id	sid	eid	entity	type
aiti-11957	1	1	microsoft	ORG
aiti-11957	1	2	3	CARDINAL
aiti-11957	1	3	277).docx	CARDINAL
aiti-11957	1	4	8	CARDINAL
aiti-11957	1	5	4	CARDINAL
aiti-11957	1	6	2023	DATE
aiti-11957	2	1	267-277 english	QUANTITY
aiti-11957	2	2	chih-wei chang	PERSON
aiti-11957	2	3	jin-siang shaw1	PERSON
aiti-11957	2	4	national taipei university of technology	ORG
aiti-11957	2	5	taiwan	GPE
aiti-11957	2	6	roc	GPE
aiti-11957	2	7	2institute	CARDINAL
aiti-11957	2	8	national taipei university of technology	ORG
aiti-11957	2	9	taiwan	GPE
aiti-11957	2	10	roc	GPE
aiti-11957	2	11	13	CARDINAL
aiti-11957	2	12	april 2023	PERSON
aiti-11957	2	13	03 july 2023	DATE
aiti-11957	2	14	04	CARDINAL
aiti-11957	2	15	2023	CARDINAL
aiti-11957	3	1	six	CARDINAL
aiti-11957	6	1	four	CARDINAL
aiti-11957	9	1	euler	PERSON
aiti-11957	9	2	1	CARDINAL
aiti-11957	9	3	21st century	DATE
aiti-11957	9	4	4.0	CARDINAL
aiti-11957	10	1	4.0	CARDINAL
aiti-11957	10	2	1	CARDINAL
aiti-11957	11	1	2	CARDINAL
aiti-11957	11	2	3	CARDINAL
aiti-11957	12	1	more than 20 billion	MONEY
aiti-11957	12	2	4	CARDINAL
aiti-11957	13	1	4.0	CARDINAL
aiti-11957	13	2	5	CARDINAL
aiti-11957	14	1	6	CARDINAL
aiti-11957	15	1	9	CARDINAL
aiti-11957	19	1	10-12	CARDINAL
aiti-11957	21	1	jshaw@ntut.edu.tw advances	PERSON
aiti-11957	21	2	8	CARDINAL
aiti-11957	21	3	4	CARDINAL
aiti-11957	21	4	2023	DATE
aiti-11957	22	1	267-277 268	QUANTITY
aiti-11957	23	1	1	CARDINAL
aiti-11957	24	1	13	CARDINAL
aiti-11957	26	1	today	DATE
aiti-11957	27	1	ros	CARDINAL
aiti-11957	29	1	two	CARDINAL
aiti-11957	29	2	only one	CARDINAL
aiti-11957	30	1	fig	ORG
aiti-11957	31	1	1	CARDINAL
aiti-11957	31	2	13	CARDINAL
aiti-11957	31	3	2022	CARDINAL
aiti-11957	31	4	the international federation of robotics	ORG
aiti-11957	31	5	3.5 million	CARDINAL
aiti-11957	31	6	approximately 510,000	CARDINAL
aiti-11957	31	7	2021	CARDINAL
aiti-11957	33	1	14	CARDINAL
aiti-11957	36	1	15	CARDINAL
aiti-11957	38	1	heredia et al	PERSON
aiti-11957	39	1	16	CARDINAL
aiti-11957	41	1	perceptron	GPE
aiti-11957	41	2	17	CARDINAL
aiti-11957	47	1	8	CARDINAL
aiti-11957	47	2	4	CARDINAL
aiti-11957	47	3	2023	DATE
aiti-11957	48	1	267-277 269 2	QUANTITY
aiti-11957	48	2	ros	CARDINAL
aiti-11957	48	3	gazebo	PRODUCT
aiti-11957	52	1	2	CARDINAL
aiti-11957	56	1	two	CARDINAL
aiti-11957	57	1	two	CARDINAL
aiti-11957	59	1	first	ORDINAL
aiti-11957	62	1	six	CARDINAL
aiti-11957	62	2	euler	PERSON
aiti-11957	64	1	fig	ORG
aiti-11957	65	1	2	CARDINAL
aiti-11957	65	2	2.1	CARDINAL
aiti-11957	66	1	2d/3d	CARDINAL
aiti-11957	68	1	first	ORDINAL
aiti-11957	69	1	second	ORDINAL
aiti-11957	70	1	3d	CARDINAL
aiti-11957	71	1	the physx physics engine	ORG
aiti-11957	74	1	2.2	CARDINAL
aiti-11957	76	1	8	CARDINAL
aiti-11957	76	2	4	CARDINAL
aiti-11957	76	3	2023	DATE
aiti-11957	77	1	267-277 270	QUANTITY
aiti-11957	77	2	stp	ORG
aiti-11957	81	1	3	CARDINAL
aiti-11957	83	1	six	CARDINAL
aiti-11957	84	1	4	CARDINAL
aiti-11957	85	1	19	CARDINAL
aiti-11957	87	1	3	CARDINAL
aiti-11957	88	1	4 3d	CARDINAL
aiti-11957	89	1	20	CARDINAL
aiti-11957	90	1	fig.	DATE
aiti-11957	91	1	fig	ORG
aiti-11957	92	1	5	CARDINAL
aiti-11957	92	2	2.3	CARDINAL
aiti-11957	94	1	one	CARDINAL
aiti-11957	94	2	ccd	ORG
aiti-11957	95	1	21	CARDINAL
aiti-11957	96	1	bio ik	PERSON
aiti-11957	97	1	23	CARDINAL
aiti-11957	98	1	bio ik	PERSON
aiti-11957	98	2	ccd	ORG
aiti-11957	99	1	ccd	ORG
aiti-11957	100	1	ccd	ORG
aiti-11957	101	1	8	CARDINAL
aiti-11957	101	2	4	CARDINAL
aiti-11957	101	3	2023	DATE
aiti-11957	102	1	267-277 271	QUANTITY
aiti-11957	102	2	ccd	ORG
aiti-11957	103	1	ccd	ORG
aiti-11957	103	2	one	CARDINAL
aiti-11957	107	1	6	CARDINAL
aiti-11957	107	2	1cos	LANGUAGE
aiti-11957	109	1		GPE
aiti-11957	111	1		GPE
aiti-11957	114	1	1	CARDINAL
aiti-11957	115	1	2	CARDINAL
aiti-11957	115	2	2d	DATE
aiti-11957	115	3	3d	CARDINAL
aiti-11957	117	1	24	CARDINAL
aiti-11957	118	1	one	CARDINAL
aiti-11957	119	1	only one	CARDINAL
aiti-11957	121	1	fig	ORG
aiti-11957	122	1	6	CARDINAL
aiti-11957	122	2	ccd	ORG
aiti-11957	122	3	2.4	CARDINAL
aiti-11957	123	1	two	CARDINAL
aiti-11957	124	1	first	ORDINAL
aiti-11957	127	1	7	CARDINAL
aiti-11957	127	2	1	CARDINAL
aiti-11957	127	3	six	CARDINAL
aiti-11957	127	4	cs8c	PERSON
aiti-11957	129	1	8	CARDINAL
aiti-11957	129	2	4	CARDINAL
aiti-11957	129	3	2023	DATE
aiti-11957	130	1	267-277 272	QUANTITY
aiti-11957	130	2	2	CARDINAL
aiti-11957	132	1	two	CARDINAL
aiti-11957	132	2	3	CARDINAL
aiti-11957	134	1	7	CARDINAL
aiti-11957	134	2	1	CARDINAL
aiti-11957	134	3	second	ORDINAL
aiti-11957	134	4	fig.	DATE
aiti-11957	135	1	8	CARDINAL
aiti-11957	139	1	ccd	PRODUCT
aiti-11957	144	1	fig	ORG
aiti-11957	145	1	8	CARDINAL
aiti-11957	145	2	2 2.5	CARDINAL
aiti-11957	148	1	8	CARDINAL
aiti-11957	148	2	4	CARDINAL
aiti-11957	148	3	2023	DATE
aiti-11957	149	1	267-277 273	QUANTITY
aiti-11957	149	2	taiwan	GPE
aiti-11957	149	3	taiwan	GPE
aiti-11957	149	4	2050	DATE
aiti-11957	149	5	zero	CARDINAL
aiti-11957	149	6	march 2022	DATE
aiti-11957	150	1	25	CARDINAL
aiti-11957	151	1	net-zero	CARDINAL
aiti-11957	156	1	first	ORDINAL
aiti-11957	160	1	euler	PERSON
aiti-11957	161	1	26	CARDINAL
aiti-11957	162	1	1	CARDINAL
aiti-11957	169	1	3	CARDINAL
aiti-11957	169	2	lagrangian	ORG
aiti-11957	172	1	4	CARDINAL
aiti-11957	172	2	1 1 2 n	QUANTITY
aiti-11957	174	1	i vi vi	FAC
aiti-11957	178	1	j q j q j	PERSON
aiti-11957	179	1		DATE
aiti-11957	180	1	5	CARDINAL
aiti-11957	180	2	1 1 n n	QUANTITY
aiti-11957	184	1	6	CARDINAL
aiti-11957	186	1	eqs	ORG
aiti-11957	186	2	5	CARDINAL
aiti-11957	186	3	6	CARDINAL
aiti-11957	187	1	4	CARDINAL
aiti-11957	188	1	4	CARDINAL
aiti-11957	189	1	3	CARDINAL
aiti-11957	192	1	centrifugal force	ORG
aiti-11957	194	1	7	CARDINAL
aiti-11957	195	1	ccd	ORG
aiti-11957	197	1	7	CARDINAL
aiti-11957	197	2	three	CARDINAL
aiti-11957	198	1	1 τ	QUANTITY
aiti-11957	198	2		DATE
aiti-11957	203	1	8)	CARDINAL
aiti-11957	203	2	8	CARDINAL
aiti-11957	203	3	4	CARDINAL
aiti-11957	203	4	2023	DATE
aiti-11957	204	1	267-277 274	QUANTITY
aiti-11957	205	1	0	CARDINAL
aiti-11957	205	2	9	CARDINAL
aiti-11957	207	1	7	CARDINAL
aiti-11957	210	1	eqs	CARDINAL
aiti-11957	210	2	7)-(9	CARDINAL
aiti-11957	211	1	3	CARDINAL
aiti-11957	211	2	four	CARDINAL
aiti-11957	212	1	9	CARDINAL
aiti-11957	212	2	1	CARDINAL
aiti-11957	212	3	2	CARDINAL
aiti-11957	212	4	1	CARDINAL
aiti-11957	212	5	3	CARDINAL
aiti-11957	212	6	4	CARDINAL
aiti-11957	213	1	1	CARDINAL
aiti-11957	213	2	2	CARDINAL
aiti-11957	213	3	2	CARDINAL
aiti-11957	213	4	1	CARDINAL
aiti-11957	214	1	3	CARDINAL
aiti-11957	214	2	4	CARDINAL
aiti-11957	215	1	1	CARDINAL
aiti-11957	215	2	2	CARDINAL
aiti-11957	215	3	3	CARDINAL
aiti-11957	215	4	4	CARDINAL
aiti-11957	216	1	9	CARDINAL
aiti-11957	216	2	8	CARDINAL
aiti-11957	216	3	4	CARDINAL
aiti-11957	216	4	2023	DATE
aiti-11957	217	1	267-277 275	QUANTITY
aiti-11957	217	2	1	CARDINAL
aiti-11957	217	3	0.5	CARDINAL
aiti-11957	217	4	2	CARDINAL
aiti-11957	217	5	1.0	CARDINAL
aiti-11957	217	6	0.5	CARDINAL
aiti-11957	217	7	0.25	CARDINAL
aiti-11957	217	8	4 cm	QUANTITY
aiti-11957	217	9	1	CARDINAL
aiti-11957	217	10	2	CARDINAL
aiti-11957	217	11	1	CARDINAL
aiti-11957	218	1	11 cm	QUANTITY
aiti-11957	218	2	3	CARDINAL
aiti-11957	218	3	4	CARDINAL
aiti-11957	218	4	3	CARDINAL
aiti-11957	220	1	fig.	DATE
aiti-11957	221	1	10	CARDINAL
aiti-11957	221	2	eqs	ORG
aiti-11957	222	1	7	CARDINAL
aiti-11957	223	1	9	CARDINAL
aiti-11957	224	1	1	CARDINAL
aiti-11957	225	1	2	CARDINAL
aiti-11957	225	2	1	CARDINAL
aiti-11957	225	3	4	CARDINAL
aiti-11957	225	4	3	CARDINAL
aiti-11957	226	1	2	CARDINAL
aiti-11957	226	2	1	CARDINAL
aiti-11957	226	3	2.9	CARDINAL
aiti-11957	226	4	4	CARDINAL
aiti-11957	226	5	3	CARDINAL
aiti-11957	227	1	1 and	CARDINAL
aiti-11957	227	2	2	CARDINAL
aiti-11957	227	3	3	CARDINAL
aiti-11957	229	1	9	CARDINAL
aiti-11957	232	1	1	CARDINAL
aiti-11957	232	2	2	CARDINAL
aiti-11957	232	3	3	CARDINAL
aiti-11957	232	4	4	CARDINAL
aiti-11957	233	1	10	CARDINAL
aiti-11957	233	2	1	CARDINAL
aiti-11957	233	3	95	CARDINAL
aiti-11957	233	4	195	CARDINAL
aiti-11957	233	5	8	CARDINAL
aiti-11957	233	6	4	CARDINAL
aiti-11957	233	7	2023	DATE
aiti-11957	234	1	267-277 276 4	QUANTITY
aiti-11957	234	2	euler	PERSON
aiti-11957	235	1	four	CARDINAL
aiti-11957	242	1	1	CARDINAL
aiti-11957	242	2	a. mazumder	PERSON
aiti-11957	242	3	m. f. sahed	PERSON
aiti-11957	242	4	z. tasneem	PERSON
aiti-11957	242	5	p. das	PERSON
aiti-11957	242	6	f. r. badal	PERSON
aiti-11957	242	7	m. f. ali	PERSON
aiti-11957	243	1	9	CARDINAL
aiti-11957	243	2	2	CARDINAL
aiti-11957	243	3	2023	CARDINAL
aiti-11957	244	1	2	CARDINAL
aiti-11957	244	2	d. zhong	PERSON
aiti-11957	244	3	z. xia	PERSON
aiti-11957	244	4	j. duan	PERSON
aiti-11957	244	5	9	CARDINAL
aiti-11957	244	6	4	CARDINAL
aiti-11957	245	1	april 2023	DATE
aiti-11957	246	1	3	CARDINAL
aiti-11957	246	2	s. liu	PERSON
aiti-11957	246	3	j. bao	PERSON
aiti-11957	246	4	p. zheng	PERSON
aiti-11957	246	5	67	CARDINAL
aiti-11957	247	1	361-378	CARDINAL
aiti-11957	247	2	2023	CARDINAL
aiti-11957	248	1	4	CARDINAL
aiti-11957	248	2	s. kara	PERSON
aiti-11957	248	3	k. c. chan	PERSON
aiti-11957	248	4	62	DATE
aiti-11957	248	5	101861	DATE
aiti-11957	248	6	april 2020	DATE
aiti-11957	249	1	5	CARDINAL
aiti-11957	249	2	m. a. m. s. lemstra	PERSON
aiti-11957	249	3	m. a. de mesquita	PERSON
aiti-11957	249	4	4.0	CARDINAL
aiti-11957	249	5	tertiary	ORDINAL
aiti-11957	249	6	186	CARDINAL
aiti-11957	250	1	122204	DATE
aiti-11957	250	2	january 2023	DATE
aiti-11957	251	1	6	CARDINAL
aiti-11957	251	2	j. cheng	PERSON
aiti-11957	251	3	h. zhang	PERSON
aiti-11957	251	4	f. tao	PERSON
aiti-11957	251	5	c. f. juang	PERSON
aiti-11957	251	6	dt-ii	WORK_OF_ART
aiti-11957	251	7	62	DATE
aiti-11957	251	8	101881,	DATE
aiti-11957	251	9	april 2020	DATE
aiti-11957	252	1	7	CARDINAL
aiti-11957	252	2	m. liu	PERSON
aiti-11957	252	3	s. fang	PERSON
aiti-11957	252	4	h. dong	PERSON
aiti-11957	252	5	c. xu	PERSON
aiti-11957	252	6	58	DATE
aiti-11957	254	1	346	CARDINAL
aiti-11957	254	2	january 2021	DATE
aiti-11957	255	1	8	CARDINAL
aiti-11957	255	2	c. liu	PERSON
aiti-11957	255	3	k. i. k. wang	PERSON
aiti-11957	255	4	h. huang	PERSON
aiti-11957	255	5	x. xu	PERSON
aiti-11957	255	6	61	DATE
aiti-11957	255	7	101837	CARDINAL
aiti-11957	255	8	february 2020	DATE
aiti-11957	256	1	9	CARDINAL
aiti-11957	256	2	a. v. barenji	PERSON
aiti-11957	256	3	x. liu	PERSON
aiti-11957	256	4	h. guo	PERSON
aiti-11957	256	5	z. li	PERSON
aiti-11957	258	1	34	CARDINAL
aiti-11957	258	2	7	CARDINAL
aiti-11957	258	3	844-859	CARDINAL
aiti-11957	258	4	2021	DATE
aiti-11957	259	1	10	CARDINAL
aiti-11957	259	2	c. constantinescu	PERSON
aiti-11957	259	3	s. giosan	PERSON
aiti-11957	259	4	r. matei	PERSON
aiti-11957	259	5	d. wohlfeld	PERSON
aiti-11957	259	6	procedia cirp	PERSON
aiti-11957	259	7	88	DATE
aiti-11957	260	1	163-166	CARDINAL
aiti-11957	260	2	2020	DATE
aiti-11957	261	1	11	CARDINAL
aiti-11957	261	2	a. gallala	PERSON
aiti-11957	261	3	a. a. kumar	PERSON
aiti-11957	261	4	b. hichri	PERSON
aiti-11957	261	5	4.0	CARDINAL
aiti-11957	261	6	22	CARDINAL
aiti-11957	261	7	13	CARDINAL
aiti-11957	261	8	4950	CARDINAL
aiti-11957	262	1	12	CARDINAL
aiti-11957	262	2	s. shendryk	PERSON
aiti-11957	262	3	digital twins	ORG
aiti-11957	264	1	478-485	CARDINAL
aiti-11957	264	2	2023	CARDINAL
aiti-11957	265	1	13	CARDINAL
aiti-11957	265	2	september 30	DATE
aiti-11957	265	3	2022	CARDINAL
aiti-11957	266	1	8	CARDINAL
aiti-11957	266	2	4	CARDINAL
aiti-11957	266	3	2023	DATE
aiti-11957	267	1	267-277 277	QUANTITY
aiti-11957	267	2	14	CARDINAL
aiti-11957	267	3	j. oyekan	PERSON
aiti-11957	267	4	m. farnsworth	PERSON
aiti-11957	267	5	w. hutabarat	PERSON
aiti-11957	267	6	d. miller	PERSON
aiti-11957	267	7	a. tiwari	PERSON
aiti-11957	267	8	6	CARDINAL
aiti-11957	267	9	20	CARDINAL
aiti-11957	267	10	16	CARDINAL
aiti-11957	267	11	4637	DATE
aiti-11957	267	12	august 2020	DATE
aiti-11957	268	1	15	CARDINAL
aiti-11957	268	2	m. gadaleta	PERSON
aiti-11957	268	3	g. berselli	PERSON
aiti-11957	268	4	m. pellicciari	PERSON
aiti-11957	268	5	f. grassia	PERSON
aiti-11957	268	6	68	CARDINAL
aiti-11957	268	7	article no. 102046,	LAW
aiti-11957	268	8	april 2021	DATE
aiti-11957	269	1	16	CARDINAL
aiti-11957	269	2	j. heredia	PERSON
aiti-11957	269	3	c. schlette	PERSON
aiti-11957	269	4	m. b. kjærgaard	PERSON
aiti-11957	269	5	6	CARDINAL
aiti-11957	269	6	4	CARDINAL
aiti-11957	270	1	68366843, october 2021	DATE
aiti-11957	271	1	17	CARDINAL
aiti-11957	271	2	j. yan	PERSON
aiti-11957	271	3	m. zhang	PERSON
aiti-11957	271	4	325	CARDINAL
aiti-11957	271	5	129299	DATE
aiti-11957	271	6	november 2021	DATE
aiti-11957	272	1	18	CARDINAL
aiti-11957	272	2	m. yao	PERSON
aiti-11957	272	3	q. zhao	PERSON
aiti-11957	272	4	z. shao	PERSON
aiti-11957	272	5	y. zhao	PERSON
aiti-11957	272	6	7th	ORDINAL
aiti-11957	273	1	87-92	CARDINAL
aiti-11957	274	1	19	CARDINAL
aiti-11957	274	2	g. garg	PERSON
aiti-11957	274	3	m.s. thesis, department of robotics	ORG
aiti-11957	274	4	university of tartu	ORG
aiti-11957	274	5	2021	CARDINAL
aiti-11957	275	1	20	CARDINAL
aiti-11957	275	2	g. garg	PERSON
aiti-11957	275	3	v. kuts	PERSON
aiti-11957	275	4	g. anbarjafari	PERSON
aiti-11957	275	5	13	CARDINAL
aiti-11957	275	6	18	CARDINAL
aiti-11957	275	7	10336	DATE
aiti-11957	275	8	september 2021	DATE
aiti-11957	276	1	21	CARDINAL
aiti-11957	276	2	3rd	ORDINAL
aiti-11957	277	1	35-40	CARDINAL
aiti-11957	278	1	22	CARDINAL
aiti-11957	278	2	c. jacob	PERSON
aiti-11957	278	3	f. espinosa	PERSON
aiti-11957	278	4	a. luxenburger	PERSON
aiti-11957	278	5	d. merkel	PERSON
aiti-11957	278	6	j. mohr	PERSON
aiti-11957	278	7	t. schwartz	ORG
aiti-11957	278	8	210-212	CARDINAL
aiti-11957	278	9	2022	CARDINAL
aiti-11957	279	1	23	CARDINAL
aiti-11957	279	2	university of targu-jiu	ORG
aiti-11957	280	1	1	CARDINAL
aiti-11957	281	1	64	CARDINAL
aiti-11957	281	2	2021	DATE
aiti-11957	282	1	24	CARDINAL
aiti-11957	282	2	a. vatankhah barenji	PERSON
aiti-11957	282	3	x. liu	PERSON
aiti-11957	282	4	h. guo	PERSON
aiti-11957	282	5	z. li	PERSON
aiti-11957	283	1	34	CARDINAL
aiti-11957	283	2	7	CARDINAL
aiti-11957	283	3	844-859	CARDINAL
aiti-11957	283	4	2021	DATE
aiti-11957	284	1	25	CARDINAL
aiti-11957	284	2	national development council	ORG
aiti-11957	284	3	taiwan	GPE
aiti-11957	284	4	2050	DATE
aiti-11957	284	5	march 30	DATE
aiti-11957	284	6	2022	CARDINAL
aiti-11957	284	7	26	CARDINAL
aiti-11957	284	8	m. w. spong	PERSON
aiti-11957	284	9	s. hutchinson	PERSON
aiti-11957	284	10	m. vidyasagar	PERSON
aiti-11957	284	11	new jersey	GPE
aiti-11957	284	12	wiley	GPE
aiti-11957	284	13	2005	DATE
aiti-11957	286	1	taeti	GPE
aiti-11957	286	2	taiwan	GPE
aiti-11957	287	1	https://creativecommons.org/licenses/by-nc/4.0/	ORG