
app01-3965	189	13	userfriendly	userfriendly	ADV
app01-3965	189	14	,	,	PUNCT
app01-3965	189	15	affordable	affordable	ADJ
app01-3965	189	16	and	and	CCONJ
app01-3965	189	17	accurate	accurate	ADJ
app01-3965	189	18	digital	digital	ADJ
app01-3965	189	19	particle	particle	NOUN
app01-3965	189	20	image	image	NOUN
app01-3965	189	21	velocimetry	velocimetry	NOUN
app01-3965	189	22	in	in	ADP
app01-3965	189	23	matlab	matlab	PROPN
app01-3965	189	24	.	.	PROPN
app01-3965	189	25	,	,	PUNCT
app01-3965	189	26	2014	2014	NUM
app01-3965	189	27	.	.	PUNCT
app01-3965	190	1	j.openres.softw	j.openres.softw	PROPN
app01-3965	190	2	.	.	PROPN
app01-3965	190	3	,2	,2	PROPN
app01-3965	190	4	,	,	PUNCT
app01-3965	190	5	.	.	PUNCT
app01-3965	191	1	doi	doi	NOUN
app01-3965	191	2	:	:	PUNCT
app01-3965	191	3	http://doi.org/10.5334	http://doi.org/10.5334	PROPN
app01-3965	191	4	/	/	SYM
app01-3965	191	5	jors.bl	jors.bl	PROPN
app01-3965	191	6	.	.	PUNCT
app01-3965	192	1	[	[	X
app01-3965	192	2	7	7	X
app01-3965	192	3	]	]	X
app01-3965	192	4	j.	j.	PROPN
app01-3965	192	5	m.	m.	PROPN
app01-3965	192	6	v.	v.	PROPN
app01-3965	192	7	rayner	rayner	PROPN
app01-3965	192	8	.	.	PUNCT
app01-3965	193	1	a	a	DET
app01-3965	193	2	new	new	ADJ
app01-3965	193	3	approach	approach	NOUN
app01-3965	193	4	to	to	ADP
app01-3965	193	5	animal	animal	NOUN
app01-3965	193	6	flight	flight	NOUN
app01-3965	193	7	mechanics	mechanic	NOUN
app01-3965	193	8	.	.	PUNCT
app01-3965	194	1	j	j	PROPN
app01-3965	194	2	exp	exp	NOUN
app01-3965	194	3	biol	biol	NOUN
app01-3965	194	4	80:17–54	80:17–54	NUM
app01-3965	194	5	,	,	PUNCT
app01-3965	194	6	1979	1979	NUM
app01-3965	194	7	.	.	PUNCT
app01-3965	195	1	[	[	X
app01-3965	195	2	8	8	NUM
app01-3965	195	3	]	]	X
app01-3965	195	4	g.	g.	PROPN
app01-3965	195	5	r.	r.	PROPN
app01-3965	195	6	spedding	spedding	PROPN
app01-3965	195	7	,	,	PUNCT
app01-3965	195	8	j.	j.	PROPN
app01-3965	195	9	m.	m.	PROPN
app01-3965	195	10	v.	v.	PROPN
app01-3965	195	11	rayner	rayner	PROPN
app01-3965	195	12	,	,	PUNCT
app01-3965	195	13	c.	c.	PROPN
app01-3965	195	14	j.	j.	PROPN
app01-3965	195	15	pennycuick	pennycuick	PROPN
app01-3965	195	16	.	.	PUNCT
app01-3965	196	1	momentum	momentum	NOUN
app01-3965	196	2	and	and	CCONJ
app01-3965	196	3	energy	energy	NOUN
app01-3965	196	4	in	in	ADP
app01-3965	196	5	the	the	DET
app01-3965	196	6	wake	wake	NOUN
app01-3965	196	7	of	of	ADP
app01-3965	196	8	a	a	DET
app01-3965	196	9	pigeon	pigeon	NOUN
app01-3965	196	10	(	(	PUNCT
app01-3965	196	11	columba	columba	PROPN
app01-3965	196	12	livia	livia	PROPN
app01-3965	196	13	)	)	PUNCT
app01-3965	196	14	in	in	ADP
app01-3965	196	15	slow	slow	ADJ
app01-3965	196	16	flight	flight	NOUN
app01-3965	196	17	.	.	PUNCT
app01-3965	197	1	j	j	PROPN
app01-3965	197	2	exp	exp	NOUN
app01-3965	197	3	biol	biol	PROPN
app01-3965	197	4	111:81–102	111:81–102	NUM
app01-3965	197	5	,	,	PUNCT
app01-3965	197	6	1984	1984	NUM
app01-3965	197	7	.	.	PUNCT
app01-3965	198	1	[	[	X
app01-3965	198	2	9	9	NUM
app01-3965	198	3	]	]	PUNCT
app01-3965	198	4	p.	p.	PROPN
app01-3965	198	5	bausch	bausch	PROPN
app01-3965	198	6	,	,	PUNCT
app01-3965	198	7	p.	p.	PROPN
app01-3965	198	8	berger	berger	PROPN
app01-3965	198	9	,	,	PUNCT
app01-3965	198	10	f.	f.	PROPN
app01-3965	198	11	hoffmann	hoffmann	PROPN
app01-3965	198	12	,	,	PUNCT
app01-3965	198	13	a.	a.	PROPN
app01-3965	198	14	b.	b.	PROPN
app01-3965	198	15	kesel	kesel	PROPN
app01-3965	198	16	.	.	PUNCT
app01-3965	199	1	how	how	SCONJ
app01-3965	199	2	to	to	PART
app01-3965	199	3	land	land	VERB
app01-3965	199	4	on	on	ADP
app01-3965	199	5	your	your	PRON
app01-3965	199	6	legs	leg	NOUN
app01-3965	199	7	underwater	underwater	NOUN
app01-3965	199	8	righting	right	VERB
app01-3965	199	9	reflexes	reflex	NOUN
app01-3965	199	10	in	in	ADP
app01-3965	199	11	crabs	crab	NOUN
app01-3965	199	12	and	and	CCONJ
app01-3965	199	13	crayfish	crayfish	NOUN
app01-3965	199	14	.	.	PUNCT
app01-3965	200	1	in	in	ADP
app01-3965	200	2	proceedings	proceeding	NOUN
app01-3965	200	3	of	of	ADP
app01-3965	200	4	the	the	DET
app01-3965	200	5	annual	annual	ADJ
app01-3965	200	6	main	main	ADJ
app01-3965	200	7	meeting	meeting	NOUN
app01-3965	200	8	of	of	ADP
app01-3965	200	9	the	the	DET
app01-3965	200	10	society	society	NOUN
app01-3965	200	11	for	for	ADP
app01-3965	200	12	experimental	experimental	ADJ
app01-3965	200	13	biology	biology	NOUN
app01-3965	200	14	,	,	PUNCT
app01-3965	200	15	prag	prag	PROPN
app01-3965	200	16	,	,	PUNCT
app01-3965	200	17	[	[	X
app01-3965	200	18	a	a	DET
app01-3965	200	19	11.67	11.67	NUM
app01-3965	200	20	]	]	SYM
app01-3965	200	21	.	.	PUNCT
app01-3965	200	22	2015	2015	NUM
app01-3965	200	23	.	.	PUNCT
app01-3965	201	1	[	[	X
app01-3965	201	2	10	10	NUM
app01-3965	201	3	]	]	X
app01-3965	201	4	b.	b.	PROPN
app01-3965	201	5	meyer	meyer	PROPN
app01-3965	201	6	,	,	PUNCT
app01-3965	201	7	k.	k.	PROPN
app01-3965	201	8	ehler	ehler	PROPN
app01-3965	201	9	,	,	PUNCT
app01-3965	201	10	c.	c.	PROPN
app01-3965	201	11	osterloh	osterloh	PROPN
app01-3965	201	12	,	,	PUNCT
app01-3965	201	13	e.	e.	PROPN
app01-3965	201	14	maehle	maehle	PROPN
app01-3965	201	15	.	.	PUNCT
app01-3965	202	1	an	an	DET
app01-3965	202	2	autonomous	autonomous	ADJ
app01-3965	202	3	omnidirectional	omnidirectional	ADJ
app01-3965	202	4	underwater	underwater	ADJ
app01-3965	202	5	robot	robot	NOUN
app01-3965	202	6	.	.	PUNCT
app01-3965	203	1	journal	journal	PROPN
app01-3965	203	2	of	of	ADP
app01-3965	203	3	behavioral	behavioral	ADJ
app01-3965	203	4	robotics	robotic	NOUN
app01-3965	203	5	pp	pp	X
app01-3965	203	6	.	.	PUNCT
app01-3965	204	1	204–210	204–210	NUM
app01-3965	204	2	,	,	PUNCT
app01-3965	204	3	2013	2013	NUM
app01-3965	204	4	.	.	PUNCT
app01-3965	205	1	57	57	NUM
app01-3965	205	2	http://dx.doi.org/10.1115/detc2014-34679	http://dx.doi.org/10.1115/detc2014-34679	PROPN
app01-3965	205	3	http://dx.doi.org/10.1109/iros.2011.6094658	http://dx.doi.org/10.1109/iros.2011.6094658	NOUN
app01-3965	205	4	j.	j.	PROPN
app01-3965	205	5	open	open	PROPN
app01-3965	205	6	res	re	NOUN
app01-3965	205	7	.	.	PUNCT
app01-3965	206	1	softw	softw	PROPN
app01-3965	206	2	.	.	PUNCT
app01-3965	206	3	,	,	PUNCT
app01-3965	206	4	2	2	NUM
app01-3965	206	5	,	,	PUNCT
app01-3965	206	6	.	.	PUNCT
app01-3965	207	1	http://dx.doi.org/http://doi.org/10.5334/jors.bl	http://dx.doi.org/http://doi.org/10.5334/jors.bl	PROPN
app01-3965	207	2	acta	acta	PROPN
app01-3965	207	3	polytechnica	polytechnica	PROPN
app01-3965	207	4	ctu	ctu	NOUN
app01-3965	207	5	proceedings	proceeding	NOUN
app01-3965	207	6	7:53–57	7:53–57	NUM
app01-3965	207	7	,	,	PUNCT
app01-3965	207	8	2017	2017	NUM
app01-3965	207	9	1	1	NUM
app01-3965	207	10	introduction	introduction	NOUN
app01-3965	207	11	2	2	NUM
app01-3965	207	12	material	material	NOUN
app01-3965	207	13	and	and	CCONJ
app01-3965	207	14	methods	method	NOUN
app01-3965	207	15	2.1	2.1	NUM
app01-3965	207	16	eriocheir	eriocheir	NOUN
app01-3965	207	17	sinensis	sinensis	NOUN
app01-3965	207	18	biological	biological	ADJ
app01-3965	207	19	model	model	NOUN
app01-3965	207	20	2.1.1	2.1.1	NUM
app01-3965	207	21	kinematic	kinematic	ADJ
app01-3965	207	22	analysis	analysis	NOUN
app01-3965	207	23	2.1.2	2.1.2	NUM
app01-3965	207	24	piv	piv	NOUN
app01-3965	207	25	measurements	measurement	NOUN
app01-3965	207	26	and	and	CCONJ
app01-3965	207	27	force	force	VERB
app01-3965	207	28	calculation	calculation	NOUN
app01-3965	207	29	2.2	2.2	NUM
app01-3965	207	30	simulated	simulate	VERB
app01-3965	207	31	model	model	NOUN
app01-3965	207	32	2.3	2.3	NUM
app01-3965	207	33	o	o	NOUN
app01-3965	207	34	-	-	PUNCT
app01-3965	207	35	typus	typus	ADJ
app01-3965	207	36	technical	technical	ADJ
app01-3965	207	37	model	model	NOUN
app01-3965	207	38	2.3.1	2.3.1	NUM
app01-3965	207	39	setup	setup	NOUN
app01-3965	207	40	2.3.2	2.3.2	NUM
app01-3965	207	41	experiments	experiment	NOUN
app01-3965	207	42	3	3	NUM
app01-3965	207	43	results	result	VERB
app01-3965	207	44	3.1	3.1	NUM
app01-3965	207	45	force	force	NOUN
app01-3965	207	46	calculation	calculation	NOUN
app01-3965	207	47	of	of	ADP
app01-3965	207	48	5th	5th	ADJ
app01-3965	207	49	leg	leg	NOUN
app01-3965	207	50	pair	pair	NOUN
app01-3965	207	51	by	by	ADP
app01-3965	207	52	kinematic	kinematic	ADJ
app01-3965	207	53	approach	approach	NOUN
app01-3965	207	54	and	and	CCONJ
app01-3965	207	55	piv	piv	NOUN
app01-3965	207	56	3.2	3.2	NUM
app01-3965	207	57	simulation	simulation	NOUN
app01-3965	207	58	3.3	3.3	NUM
app01-3965	207	59	technical	technical	ADJ
app01-3965	207	60	model	model	NOUN
app01-3965	207	61	4	4	NUM
app01-3965	207	62	conclusions	conclusion	NOUN
app01-3965	207	63	4.1	4.1	NUM
app01-3965	207	64	comparison	comparison	NOUN
app01-3965	207	65	of	of	ADP
app01-3965	207	66	e.	e.	PROPN
app01-3965	207	67	sinensis	sinensis	NOUN
app01-3965	207	68	with	with	ADP
app01-3965	207	69	its	its	PRON
app01-3965	207	70	models	model	NOUN
app01-3965	207	71	4.2	4.2	NUM
app01-3965	207	72	transferability	transferability	NOUN
app01-3965	207	73	to	to	ADP
app01-3965	207	74	aquatic	aquatic	ADJ
app01-3965	207	75	robots	robot	NOUN
app01-3965	207	76	acknowledgements	acknowledgement	NOUN
app01-3965	207	77	references	reference	NOUN