id	sid	tid	token	lemma	pos
alkej-264	1	1	44	44	NUM
alkej-264	1	2	-	-	SYM
alkej-264	1	3	59	59	NUM
alkej-264	1	4	al	al	PROPN
alkej-264	1	5	-	-	PUNCT
alkej-264	1	6	khwarizmi	khwarizmi	PROPN
alkej-264	1	7	engineering	engineering	NOUN
alkej-264	1	8	journal	journal	NOUN
alkej-264	1	9	,	,	PUNCT
alkej-264	1	10	vol	vol	NOUN
alkej-264	1	11	.	.	PROPN
alkej-264	1	12	11	11	NUM
alkej-264	1	13	,	,	PUNCT
alkej-264	1	14	no	no	INTJ
alkej-264	1	15	.	.	NOUN
alkej-264	1	16	4	4	NUM
alkej-264	1	17	,	,	PUNCT
alkej-264	1	18	p.p	p.p	PROPN
alkej-264	1	19	.	.	PROPN
alkej-264	1	20	hexapod	hexapod	NOUN
alkej-264	1	21	robot	robot	NOUN
alkej-264	1	22	static	static	ADJ
alkej-264	1	23	stability	stability	NOUN
alkej-264	1	24	enhancement	enhancement	NOUN
alkej-264	1	25	using	use	VERB
alkej-264	1	26	genetic	genetic	ADJ
alkej-264	1	27	firas	firas	PROPN
alkej-264	1	28	a.	a.	NOUN
alkej-264	1	29	raheem	raheem	PROPN
alkej-264	1	30	*	*	PUNCT
alkej-264	1	31	,	,	PUNCT
alkej-264	1	32	*	*	PUNCT
alkej-264	1	33	*	*	NOUN
alkej-264	1	34	department	department	NOUN
alkej-264	1	35	of	of	ADP
alkej-264	1	36	(	(	PUNCT
alkej-264	1	37	received	receive	VERB
alkej-264	1	38	abstract	abstract	ADJ
alkej-264	1	39	hexapod	hexapod	NOUN
alkej-264	1	40	robot	robot	NOUN
alkej-264	1	41	is	be	AUX
alkej-264	1	42	a	a	DET
alkej-264	1	43	flexible	flexible	ADJ
alkej-264	1	44	mechanical	mechanical	ADJ
alkej-264	1	45	robot	robot	NOUN
alkej-264	1	46	with	with	ADP
alkej-264	1	47	six	six	NUM
alkej-264	1	48	legs	leg	NOUN
alkej-264	1	49	.	.	PUNCT
alkej-264	2	1	it	it	PRON
alkej-264	2	2	has	have	VERB
alkej-264	2	3	the	the	DET
alkej-264	2	4	ability	ability	NOUN
alkej-264	2	5	to	to	PART
alkej-264	2	6	walk	walk	VERB
alkej-264	2	7	over	over	ADP
alkej-264	2	8	terrain	terrain	NOUN
alkej-264	2	9	.	.	PUNCT
alkej-264	3	1	the	the	DET
alkej-264	3	2	hexapod	hexapod	NOUN
alkej-264	3	3	robot	robot	NOUN
alkej-264	3	4	look	look	VERB
alkej-264	3	5	likes	like	VERB
alkej-264	3	6	the	the	DET
alkej-264	3	7	insect	insect	NOUN
alkej-264	3	8	so	so	SCONJ
alkej-264	3	9	it	it	PRON
alkej-264	3	10	has	have	VERB
alkej-264	3	11	the	the	DET
alkej-264	3	12	same	same	ADJ
alkej-264	3	13	gaits	gait	NOUN
alkej-264	3	14	.	.	PUNCT
alkej-264	4	1	these	these	DET
alkej-264	4	2	gaits	gait	NOUN
alkej-264	4	3	are	be	AUX
alkej-264	4	4	statically	statically	ADV
alkej-264	4	5	stable	stable	ADJ
alkej-264	4	6	at	at	ADP
alkej-264	4	7	all	all	DET
alkej-264	4	8	the	the	DET
alkej-264	4	9	times	time	NOUN
alkej-264	4	10	during	during	ADP
alkej-264	4	11	each	each	DET
alkej-264	4	12	gait	gait	NOUN
alkej-264	4	13	in	in	ADP
alkej-264	4	14	order	order	NOUN
alkej-264	4	15	not	not	PART
alkej-264	4	16	to	to	PART
alkej-264	4	17	fall	fall	VERB
alkej-264	4	18	with	with	ADP
alkej-264	4	19	three	three	NUM
alkej-264	4	20	or	or	CCONJ
alkej-264	4	21	more	more	ADJ
alkej-264	4	22	legs	leg	NOUN
alkej-264	4	23	continuously	continuously	ADV
alkej-264	4	24	contacts	contact	VERB
alkej-264	4	25	with	with	ADP
alkej-264	4	26	the	the	DET
alkej-264	4	27	ground	ground	NOUN
alkej-264	4	28	.	.	PUNCT
alkej-264	5	1	the	the	DET
alkej-264	5	2	safety	safety	NOUN
alkej-264	5	3	static	static	ADJ
alkej-264	5	4	stability	stability	NOUN
alkej-264	5	5	walking	walk	VERB
alkej-264	5	6	kinematics	kinematic	NOUN
alkej-264	5	7	are	be	AUX
alkej-264	5	8	derived	derive	VERB
alkej-264	5	9	for	for	ADP
alkej-264	5	10	each	each	DET
alkej-264	5	11	hexapod	hexapod	NOUN
alkej-264	5	12	r2010a	r2010a	NOUN
alkej-264	5	13	for	for	ADP
alkej-264	5	14	all	all	DET
alkej-264	5	15	gaits	gait	NOUN
alkej-264	5	16	and	and	CCONJ
alkej-264	5	17	the	the	DET
alkej-264	5	18	geometry	geometry	NOUN
alkej-264	5	19	in	in	ADP
alkej-264	5	20	order	order	NOUN
alkej-264	5	21	to	to	PART
alkej-264	5	22	derive	derive	VERB
alkej-264	5	23	the	the	DET
alkej-264	5	24	equations	equation	NOUN
alkej-264	5	25	of	of	ADP
alkej-264	5	26	the	the	DET
alkej-264	5	27	sub	sub	NOUN
alkej-264	5	28	hexapod	hexapod	NOUN
alkej-264	5	29	’s	’s	PART
alkej-264	5	30	leg	leg	NOUN
alkej-264	5	31	.	.	PUNCT
alkej-264	6	1	they	they	PRON
alkej-264	6	2	are	be	AUX
alkej-264	6	3	defined	define	VERB
alkej-264	6	4	as	as	ADP
alkej-264	6	5	the	the	DET
alkej-264	6	6	sub	sub	NOUN
alkej-264	6	7	with	with	ADP
alkej-264	6	8	each	each	DET
alkej-264	6	9	other	other	ADJ
alkej-264	6	10	and	and	CCONJ
alkej-264	6	11	they	they	PRON
alkej-264	6	12	are	be	AUX
alkej-264	6	13	useful	useful	ADJ
alkej-264	6	14	to	to	PART
alkej-264	6	15	keep	keep	VERB
alkej-264	6	16	the	the	DET
alkej-264	6	17	legs	leg	NOUN
alkej-264	6	18	stable	stable	ADJ
alkej-264	6	19	from	from	ADP
alkej-264	6	20	falling	fall	VERB
alkej-264	6	21	during	during	ADP
alkej-264	6	22	each	each	DET
alkej-264	6	23	gait	gait	NOUN
alkej-264	6	24	.	.	PUNCT
alkej-264	7	1	a	a	DET
alkej-264	7	2	smooth	smooth	ADJ
alkej-264	7	3	gait	gait	NOUN
alkej-264	7	4	was	be	AUX
alkej-264	7	5	analyzed	analyze	VERB
alkej-264	7	6	and	and	CCONJ
alkej-264	7	7	enhanced	enhance	VERB
alkej-264	7	8	for	for	ADP
alkej-264	7	9	each	each	DET
alkej-264	7	10	hexapod	hexapod	NOUN
alkej-264	7	11	’s	’s	PART
alkej-264	7	12	leg	leg	NOUN
alkej-264	7	13	in	in	ADP
alkej-264	7	14	two	two	NUM
alkej-264	7	15	phases	phase	NOUN
alkej-264	7	16	,	,	PUNCT
alkej-264	7	17	stance	stance	NOUN
alkej-264	7	18	phase	phase	NOUN
alkej-264	7	19	and	and	CCONJ
alkej-264	7	20	swing	swing	NOUN
alkej-264	7	21	phase	phase	NOUN
alkej-264	7	22	.	.	PUNCT
alkej-264	8	1	two	two	NUM
alkej-264	8	2	approaches	approach	NOUN
alkej-264	8	3	first	first	ADV
alkej-264	8	4	,	,	PUNCT
alkej-264	8	5	the	the	DET
alkej-264	8	6	modified	modified	ADJ
alkej-264	8	7	classical	classical	ADJ
alkej-264	8	8	stability	stability	NOUN
alkej-264	8	9	margins	margin	NOUN
alkej-264	8	10	.	.	PUNCT
alkej-264	9	1	in	in	ADP
alkej-264	9	2	this	this	DET
alkej-264	9	3	approach	approach	NOUN
alkej-264	9	4	,	,	PUNCT
alkej-264	9	5	the	the	DET
alkej-264	9	6	range	range	NOUN
alkej-264	9	7	of	of	ADP
alkej-264	9	8	stability	stability	NOUN
alkej-264	9	9	margins	margin	NOUN
alkej-264	9	10	is	be	AUX
alkej-264	9	11	evaluated	evaluate	VERB
alkej-264	9	12	for	for	ADP
alkej-264	9	13	all	all	DET
alkej-264	9	14	gaits	gait	NOUN
alkej-264	9	15	.	.	PUNCT
alkej-264	10	1	the	the	DET
alkej-264	10	2	second	second	ADJ
alkej-264	10	3	method	method	NOUN
alkej-264	10	4	is	be	AUX
alkej-264	10	5	called	call	VERB
alkej-264	10	6	static	static	ADJ
alkej-264	10	7	stability	stability	NOUN
alkej-264	10	8	by	by	ADP
alkej-264	10	9	getting	get	VERB
alkej-264	10	10	the	the	DET
alkej-264	10	11	best	good	ADJ
alkej-264	10	12	stability	stability	NOUN
alkej-264	10	13	margins	margin	NOUN
alkej-264	10	14	for	for	ADP
alkej-264	10	15	hexapod	hexapod	NOUN
alkej-264	10	16	robot	robot	NOUN
alkej-264	10	17	planning	planning	NOUN
alkej-264	10	18	of	of	ADP
alkej-264	10	19	hexapod	hexapod	NOUN
alkej-264	10	20	robot	robot	NOUN
alkej-264	10	21	with	with	ADP
alkej-264	10	22	smaller	small	ADJ
alkej-264	10	23	error	error	NOUN
alkej-264	10	24	than	than	ADP
alkej-264	10	25	the	the	DET
alkej-264	10	26	first	first	ADJ
alkej-264	10	27	approach	approach	NOUN
alkej-264	10	28	and	and	CCONJ
alkej-264	10	29	with	with	ADP
alkej-264	10	30	better	well	ADJ
alkej-264	10	31	new	new	ADJ
alkej-264	10	32	stable	stable	ADJ
alkej-264	10	33	coordinates	coordinate	NOUN
alkej-264	10	34	of	of	ADP
alkej-264	10	35	legs	leg	NOUN
alkej-264	10	36	tips	tip	NOUN
alkej-264	10	37	than	than	ADP
alkej-264	10	38	the	the	DET
alkej-264	10	39	first	first	ADJ
alkej-264	10	40	method	method	NOUN
alkej-264	10	41	.	.	PUNCT
alkej-264	11	1	in	in	ADP
alkej-264	11	2	addition	addition	NOUN
alkej-264	11	3	,	,	PUNCT
alkej-264	11	4	the	the	DET
alkej-264	11	5	second	second	ADJ
alkej-264	11	6	approach	approach	NOUN
alkej-264	11	7	is	be	AUX
alkej-264	11	8	useful	useful	ADJ
alkej-264	11	9	for	for	ADP
alkej-264	11	10	getting	get	VERB
alkej-264	11	11	the	the	DET
alkej-264	11	12	better	well	ADJ
alkej-264	11	13	new	new	ADJ
alkej-264	11	14	stable	stable	ADJ
alkej-264	11	15	center	center	NOUN
alkej-264	11	16	body	body	NOUN
alkej-264	11	17	coordinates	coordinate	NOUN
alkej-264	11	18	than	than	ADP
alkej-264	11	19	center	center	ADJ
alkej-264	11	20	body	body	NOUN
alkej-264	11	21	coordinates	coordinate	NOUN
alkej-264	11	22	in	in	ADP
alkej-264	11	23	the	the	DET
alkej-264	11	24	first	first	ADJ
alkej-264	11	25	approach	approach	NOUN
alkej-264	11	26	of	of	ADP
alkej-264	11	27	hexapod	hexapod	NOUN
alkej-264	11	28	robot	robot	NOUN
alkej-264	11	29	.	.	PUNCT
alkej-264	12	1	keywords	keyword	NOUN
alkej-264	12	2	:	:	PUNCT
alkej-264	12	3	kinematics	kinematic	NOUN
alkej-264	12	4	,	,	PUNCT
alkej-264	12	5	stability	stability	NOUN
alkej-264	12	6	margin	margin	NOUN
alkej-264	12	7	,	,	PUNCT
alkej-264	12	8	1	1	NUM
alkej-264	12	9	.	.	X
alkej-264	12	10	introduction	introduction	NOUN
alkej-264	12	11	the	the	DET
alkej-264	12	12	hexapod	hexapod	NOUN
alkej-264	12	13	robots	robot	NOUN
alkej-264	12	14	are	be	AUX
alkej-264	12	15	mechanical	mechanical	ADJ
alkej-264	12	16	vehicles	vehicle	NOUN
alkej-264	12	17	that	that	PRON
alkej-264	12	18	walk	walk	VERB
alkej-264	12	19	with	with	ADP
alkej-264	12	20	six	six	NUM
alkej-264	12	21	legs	leg	NOUN
alkej-264	12	22	;	;	PUNCT
alkej-264	12	23	they	they	PRON
alkej-264	12	24	have	have	AUX
alkej-264	12	25	attracted	attract	VERB
alkej-264	12	26	considerable	considerable	ADJ
alkej-264	12	27	attention	attention	NOUN
alkej-264	12	28	in	in	ADP
alkej-264	12	29	recent	recent	ADJ
alkej-264	12	30	decades	decade	NOUN
alkej-264	12	31	.	.	PUNCT
alkej-264	13	1	there	there	PRON
alkej-264	13	2	are	be	VERB
alkej-264	13	3	several	several	ADJ
alkej-264	13	4	benefits	benefit	NOUN
alkej-264	13	5	for	for	ADP
alkej-264	13	6	hexapods	hexapod	NOUN
alkej-264	13	7	rover	rover	NOUN
alkej-264	13	8	efficient	efficient	ADJ
alkej-264	13	9	one	one	NUM
alkej-264	13	10	to	to	PART
alkej-264	13	11	maintain	maintain	VERB
alkej-264	13	12	for	for	ADP
alkej-264	13	13	statically	statically	ADV
alkej-264	13	14	stable	stable	ADJ
alkej-264	13	15	static	static	NOUN
alkej-264	13	16	on	on	ADP
alkej-264	13	17	three	three	NUM
alkej-264	13	18	or	or	CCONJ
alkej-264	13	19	more	more	ADJ
alkej-264	13	20	legs	leg	NOUN
alkej-264	13	21	,	,	PUNCT
alkej-264	13	22	it	it	PRON
alkej-264	13	23	has	have	VERB
alkej-264	13	24	a	a	DET
alkej-264	13	25	great	great	ADJ
alkej-264	13	26	deal	deal	NOUN
alkej-264	13	27	of	of	ADP
alkej-264	13	28	flexibility	flexibility	NOUN
alkej-264	13	29	in	in	ADP
alkej-264	13	30	how	how	SCONJ
alkej-264	13	31	it	it	PRON
alkej-264	13	32	can	can	AUX
alkej-264	13	33	move	move	VERB
alkej-264	13	34	[	[	X
alkej-264	13	35	1	1	NUM
alkej-264	13	36	]	]	PUNCT
alkej-264	13	37	.	.	PUNCT
alkej-264	14	1	difficult	difficult	ADJ
alkej-264	14	2	problem	problem	NOUN
alkej-264	14	3	of	of	ADP
alkej-264	14	4	generation	generation	NOUN
alkej-264	14	5	and	and	CCONJ
alkej-264	14	6	control	control	NOUN
alkej-264	14	7	of	of	ADP
alkej-264	14	8	the	the	DET
alkej-264	14	9	sequences	sequence	NOUN
alkej-264	14	10	of	of	ADP
alkej-264	14	11	placing	place	VERB
alkej-264	14	12	and	and	CCONJ
alkej-264	14	13	lifting	lift	VERB
alkej-264	14	14	legs	leg	NOUN
alkej-264	14	15	such	such	ADJ
alkej-264	14	16	that	that	SCONJ
alkej-264	14	17	any	any	DET
alkej-264	14	18	instant	instant	ADJ
alkej-264	14	19	body	body	NOUN
alkej-264	14	20	should	should	AUX
alkej-264	14	21	be	be	AUX
alkej-264	14	22	stable	stable	ADJ
alkej-264	14	23	and	and	CCONJ
alkej-264	14	24	moving	move	VERB
alkej-264	14	25	from	from	ADP
alkej-264	14	26	one	one	NUM
alkej-264	14	27	position	position	NOUN
alkej-264	14	28	to	to	ADP
alkej-264	14	29	other	other	ADJ
alkej-264	14	30	.	.	PUNCT
alkej-264	15	1	the	the	DET
alkej-264	15	2	gait	gait	NOUN
alkej-264	15	3	is	be	AUX
alkej-264	15	4	defined	define	VERB
alkej-264	15	5	as	as	ADP
alkej-264	15	6	generation	generation	NOUN
alkej-264	15	7	and	and	CCONJ
alkej-264	15	8	sequences	sequence	NOUN
alkej-264	15	9	of	of	ADP
alkej-264	15	10	legs	leg	NOUN
alkej-264	15	11	during	during	ADP
alkej-264	15	12	the	the	DET
alkej-264	15	13	hexapod	hexapod	NOUN
alkej-264	15	14	motion	motion	NOUN
alkej-264	15	15	[	[	X
alkej-264	15	16	2	2	NUM
alkej-264	15	17	]	]	PUNCT
alkej-264	15	18	.	.	PUNCT
alkej-264	16	1	hexapod	hexapod	NOUN
alkej-264	16	2	robot	robot	NOUN
alkej-264	16	3	looks	look	VERB
alkej-264	16	4	like	like	ADP
alkej-264	16	5	insect	insect	NOUN
alkej-264	16	6	so	so	SCONJ
alkej-264	16	7	it	it	PRON
alkej-264	16	8	has	have	VERB
alkej-264	16	9	the	the	DET
alkej-264	16	10	same	same	ADJ
alkej-264	16	11	gaits	gait	NOUN
alkej-264	16	12	[	[	X
alkej-264	16	13	1	1	NUM
alkej-264	16	14	]	]	PUNCT
alkej-264	16	15	.	.	PUNCT
alkej-264	17	1	the	the	PRON
alkej-264	17	2	of	of	ADP
alkej-264	17	3	hexapod	hexapod	NOUN
alkej-264	17	4	are	be	AUX
alkej-264	17	5	:	:	PUNCT
alkej-264	17	6	wave	wave	NOUN
alkej-264	17	7	,	,	PUNCT
alkej-264	17	8	ripple	ripple	ADJ
alkej-264	17	9	,	,	PUNCT
alkej-264	17	10	and	and	CCONJ
alkej-264	17	11	tripod	tripod	NOUN
alkej-264	17	12	gait	gait	NOUN
alkej-264	18	1	[	[	X
alkej-264	18	2	3	3	NUM
alkej-264	18	3	]	]	PUNCT
alkej-264	18	4	.	.	PUNCT
alkej-264	19	1	the	the	DET
alkej-264	19	2	ga	ga	PROPN
alkej-264	19	3	is	be	AUX
alkej-264	19	4	determined	determine	VERB
alkej-264	19	5	the	the	DET
alkej-264	19	6	optimal	optimal	ADJ
alkej-264	19	7	movement	movement	NOUN
alkej-264	19	8	khwarizmi	khwarizmi	PROPN
alkej-264	19	9	engineering	engineering	PROPN
alkej-264	19	10	journal	journal	PROPN
alkej-264	19	11	,	,	PUNCT
alkej-264	19	12	vol	vol	NOUN
alkej-264	19	13	.	.	PROPN
alkej-264	19	14	11	11	NUM
alkej-264	19	15	,	,	PUNCT
alkej-264	19	16	no	no	INTJ
alkej-264	19	17	.	.	NOUN
alkej-264	19	18	4	4	NUM
alkej-264	19	19	,	,	PUNCT
alkej-264	19	20	p.p	p.p	PROPN
alkej-264	19	21	.	.	NOUN
alkej-264	19	22	4459	4459	NUM
alkej-264	19	23	(	(	PUNCT
alkej-264	19	24	2015	2015	NUM
alkej-264	19	25	)	)	PUNCT
alkej-264	19	26	hexapod	hexapod	NOUN
alkej-264	19	27	robot	robot	NOUN
alkej-264	19	28	static	static	ADJ
alkej-264	19	29	stability	stability	NOUN
alkej-264	19	30	enhancement	enhancement	NOUN
alkej-264	19	31	using	use	VERB
alkej-264	19	32	genetic	genetic	ADJ
alkej-264	19	33	algorithm	algorithm	NOUN
alkej-264	19	34	firas	firas	PROPN
alkej-264	19	35	a.	a.	PROPN
alkej-264	19	36	raheem	raheem	PROPN
alkej-264	19	37	*	*	PUNCT
alkej-264	19	38	hind	hind	PROPN
alkej-264	19	39	z.	z.	PROPN
alkej-264	19	40	khaleel	khaleel	PROPN
alkej-264	20	1	*	*	PROPN
alkej-264	20	2	*	*	PROPN
alkej-264	20	3	of	of	ADP
alkej-264	20	4	control	control	NOUN
alkej-264	20	5	and	and	CCONJ
alkej-264	20	6	systems	system	NOUN
alkej-264	20	7	engineering	engineering	NOUN
alkej-264	20	8	/	/	SYM
alkej-264	20	9	university	university	NOUN
alkej-264	20	10	of	of	ADP
alkej-264	20	11	technology	technology	NOUN
alkej-264	20	12	*	*	NOUN
alkej-264	20	13	email	email	NOUN
alkej-264	20	14	:	:	PUNCT
alkej-264	20	15	dr.firas7010@yahoo.com	dr.firas7010@yahoo.com	X
alkej-264	20	16	*	*	PUNCT
alkej-264	21	1	*	*	NOUN
alkej-264	21	2	email	email	NOUN
alkej-264	21	3	:	:	PUNCT
alkej-264	21	4	hhindzuhair@yahoo.com	hhindzuhair@yahoo.com	X
alkej-264	21	5	(	(	PUNCT
alkej-264	21	6	received	receive	VERB
alkej-264	21	7	22	22	NUM
alkej-264	21	8	march	march	NOUN
alkej-264	21	9	2015	2015	NUM
alkej-264	21	10	;	;	PUNCT
alkej-264	21	11	accepted	accept	VERB
alkej-264	21	12	30	30	NUM
alkej-264	21	13	june	june	PROPN
alkej-264	21	14	2015	2015	NUM
alkej-264	21	15	)	)	PUNCT
alkej-264	21	16	is	be	AUX
alkej-264	21	17	a	a	DET
alkej-264	21	18	flexible	flexible	ADJ
alkej-264	21	19	mechanical	mechanical	ADJ
alkej-264	21	20	robot	robot	NOUN
alkej-264	21	21	with	with	ADP
alkej-264	21	22	six	six	NUM
alkej-264	21	23	legs	leg	NOUN
alkej-264	21	24	.	.	PUNCT
alkej-264	22	1	it	it	PRON
alkej-264	22	2	has	have	VERB
alkej-264	22	3	the	the	DET
alkej-264	22	4	ability	ability	NOUN
alkej-264	22	5	to	to	PART
alkej-264	22	6	walk	walk	VERB
alkej-264	22	7	over	over	ADP
alkej-264	22	8	terrain	terrain	NOUN
alkej-264	22	9	.	.	PUNCT
alkej-264	23	1	the	the	DET
alkej-264	23	2	hexapod	hexapod	NOUN
alkej-264	23	3	robot	robot	NOUN
alkej-264	23	4	look	look	VERB
alkej-264	23	5	likes	like	VERB
alkej-264	23	6	the	the	DET
alkej-264	23	7	insect	insect	NOUN
alkej-264	23	8	so	so	SCONJ
alkej-264	23	9	it	it	PRON
alkej-264	23	10	has	have	VERB
alkej-264	23	11	the	the	DET
alkej-264	23	12	same	same	ADJ
alkej-264	23	13	gaits	gait	NOUN
alkej-264	23	14	.	.	PUNCT
alkej-264	24	1	these	these	DET
alkej-264	24	2	gaits	gait	NOUN
alkej-264	24	3	are	be	AUX
alkej-264	24	4	tripod	tripod	NOUN
alkej-264	24	5	,	,	PUNCT
alkej-264	24	6	wave	wave	NOUN
alkej-264	24	7	and	and	CCONJ
alkej-264	24	8	ripple	ripple	ADJ
alkej-264	24	9	gaits	gait	NOUN
alkej-264	24	10	.	.	PUNCT
alkej-264	25	1	hexapod	hexapod	NOUN
alkej-264	25	2	robot	robot	NOUN
alkej-264	25	3	needs	need	VERB
alkej-264	25	4	to	to	PART
alkej-264	25	5	stay	stay	VERB
alkej-264	25	6	times	time	NOUN
alkej-264	25	7	during	during	ADP
alkej-264	25	8	each	each	DET
alkej-264	25	9	gait	gait	NOUN
alkej-264	25	10	in	in	ADP
alkej-264	25	11	order	order	NOUN
alkej-264	25	12	not	not	PART
alkej-264	25	13	to	to	PART
alkej-264	25	14	fall	fall	VERB
alkej-264	25	15	with	with	ADP
alkej-264	25	16	three	three	NUM
alkej-264	25	17	or	or	CCONJ
alkej-264	25	18	more	more	ADJ
alkej-264	25	19	legs	leg	NOUN
alkej-264	25	20	continuously	continuously	ADV
alkej-264	25	21	contacts	contact	NOUN
alkej-264	25	22	with	with	ADP
alkej-264	25	23	static	static	ADJ
alkej-264	25	24	stability	stability	NOUN
alkej-264	25	25	walking	walk	VERB
alkej-264	25	26	is	be	AUX
alkej-264	25	27	called	call	VERB
alkej-264	25	28	(	(	PUNCT
alkej-264	25	29	the	the	DET
alkej-264	25	30	stability	stability	NOUN
alkej-264	25	31	margin	margin	NOUN
alkej-264	25	32	)	)	PUNCT
alkej-264	25	33	.	.	PUNCT
alkej-264	26	1	in	in	ADP
alkej-264	26	2	this	this	DET
alkej-264	26	3	paper	paper	NOUN
alkej-264	26	4	,	,	PUNCT
alkej-264	26	5	for	for	ADP
alkej-264	26	6	each	each	DET
alkej-264	26	7	hexapod	hexapod	NOUN
alkej-264	26	8	’s	’s	PART
alkej-264	26	9	leg	leg	NOUN
alkej-264	26	10	in	in	ADP
alkej-264	26	11	order	order	NOUN
alkej-264	26	12	to	to	PART
alkej-264	26	13	simulate	simulate	VERB
alkej-264	26	14	the	the	DET
alkej-264	26	15	hexapod	hexapod	NOUN
alkej-264	26	16	robot	robot	NOUN
alkej-264	26	17	model	model	NOUN
alkej-264	26	18	walking	walk	VERB
alkej-264	26	19	for	for	ADP
alkej-264	26	20	all	all	DET
alkej-264	26	21	gaits	gait	NOUN
alkej-264	26	22	and	and	CCONJ
alkej-264	26	23	the	the	DET
alkej-264	26	24	geometry	geometry	NOUN
alkej-264	26	25	in	in	ADP
alkej-264	26	26	order	order	NOUN
alkej-264	26	27	to	to	PART
alkej-264	26	28	derive	derive	VERB
alkej-264	26	29	the	the	DET
alkej-264	26	30	equations	equation	NOUN
alkej-264	26	31	of	of	ADP
alkej-264	26	32	the	the	DET
alkej-264	26	33	sub	sub	ADJ
alkej-264	26	34	-	-	ADJ
alkej-264	26	35	constraint	constraint	ADJ
alkej-264	26	36	workspaces	workspace	NOUN
alkej-264	26	37	for	for	ADP
alkej-264	26	38	each	each	DET
alkej-264	26	39	hexapod	hexapod	NOUN
alkej-264	26	40	’s	’s	PART
alkej-264	26	41	leg	leg	NOUN
alkej-264	26	42	.	.	PUNCT
alkej-264	27	1	they	they	PRON
alkej-264	27	2	are	be	AUX
alkej-264	27	3	defined	define	VERB
alkej-264	27	4	as	as	ADP
alkej-264	27	5	the	the	DET
alkej-264	27	6	sub	sub	ADJ
alkej-264	27	7	-	-	ADJ
alkej-264	27	8	constraint	constraint	ADJ
alkej-264	27	9	workspaces	workspace	NOUN
alkej-264	27	10	volumes	volume	NOUN
alkej-264	27	11	when	when	SCONJ
alkej-264	27	12	the	the	DET
alkej-264	27	13	legs	leg	NOUN
alkej-264	27	14	are	be	AUX
alkej-264	27	15	moving	move	VERB
alkej-264	27	16	without	without	ADP
alkej-264	27	17	collision	collision	NOUN
alkej-264	27	18	with	with	ADP
alkej-264	27	19	each	each	DET
alkej-264	27	20	other	other	ADJ
alkej-264	27	21	and	and	CCONJ
alkej-264	27	22	they	they	PRON
alkej-264	27	23	are	be	AUX
alkej-264	27	24	useful	useful	ADJ
alkej-264	27	25	to	to	PART
alkej-264	27	26	keep	keep	VERB
alkej-264	27	27	the	the	DET
alkej-264	27	28	legs	leg	NOUN
alkej-264	27	29	stable	stable	ADJ
alkej-264	27	30	from	from	ADP
alkej-264	27	31	falling	fall	VERB
alkej-264	27	32	during	during	ADP
alkej-264	27	33	each	each	DET
alkej-264	27	34	gait	gait	NOUN
alkej-264	27	35	.	.	PUNCT
alkej-264	28	1	a	a	DET
alkej-264	28	2	smooth	smooth	ADJ
alkej-264	28	3	gait	gait	NOUN
alkej-264	28	4	was	be	AUX
alkej-264	28	5	analyzed	analyze	VERB
alkej-264	28	6	and	and	CCONJ
alkej-264	28	7	enhanced	enhance	VERB
alkej-264	28	8	for	for	ADP
alkej-264	28	9	each	each	DET
alkej-264	28	10	hexapod	hexapod	NOUN
alkej-264	28	11	’s	’s	PART
alkej-264	28	12	leg	leg	NOUN
alkej-264	28	13	in	in	ADP
alkej-264	28	14	two	two	NUM
alkej-264	28	15	phases	phase	NOUN
alkej-264	28	16	,	,	PUNCT
alkej-264	28	17	stance	stance	NOUN
alkej-264	28	18	phase	phase	NOUN
alkej-264	28	19	and	and	CCONJ
alkej-264	28	20	swing	swing	NOUN
alkej-264	28	21	phase	phase	NOUN
alkej-264	28	22	.	.	PUNCT
alkej-264	29	1	the	the	DET
alkej-264	29	2	propose	propose	VERB
alkej-264	29	3	the	the	DET
alkej-264	29	4	modified	modified	ADJ
alkej-264	29	5	classical	classical	ADJ
alkej-264	29	6	stability	stability	NOUN
alkej-264	29	7	margins	margin	NOUN
alkej-264	29	8	.	.	PUNCT
alkej-264	30	1	in	in	ADP
alkej-264	30	2	this	this	DET
alkej-264	30	3	approach	approach	NOUN
alkej-264	30	4	,	,	PUNCT
alkej-264	30	5	the	the	DET
alkej-264	30	6	range	range	NOUN
alkej-264	30	7	of	of	ADP
alkej-264	30	8	stability	stability	NOUN
alkej-264	30	9	margins	margin	NOUN
alkej-264	30	10	is	be	AUX
alkej-264	30	11	evaluated	evaluate	VERB
alkej-264	30	12	for	for	ADP
alkej-264	30	13	all	all	DET
alkej-264	30	14	gaits	gait	NOUN
alkej-264	30	15	.	.	PUNCT
alkej-264	31	1	the	the	DET
alkej-264	31	2	second	second	ADJ
alkej-264	31	3	method	method	NOUN
alkej-264	31	4	is	be	AUX
alkej-264	31	5	called	call	VERB
alkej-264	31	6	stability	stability	NOUN
alkej-264	31	7	margins	margin	NOUN
alkej-264	31	8	using	use	VERB
alkej-264	31	9	genetic	genetic	ADJ
alkej-264	31	10	algorithm	algorithm	NOUN
alkej-264	31	11	(	(	PUNCT
alkej-264	31	12	ga	ga	PROPN
alkej-264	31	13	)	)	PUNCT
alkej-264	31	14	the	the	DET
alkej-264	31	15	best	good	ADJ
alkej-264	31	16	stability	stability	NOUN
alkej-264	31	17	margins	margin	NOUN
alkej-264	31	18	for	for	ADP
alkej-264	31	19	hexapod	hexapod	NOUN
alkej-264	31	20	robot	robot	NOUN
alkej-264	31	21	and	and	CCONJ
alkej-264	31	22	these	these	DET
alkej-264	31	23	results	result	NOUN
alkej-264	31	24	are	be	AUX
alkej-264	31	25	useful	useful	ADJ
alkej-264	31	26	to	to	PART
alkej-264	31	27	get	get	VERB
alkej-264	31	28	best	good	ADJ
alkej-264	31	29	stable	stable	ADJ
alkej-264	31	30	path	path	NOUN
alkej-264	31	31	planning	planning	NOUN
alkej-264	31	32	of	of	ADP
alkej-264	31	33	hexapod	hexapod	NOUN
alkej-264	31	34	robot	robot	NOUN
alkej-264	31	35	with	with	ADP
alkej-264	31	36	smaller	small	ADJ
alkej-264	31	37	error	error	NOUN
alkej-264	31	38	than	than	ADP
alkej-264	31	39	the	the	DET
alkej-264	31	40	first	first	ADJ
alkej-264	31	41	approach	approach	NOUN
alkej-264	31	42	and	and	CCONJ
alkej-264	31	43	with	with	ADP
alkej-264	31	44	better	well	ADJ
alkej-264	31	45	new	new	ADJ
alkej-264	31	46	stable	stable	ADJ
alkej-264	31	47	coordinates	coordinate	NOUN
alkej-264	31	48	of	of	ADP
alkej-264	31	49	legs	leg	NOUN
alkej-264	31	50	tips	tip	NOUN
alkej-264	31	51	first	first	ADJ
alkej-264	31	52	method	method	NOUN
alkej-264	31	53	.	.	PUNCT
alkej-264	32	1	in	in	ADP
alkej-264	32	2	addition	addition	NOUN
alkej-264	32	3	,	,	PUNCT
alkej-264	32	4	the	the	DET
alkej-264	32	5	second	second	ADJ
alkej-264	32	6	approach	approach	NOUN
alkej-264	32	7	is	be	AUX
alkej-264	32	8	useful	useful	ADJ
alkej-264	32	9	for	for	ADP
alkej-264	32	10	getting	get	VERB
alkej-264	32	11	the	the	DET
alkej-264	32	12	better	well	ADJ
alkej-264	32	13	new	new	ADJ
alkej-264	32	14	stable	stable	ADJ
alkej-264	32	15	center	center	NOUN
alkej-264	32	16	body	body	NOUN
alkej-264	32	17	coordinates	coordinate	NOUN
alkej-264	32	18	than	than	ADP
alkej-264	32	19	center	center	ADJ
alkej-264	32	20	body	body	NOUN
alkej-264	32	21	coordinates	coordinate	NOUN
alkej-264	32	22	in	in	ADP
alkej-264	32	23	the	the	DET
alkej-264	32	24	first	first	ADJ
alkej-264	32	25	approach	approach	NOUN
alkej-264	32	26	of	of	ADP
alkej-264	32	27	hexapod	hexapod	NOUN
alkej-264	32	28	robot	robot	NOUN
alkej-264	32	29	.	.	PUNCT
alkej-264	33	1	argin	argin	NOUN
alkej-264	33	2	,	,	PUNCT
alkej-264	33	3	workspace	workspace	NOUN
alkej-264	33	4	,	,	PUNCT
alkej-264	33	5	genetic	genetic	ADJ
alkej-264	33	6	algorithm	algorithm	NOUN
alkej-264	33	7	and	and	CCONJ
alkej-264	33	8	hexapod	hexapod	NOUN
alkej-264	33	9	robot	robot	NOUN
alkej-264	33	10	.	.	PUNCT
alkej-264	34	1	robots	robot	NOUN
alkej-264	34	2	are	be	AUX
alkej-264	34	3	mechanical	mechanical	ADJ
alkej-264	34	4	vehicles	vehicle	NOUN
alkej-264	34	5	that	that	PRON
alkej-264	34	6	walk	walk	VERB
alkej-264	34	7	with	with	ADP
alkej-264	34	8	six	six	NUM
alkej-264	34	9	legs	leg	NOUN
alkej-264	34	10	;	;	PUNCT
alkej-264	34	11	they	they	PRON
alkej-264	34	12	have	have	AUX
alkej-264	34	13	attracted	attract	VERB
alkej-264	34	14	considerable	considerable	ADJ
alkej-264	34	15	attention	attention	NOUN
alkej-264	34	16	in	in	ADP
alkej-264	34	17	recent	recent	ADJ
alkej-264	34	18	decades	decade	NOUN
alkej-264	34	19	.	.	PUNCT
alkej-264	35	1	there	there	PRON
alkej-264	35	2	are	be	VERB
alkej-264	35	3	s	s	NOUN
alkej-264	35	4	rover	rover	NOUN
alkej-264	35	5	such	such	ADJ
alkej-264	35	6	as	as	ADP
alkej-264	35	7	:	:	PUNCT
alkej-264	35	8	efficient	efficient	ADJ
alkej-264	35	9	one	one	PRON
alkej-264	35	10	to	to	PART
alkej-264	35	11	maintain	maintain	VERB
alkej-264	35	12	for	for	ADP
alkej-264	35	13	statically	statically	ADV
alkej-264	35	14	stable	stable	ADJ
alkej-264	35	15	static	static	NOUN
alkej-264	35	16	on	on	ADP
alkej-264	35	17	three	three	NUM
alkej-264	35	18	or	or	CCONJ
alkej-264	35	19	more	more	ADJ
alkej-264	35	20	legs	leg	NOUN
alkej-264	35	21	,	,	PUNCT
alkej-264	35	22	it	it	PRON
alkej-264	35	23	has	have	VERB
alkej-264	35	24	a	a	DET
alkej-264	35	25	great	great	ADJ
alkej-264	35	26	deal	deal	NOUN
alkej-264	35	27	of	of	ADP
alkej-264	35	28	flexibility	flexibility	NOUN
alkej-264	35	29	in	in	ADP
alkej-264	35	30	how	how	SCONJ
alkej-264	35	31	it	it	PRON
alkej-264	35	32	can	can	AUX
alkej-264	35	33	move	move	VERB
alkej-264	35	34	[	[	X
alkej-264	35	35	1	1	NUM
alkej-264	35	36	]	]	PUNCT
alkej-264	35	37	.	.	PUNCT
alkej-264	36	1	there	there	PRON
alkej-264	36	2	is	be	VERB
alkej-264	36	3	a	a	DET
alkej-264	36	4	generation	generation	NOUN
alkej-264	36	5	and	and	CCONJ
alkej-264	36	6	control	control	NOUN
alkej-264	36	7	of	of	ADP
alkej-264	36	8	the	the	DET
alkej-264	36	9	sequences	sequence	NOUN
alkej-264	36	10	of	of	ADP
alkej-264	36	11	placing	place	VERB
alkej-264	36	12	and	and	CCONJ
alkej-264	36	13	lifting	lift	VERB
alkej-264	36	14	legs	leg	NOUN
alkej-264	36	15	such	such	ADJ
alkej-264	36	16	that	that	SCONJ
alkej-264	36	17	at	at	ADP
alkej-264	36	18	any	any	DET
alkej-264	36	19	instant	instant	ADJ
alkej-264	36	20	body	body	NOUN
alkej-264	36	21	should	should	AUX
alkej-264	36	22	be	be	AUX
alkej-264	36	23	stable	stable	ADJ
alkej-264	36	24	and	and	CCONJ
alkej-264	36	25	moving	move	VERB
alkej-264	36	26	from	from	ADP
alkej-264	36	27	one	one	NUM
alkej-264	36	28	position	position	NOUN
alkej-264	36	29	to	to	ADP
alkej-264	36	30	other	other	ADJ
alkej-264	36	31	.	.	PUNCT
alkej-264	37	1	the	the	DET
alkej-264	37	2	gait	gait	NOUN
alkej-264	37	3	is	be	AUX
alkej-264	37	4	defined	define	VERB
alkej-264	37	5	as	as	ADP
alkej-264	37	6	generation	generation	NOUN
alkej-264	37	7	and	and	CCONJ
alkej-264	37	8	sequences	sequence	NOUN
alkej-264	37	9	of	of	ADP
alkej-264	37	10	legs	leg	NOUN
alkej-264	37	11	during	during	ADP
alkej-264	37	12	the	the	DET
alkej-264	37	13	robot	robot	NOUN
alkej-264	37	14	looks	look	VERB
alkej-264	37	15	like	like	ADP
alkej-264	37	16	the	the	DET
alkej-264	37	17	three	three	NUM
alkej-264	37	18	gaits	gait	NOUN
alkej-264	37	19	e	e	NOUN
alkej-264	37	20	,	,	PUNCT
alkej-264	37	21	ripple	ripple	ADJ
alkej-264	37	22	,	,	PUNCT
alkej-264	37	23	and	and	CCONJ
alkej-264	37	24	tripod	tripod	NOUN
alkej-264	37	25	gait	gait	NOUN
alkej-264	37	26	is	be	AUX
alkej-264	37	27	determined	determine	VERB
alkej-264	37	28	the	the	DET
alkej-264	37	29	optimal	optimal	ADJ
alkej-264	37	30	movement	movement	NOUN
alkej-264	37	31	by	by	ADP
alkej-264	37	32	the	the	DET
alkej-264	37	33	hexapod	hexapod	NOUN
alkej-264	37	34	leg	leg	NOUN
alkej-264	37	35	for	for	ADP
alkej-264	37	36	walking	walking	NOUN
alkej-264	37	37	robot	robot	NOUN
alkej-264	37	38	with	with	ADP
alkej-264	37	39	three	three	NUM
alkej-264	37	40	degrees	degree	NOUN
alkej-264	37	41	of	of	ADP
alkej-264	37	42	freedom	freedom	NOUN
alkej-264	37	43	,	,	PUNCT
alkej-264	37	44	with	with	ADP
alkej-264	37	45	higher	high	ADJ
alkej-264	37	46	positioning	positioning	NOUN
alkej-264	37	47	precision	precision	NOUN
alkej-264	37	48	by	by	ADP
alkej-264	37	49	using	use	VERB
alkej-264	37	50	an	an	DET
alkej-264	37	51	analytical	analytical	ADJ
alkej-264	37	52	hierarchy	hierarchy	NOUN
alkej-264	37	53	process	process	NOUN
alkej-264	38	1	[	[	X
alkej-264	38	2	4	4	NUM
alkej-264	38	3	]	]	PUNCT
alkej-264	38	4	.	.	PUNCT
alkej-264	39	1	the	the	DET
alkej-264	39	2	stability	stability	NOUN
alkej-264	39	3	of	of	ADP
alkej-264	39	4	problem	problem	NOUN
alkej-264	39	5	to	to	PART
alkej-264	39	6	maintain	maintain	VERB
alkej-264	39	7	it	it	PRON
alkej-264	39	8	from	from	ADP
alkej-264	39	9	fall	fall	NOUN
alkej-264	39	10	during	during	ADP
alkej-264	39	11	its	its	PRON
alkej-264	39	12	walking	walking	NOUN
alkej-264	39	13	with	with	ADP
alkej-264	39	14	using	use	VERB
alkej-264	39	15	the	the	DET
alkej-264	39	16	(	(	PUNCT
alkej-264	39	17	ga	ga	NOUN
alkej-264	39	18	)	)	PUNCT
alkej-264	39	19	in	in	ADP
alkej-264	39	20	order	order	NOUN
alkej-264	39	21	to	to	PART
alkej-264	39	22	get	get	VERB
alkej-264	39	23	the	the	DET
alkej-264	39	24	optimal	optimal	ADJ
alkej-264	39	25	movement	movement	NOUN
alkej-264	39	26	.	.	PUNCT
alkej-264	40	1	hexapod	hexapod	NOUN
alkej-264	40	2	simulation	simulation	NOUN
alkej-264	40	3	with	with	ADP
alkej-264	40	4	a	a	DET
alkej-264	40	5	used	use	VERB
alkej-264	40	6	to	to	PART
alkej-264	40	7	determine	determine	VERB
alkej-264	40	8	the	the	DET
alkej-264	40	9	robot	robot	NOUN
alkej-264	40	10	's	's	PART
alkej-264	40	11	movements	movement	NOUN
alkej-264	40	12	for	for	ADP
alkej-264	40	13	generating	generate	VERB
alkej-264	40	14	chromosomes	chromosome	NOUN
alkej-264	40	15	which	which	PRON
alkej-264	40	16	are	be	AUX
alkej-264	40	17	created	create	VERB
alkej-264	40	18	from	from	ADP
alkej-264	40	19	repeated	repeat	VERB
alkej-264	40	20	sequence	sequence	NOUN
alkej-264	40	21	of	of	ADP
alkej-264	40	22	static	static	ADJ
alkej-264	40	23	leg	leg	NOUN
alkej-264	40	24	positions	position	NOUN
alkej-264	40	25	,	,	PUNCT
alkej-264	40	26	the	the	DET
alkej-264	40	27	fitness	fitness	NOUN
alkej-264	40	28	function	function	NOUN
alkej-264	40	29	equation	equation	NOUN
alkej-264	40	30	using	use	VERB
alkej-264	40	31	the	the	DET
alkej-264	40	32	main	main	ADJ
alkej-264	40	33	factor	factor	NOUN
alkej-264	40	34	stability	stability	NOUN
alkej-264	40	35	and	and	CCONJ
alkej-264	40	36	efficiency	efficiency	NOUN
alkej-264	41	1	[	[	X
alkej-264	41	2	5	5	NUM
alkej-264	41	3	]	]	PUNCT
alkej-264	41	4	.	.	PUNCT
alkej-264	42	1	the	the	DET
alkej-264	42	2	objective	objective	ADJ
alkej-264	42	3	function	function	NOUN
alkej-264	42	4	is	be	AUX
alkej-264	42	5	used	use	VERB
alkej-264	42	6	as	as	ADP
alkej-264	42	7	the	the	DET
alkej-264	42	8	stability	stability	NOUN
alkej-264	42	9	margin	margin	NOUN
alkej-264	42	10	to	to	PART
alkej-264	42	11	find	find	VERB
alkej-264	42	12	optimal	optimal	ADJ
alkej-264	42	13	walking	walking	NOUN
alkej-264	42	14	gaits	gait	NOUN
alkej-264	42	15	for	for	ADP
alkej-264	42	16	an	an	DET
alkej-264	42	17	8	8	NUM
alkej-264	42	18	-	-	PUNCT
alkej-264	42	19	legged	legged	ADJ
alkej-264	42	20	robot	robot	NOUN
alkej-264	42	21	as	as	ADP
alkej-264	42	22	in	in	ADP
alkej-264	42	23	[	[	X
alkej-264	42	24	6	6	NUM
alkej-264	42	25	]	]	PUNCT
alkej-264	42	26	.	.	PUNCT
alkej-264	43	1	in	in	ADP
alkej-264	43	2	this	this	DET
alkej-264	43	3	paper	paper	NOUN
alkej-264	43	4	the	the	DET
alkej-264	43	5	main	main	ADJ
alkej-264	43	6	problem	problem	NOUN
alkej-264	43	7	is	be	AUX
alkej-264	43	8	when	when	SCONJ
alkej-264	43	9	hexapod	hexapod	NOUN
alkej-264	43	10	robot	robot	NOUN
alkej-264	43	11	walking	walk	VERB
alkej-264	43	12	and	and	CCONJ
alkej-264	43	13	may	may	AUX
alkej-264	43	14	be	be	AUX
alkej-264	43	15	fall	fall	VERB
alkej-264	43	16	down	down	ADP
alkej-264	43	17	if	if	SCONJ
alkej-264	43	18	the	the	DET
alkej-264	43	19	legs	leg	NOUN
alkej-264	43	20	are	be	AUX
alkej-264	43	21	not	not	PART
alkej-264	43	22	constraints	constraint	NOUN
alkej-264	43	23	so	so	SCONJ
alkej-264	43	24	the	the	PRON
alkej-264	43	25	are	be	AUX
alkej-264	43	26	analyzed	analyze	VERB
alkej-264	43	27	,	,	PUNCT
alkej-264	43	28	one	one	NUM
alkej-264	43	29	that	that	PRON
alkej-264	43	30	called	call	VERB
alkej-264	43	31	the	the	DET
alkej-264	43	32	al	al	PROPN
alkej-264	43	33	-	-	PUNCT
alkej-264	43	34	khwarizmi	khwarizmi	PROPN
alkej-264	43	35	engineering	engineering	NOUN
alkej-264	43	36	journal	journal	PROPN
alkej-264	43	37	(	(	PUNCT
alkej-264	43	38	2015	2015	NUM
alkej-264	43	39	)	)	PUNCT
alkej-264	43	40	hexapod	hexapod	NOUN
alkej-264	43	41	robot	robot	NOUN
alkej-264	43	42	static	static	ADJ
alkej-264	43	43	stability	stability	NOUN
alkej-264	43	44	enhancement	enhancement	NOUN
alkej-264	43	45	using	use	VERB
alkej-264	43	46	genetic	genetic	ADJ
alkej-264	43	47	hind	hind	NOUN
alkej-264	43	48	z.	z.	PROPN
alkej-264	43	49	khaleel	khaleel	PROPN
alkej-264	44	1	*	*	PROPN
alkej-264	44	2	*	*	PROPN
alkej-264	44	3	technology	technology	NOUN
alkej-264	44	4	is	be	AUX
alkej-264	44	5	a	a	DET
alkej-264	44	6	flexible	flexible	ADJ
alkej-264	44	7	mechanical	mechanical	ADJ
alkej-264	44	8	robot	robot	NOUN
alkej-264	44	9	with	with	ADP
alkej-264	44	10	six	six	NUM
alkej-264	44	11	legs	leg	NOUN
alkej-264	44	12	.	.	PUNCT
alkej-264	45	1	it	it	PRON
alkej-264	45	2	has	have	VERB
alkej-264	45	3	the	the	DET
alkej-264	45	4	ability	ability	NOUN
alkej-264	45	5	to	to	PART
alkej-264	45	6	walk	walk	VERB
alkej-264	45	7	over	over	ADP
alkej-264	45	8	terrain	terrain	NOUN
alkej-264	45	9	.	.	PUNCT
alkej-264	46	1	the	the	DET
alkej-264	46	2	hexapod	hexapod	NOUN
alkej-264	46	3	robot	robot	NOUN
alkej-264	46	4	.	.	PUNCT
alkej-264	47	1	hexapod	hexapod	NOUN
alkej-264	47	2	robot	robot	NOUN
alkej-264	47	3	needs	need	VERB
alkej-264	47	4	to	to	PART
alkej-264	47	5	stay	stay	VERB
alkej-264	47	6	times	time	NOUN
alkej-264	47	7	during	during	ADP
alkej-264	47	8	each	each	DET
alkej-264	47	9	gait	gait	NOUN
alkej-264	47	10	in	in	ADP
alkej-264	47	11	order	order	NOUN
alkej-264	47	12	not	not	PART
alkej-264	47	13	to	to	PART
alkej-264	47	14	fall	fall	VERB
alkej-264	47	15	with	with	ADP
alkej-264	47	16	three	three	NUM
alkej-264	47	17	or	or	CCONJ
alkej-264	47	18	more	more	ADJ
alkej-264	47	19	legs	leg	NOUN
alkej-264	47	20	continuously	continuously	ADV
alkej-264	47	21	contacts	contact	VERB
alkej-264	47	22	with	with	ADP
alkej-264	47	23	.	.	PUNCT
alkej-264	48	1	in	in	ADP
alkej-264	48	2	this	this	DET
alkej-264	48	3	paper	paper	NOUN
alkej-264	48	4	,	,	PUNCT
alkej-264	48	5	the	the	DET
alkej-264	48	6	forward	forward	ADJ
alkej-264	48	7	and	and	CCONJ
alkej-264	48	8	inverse	inverse	NOUN
alkej-264	48	9	simulate	simulate	VERB
alkej-264	48	10	the	the	DET
alkej-264	48	11	hexapod	hexapod	NOUN
alkej-264	48	12	robot	robot	NOUN
alkej-264	48	13	model	model	NOUN
alkej-264	48	14	walking	walk	VERB
alkej-264	48	15	using	use	VERB
alkej-264	48	16	matlab	matlab	PROPN
alkej-264	48	17	constraint	constraint	NOUN
alkej-264	48	18	workspaces	workspace	NOUN
alkej-264	48	19	for	for	ADP
alkej-264	48	20	each	each	DET
alkej-264	48	21	es	es	NOUN
alkej-264	48	22	when	when	SCONJ
alkej-264	48	23	the	the	DET
alkej-264	48	24	legs	leg	NOUN
alkej-264	48	25	are	be	AUX
alkej-264	48	26	moving	move	VERB
alkej-264	48	27	without	without	ADP
alkej-264	48	28	collision	collision	NOUN
alkej-264	48	29	with	with	ADP
alkej-264	48	30	each	each	DET
alkej-264	48	31	other	other	ADJ
alkej-264	48	32	and	and	CCONJ
alkej-264	48	33	they	they	PRON
alkej-264	48	34	are	be	AUX
alkej-264	48	35	useful	useful	ADJ
alkej-264	48	36	to	to	PART
alkej-264	48	37	keep	keep	VERB
alkej-264	48	38	the	the	DET
alkej-264	48	39	legs	leg	NOUN
alkej-264	48	40	stable	stable	ADJ
alkej-264	48	41	from	from	ADP
alkej-264	48	42	falling	fall	VERB
alkej-264	48	43	during	during	ADP
alkej-264	48	44	each	each	DET
alkej-264	48	45	gait	gait	NOUN
alkej-264	48	46	.	.	PUNCT
alkej-264	49	1	a	a	DET
alkej-264	49	2	smooth	smooth	ADJ
alkej-264	49	3	gait	gait	NOUN
alkej-264	49	4	was	be	AUX
alkej-264	49	5	analyzed	analyze	VERB
alkej-264	49	6	the	the	DET
alkej-264	49	7	proposed	propose	VERB
alkej-264	49	8	work	work	NOUN
alkej-264	49	9	focused	focus	VERB
alkej-264	49	10	on	on	ADP
alkej-264	49	11	the	the	DET
alkej-264	49	12	the	the	DET
alkej-264	49	13	modified	modified	ADJ
alkej-264	49	14	classical	classical	ADJ
alkej-264	49	15	stability	stability	NOUN
alkej-264	49	16	margins	margin	NOUN
alkej-264	49	17	.	.	PUNCT
alkej-264	50	1	in	in	ADP
alkej-264	50	2	this	this	DET
alkej-264	50	3	approach	approach	NOUN
alkej-264	50	4	,	,	PUNCT
alkej-264	50	5	the	the	DET
alkej-264	50	6	range	range	NOUN
alkej-264	50	7	of	of	ADP
alkej-264	50	8	stability	stability	NOUN
alkej-264	50	9	margins	margin	NOUN
alkej-264	50	10	is	be	AUX
alkej-264	50	11	stability	stability	NOUN
alkej-264	50	12	margins	margin	NOUN
alkej-264	50	13	using	use	VERB
alkej-264	50	14	genetic	genetic	ADJ
alkej-264	50	15	algorithm	algorithm	NOUN
alkej-264	50	16	(	(	PUNCT
alkej-264	50	17	ga	ga	NOUN
alkej-264	50	18	)	)	PUNCT
alkej-264	50	19	that	that	PRON
alkej-264	50	20	enhanced	enhance	VERB
alkej-264	50	21	the	the	PRON
alkej-264	50	22	and	and	CCONJ
alkej-264	50	23	these	these	DET
alkej-264	50	24	results	result	NOUN
alkej-264	50	25	are	be	AUX
alkej-264	50	26	useful	useful	ADJ
alkej-264	50	27	to	to	PART
alkej-264	50	28	get	get	VERB
alkej-264	50	29	best	good	ADJ
alkej-264	50	30	stable	stable	ADJ
alkej-264	50	31	path	path	NOUN
alkej-264	50	32	planning	planning	NOUN
alkej-264	50	33	of	of	ADP
alkej-264	50	34	hexapod	hexapod	NOUN
alkej-264	50	35	robot	robot	NOUN
alkej-264	50	36	with	with	ADP
alkej-264	50	37	smaller	small	ADJ
alkej-264	50	38	error	error	NOUN
alkej-264	50	39	than	than	ADP
alkej-264	50	40	the	the	DET
alkej-264	50	41	first	first	ADJ
alkej-264	50	42	approach	approach	NOUN
alkej-264	50	43	and	and	CCONJ
alkej-264	50	44	with	with	ADP
alkej-264	50	45	better	well	ADJ
alkej-264	50	46	new	new	ADJ
alkej-264	50	47	stable	stable	ADJ
alkej-264	50	48	coordinates	coordinate	NOUN
alkej-264	50	49	of	of	ADP
alkej-264	50	50	legs	leg	NOUN
alkej-264	50	51	tips	tip	NOUN
alkej-264	50	52	first	first	ADJ
alkej-264	50	53	method	method	NOUN
alkej-264	50	54	.	.	PUNCT
alkej-264	51	1	in	in	ADP
alkej-264	51	2	addition	addition	NOUN
alkej-264	51	3	,	,	PUNCT
alkej-264	51	4	the	the	DET
alkej-264	51	5	second	second	ADJ
alkej-264	51	6	approach	approach	NOUN
alkej-264	51	7	is	be	AUX
alkej-264	51	8	useful	useful	ADJ
alkej-264	51	9	for	for	ADP
alkej-264	51	10	getting	get	VERB
alkej-264	51	11	the	the	DET
alkej-264	51	12	better	well	ADJ
alkej-264	51	13	new	new	ADJ
alkej-264	51	14	stable	stable	ADJ
alkej-264	51	15	center	center	NOUN
alkej-264	51	16	body	body	NOUN
alkej-264	51	17	obot	obot	NOUN
alkej-264	51	18	.	.	PUNCT
alkej-264	52	1	leg	leg	NOUN
alkej-264	52	2	for	for	ADP
alkej-264	52	3	walking	walking	NOUN
alkej-264	52	4	robot	robot	NOUN
alkej-264	52	5	with	with	ADP
alkej-264	52	6	three	three	NUM
alkej-264	52	7	degrees	degree	NOUN
alkej-264	52	8	of	of	ADP
alkej-264	52	9	freedom	freedom	NOUN
alkej-264	52	10	,	,	PUNCT
alkej-264	52	11	with	with	ADP
alkej-264	52	12	higher	high	ADJ
alkej-264	52	13	positioning	positioning	NOUN
alkej-264	52	14	precision	precision	NOUN
alkej-264	52	15	by	by	ADP
alkej-264	52	16	using	use	VERB
alkej-264	52	17	an	an	DET
alkej-264	52	18	analytical	analytical	ADJ
alkej-264	52	19	hierarchy	hierarchy	NOUN
alkej-264	52	20	the	the	DET
alkej-264	52	21	stability	stability	NOUN
alkej-264	52	22	of	of	ADP
alkej-264	52	23	hexapod	hexapod	NOUN
alkej-264	52	24	is	be	AUX
alkej-264	52	25	a	a	DET
alkej-264	52	26	main	main	ADJ
alkej-264	52	27	problem	problem	NOUN
alkej-264	52	28	to	to	PART
alkej-264	52	29	maintain	maintain	VERB
alkej-264	52	30	it	it	PRON
alkej-264	52	31	from	from	ADP
alkej-264	52	32	fall	fall	NOUN
alkej-264	52	33	during	during	ADP
alkej-264	52	34	its	its	PRON
alkej-264	52	35	walking	walking	NOUN
alkej-264	52	36	the	the	DET
alkej-264	52	37	(	(	PUNCT
alkej-264	52	38	ga	ga	NOUN
alkej-264	52	39	)	)	PUNCT
alkej-264	52	40	in	in	ADP
alkej-264	52	41	order	order	NOUN
alkej-264	52	42	to	to	PART
alkej-264	52	43	get	get	VERB
alkej-264	52	44	the	the	DET
alkej-264	52	45	optimal	optimal	ADJ
alkej-264	52	46	simulation	simulation	NOUN
alkej-264	52	47	with	with	ADP
alkej-264	52	48	a	a	DET
alkej-264	52	49	(	(	PUNCT
alkej-264	52	50	ga	ga	NOUN
alkej-264	52	51	)	)	PUNCT
alkej-264	52	52	are	be	AUX
alkej-264	52	53	used	use	VERB
alkej-264	52	54	to	to	PART
alkej-264	52	55	determine	determine	VERB
alkej-264	52	56	the	the	DET
alkej-264	52	57	robot	robot	NOUN
alkej-264	52	58	's	's	PART
alkej-264	52	59	movements	movement	NOUN
alkej-264	52	60	for	for	ADP
alkej-264	52	61	generating	generate	VERB
alkej-264	52	62	chromosomes	chromosome	NOUN
alkej-264	52	63	which	which	PRON
alkej-264	52	64	are	be	AUX
alkej-264	52	65	created	create	VERB
alkej-264	52	66	from	from	ADP
alkej-264	52	67	a	a	DET
alkej-264	52	68	repeated	repeat	VERB
alkej-264	52	69	sequence	sequence	NOUN
alkej-264	52	70	of	of	ADP
alkej-264	52	71	static	static	ADJ
alkej-264	52	72	leg	leg	NOUN
alkej-264	52	73	positions	position	NOUN
alkej-264	52	74	,	,	PUNCT
alkej-264	52	75	the	the	DET
alkej-264	52	76	fitness	fitness	NOUN
alkej-264	52	77	function	function	NOUN
alkej-264	52	78	equation	equation	NOUN
alkej-264	52	79	using	use	VERB
alkej-264	52	80	the	the	DET
alkej-264	52	81	main	main	ADJ
alkej-264	52	82	factor	factor	NOUN
alkej-264	52	83	stability	stability	NOUN
alkej-264	52	84	and	and	CCONJ
alkej-264	52	85	efficiency	efficiency	NOUN
alkej-264	52	86	[	[	X
alkej-264	52	87	5	5	NUM
alkej-264	52	88	]	]	PUNCT
alkej-264	52	89	.	.	PUNCT
alkej-264	53	1	the	the	DET
alkej-264	53	2	objective	objective	ADJ
alkej-264	53	3	function	function	NOUN
alkej-264	53	4	is	be	AUX
alkej-264	53	5	used	use	VERB
alkej-264	53	6	as	as	ADP
alkej-264	53	7	the	the	DET
alkej-264	53	8	stability	stability	NOUN
alkej-264	53	9	margin	margin	NOUN
alkej-264	53	10	to	to	PART
alkej-264	53	11	find	find	VERB
alkej-264	53	12	optimal	optimal	ADJ
alkej-264	53	13	legged	legged	ADJ
alkej-264	53	14	robot	robot	NOUN
alkej-264	53	15	as	as	ADP
alkej-264	53	16	in	in	ADP
alkej-264	53	17	[	[	X
alkej-264	53	18	6	6	NUM
alkej-264	53	19	]	]	PUNCT
alkej-264	53	20	.	.	PUNCT
alkej-264	54	1	er	er	INTJ
alkej-264	54	2	the	the	DET
alkej-264	54	3	main	main	ADJ
alkej-264	54	4	problem	problem	NOUN
alkej-264	54	5	is	be	AUX
alkej-264	54	6	when	when	SCONJ
alkej-264	54	7	robot	robot	NOUN
alkej-264	54	8	walking	walk	VERB
alkej-264	54	9	and	and	CCONJ
alkej-264	54	10	may	may	AUX
alkej-264	54	11	be	be	AUX
alkej-264	54	12	fall	fall	VERB
alkej-264	54	13	down	down	ADP
alkej-264	54	14	if	if	SCONJ
alkej-264	54	15	the	the	DET
alkej-264	54	16	legs	leg	NOUN
alkej-264	54	17	are	be	AUX
alkej-264	54	18	not	not	PART
alkej-264	54	19	constraints	constraint	NOUN
alkej-264	54	20	so	so	SCONJ
alkej-264	54	21	the	the	DET
alkej-264	54	22	two	two	NUM
alkej-264	54	23	approaches	approach	NOUN
alkej-264	54	24	one	one	NUM
alkej-264	54	25	that	that	PRON
alkej-264	54	26	called	call	VERB
alkej-264	54	27	the	the	DET
alkej-264	54	28	modified	modify	VERB
alkej-264	54	29	firas	firas	PROPN
alkej-264	54	30	a.	a.	PROPN
alkej-264	54	31	raheem	raheem	PROPN
alkej-264	54	32	classical	classical	ADJ
alkej-264	54	33	stability	stability	NOUN
alkej-264	54	34	margins	margin	NOUN
alkej-264	54	35	is	be	AUX
alkej-264	54	36	depended	depend	VERB
alkej-264	54	37	on	on	ADP
alkej-264	54	38	according	accord	VERB
alkej-264	54	39	to	to	ADP
alkej-264	54	40	constraints	constraint	NOUN
alkej-264	54	41	of	of	ADP
alkej-264	54	42	each	each	DET
alkej-264	54	43	leg	leg	NOUN
alkej-264	54	44	in	in	ADP
alkej-264	54	45	order	order	NOUN
alkej-264	54	46	fall	fall	NOUN
alkej-264	54	47	and	and	CCONJ
alkej-264	54	48	the	the	DET
alkej-264	54	49	other	other	ADJ
alkej-264	54	50	approach	approach	NOUN
alkej-264	54	51	is	be	AUX
alkej-264	54	52	called	call	VERB
alkej-264	54	53	margins	margin	NOUN
alkej-264	54	54	enhancement	enhancement	NOUN
alkej-264	54	55	using	use	VERB
alkej-264	54	56	genetic	genetic	ADJ
alkej-264	54	57	algorithm	algorithm	NOUN
alkej-264	54	58	is	be	AUX
alkej-264	54	59	based	base	VERB
alkej-264	54	60	on	on	ADP
alkej-264	54	61	the	the	DET
alkej-264	54	62	stable	stable	ADJ
alkej-264	54	63	ranges	range	NOUN
alkej-264	54	64	values	value	NOUN
alkej-264	54	65	that	that	SCONJ
alkej-264	54	66	getting	get	VERB
alkej-264	54	67	from	from	ADP
alkej-264	54	68	first	first	ADJ
alkej-264	54	69	approach	approach	NOUN
alkej-264	54	70	.	.	PUNCT
alkej-264	55	1	the	the	DET
alkej-264	55	2	genetic	genetic	ADJ
alkej-264	55	3	algorithm	algorithm	NOUN
alkej-264	55	4	is	be	AUX
alkej-264	55	5	used	use	VERB
alkej-264	55	6	to	to	PART
alkej-264	55	7	get	get	VERB
alkej-264	55	8	the	the	DET
alkej-264	55	9	best	good	ADJ
alkej-264	55	10	stability	stability	NOUN
alkej-264	55	11	margins	margin	NOUN
alkej-264	55	12	and	and	CCONJ
alkej-264	55	13	these	these	DET
alkej-264	55	14	results	result	NOUN
alkej-264	55	15	useful	useful	ADJ
alkej-264	55	16	to	to	PART
alkej-264	55	17	get	get	VERB
alkej-264	55	18	best	good	ADJ
alkej-264	55	19	stable	stable	ADJ
alkej-264	55	20	path	path	NOUN
alkej-264	55	21	planning	planning	NOUN
alkej-264	55	22	robot	robot	NOUN
alkej-264	55	23	.	.	PUNCT
alkej-264	56	1	2	2	X
alkej-264	56	2	.	.	X
alkej-264	56	3	modeling	modeling	NOUN
alkej-264	56	4	of	of	ADP
alkej-264	56	5	hexapod	hexapod	NOUN
alkej-264	56	6	robot	robot	NOUN
alkej-264	56	7	the	the	DET
alkej-264	56	8	legged	legged	ADJ
alkej-264	56	9	locomotion	locomotion	NOUN
alkej-264	56	10	verities	verity	NOUN
alkej-264	56	11	by	by	ADP
alkej-264	56	12	verity	verity	NOUN
alkej-264	56	13	of	of	ADP
alkej-264	56	14	usual	usual	ADJ
alkej-264	56	15	terrain	terrain	NOUN
alkej-264	56	16	and	and	CCONJ
alkej-264	56	17	it	it	PRON
alkej-264	56	18	presents	present	VERB
alkej-264	56	19	a	a	DET
alkej-264	56	20	set	set	NOUN
alkej-264	56	21	of	of	ADP
alkej-264	56	22	difficult	difficult	ADJ
alkej-264	56	23	problems	problem	NOUN
alkej-264	56	24	(	(	PUNCT
alkej-264	56	25	foot	foot	NOUN
alkej-264	56	26	placement	placement	NOUN
alkej-264	56	27	,	,	PUNCT
alkej-264	56	28	obstacle	obstacle	NOUN
alkej-264	56	29	avoidance	avoidance	NOUN
alkej-264	56	30	,	,	PUNCT
alkej-264	56	31	load	load	NOUN
alkej-264	56	32	distribution	distribution	NOUN
alkej-264	56	33	,	,	PUNCT
alkej-264	56	34	common	common	ADJ
alkej-264	56	35	stability	stability	NOUN
alkej-264	56	36	)	)	PUNCT
alkej-264	56	37	which	which	PRON
alkej-264	56	38	must	must	AUX
alkej-264	56	39	be	be	AUX
alkej-264	56	40	taken	take	VERB
alkej-264	56	41	into	into	ADP
alkej-264	56	42	account	account	NOUN
alkej-264	56	43	both	both	CCONJ
alkej-264	56	44	in	in	ADP
alkej-264	56	45	mechanical	mechanical	ADJ
alkej-264	56	46	construction	construction	NOUN
alkej-264	56	47	of	of	ADP
alkej-264	56	48	vehicles	vehicle	NOUN
alkej-264	56	49	and	and	CCONJ
alkej-264	56	50	in	in	ADP
alkej-264	56	51	development	development	NOUN
alkej-264	56	52	of	of	ADP
alkej-264	56	53	control	control	NOUN
alkej-264	56	54	strategies	strategy	NOUN
alkej-264	56	55	[	[	X
alkej-264	56	56	7	7	NUM
alkej-264	56	57	]	]	PUNCT
alkej-264	56	58	.	.	PUNCT
alkej-264	57	1	besides	besides	SCONJ
alkej-264	57	2	that	that	PRON
alkej-264	57	3	,	,	PUNCT
alkej-264	57	4	these	these	DET
alkej-264	57	5	issues	issue	NOUN
alkej-264	57	6	are	be	AUX
alkej-264	57	7	using	use	VERB
alkej-264	57	8	models	model	NOUN
alkej-264	57	9	that	that	PRON
alkej-264	57	10	mathematically	mathematically	ADV
alkej-264	57	11	explain	explain	VERB
alkej-264	57	12	the	the	DET
alkej-264	57	13	verities	verity	NOUN
alkej-264	57	14	of	of	ADP
alkej-264	57	15	situations	situation	NOUN
alkej-264	57	16	and	and	CCONJ
alkej-264	57	17	for	for	ADP
alkej-264	57	18	that	that	PRON
alkej-264	57	19	;	;	PUNCT
alkej-264	57	20	th	th	DET
alkej-264	57	21	modeling	modeling	NOUN
alkej-264	57	22	becomes	become	VERB
alkej-264	57	23	a	a	DET
alkej-264	57	24	practical	practical	ADJ
alkej-264	57	25	tool	tool	NOUN
alkej-264	57	26	in	in	ADP
alkej-264	57	27	understanding	understand	VERB
alkej-264	57	28	systems	system	NOUN
alkej-264	57	29	complexity	complexity	NOUN
alkej-264	57	30	and	and	CCONJ
alkej-264	57	31	for	for	ADP
alkej-264	57	32	testing	testing	NOUN
alkej-264	57	33	and	and	CCONJ
alkej-264	57	34	simulating	simulate	VERB
alkej-264	57	35	diverse	diverse	ADJ
alkej-264	57	36	control	control	NOUN
alkej-264	57	37	approaches	approach	VERB
alkej-264	57	38	the	the	DET
alkej-264	57	39	robot	robot	NOUN
alkej-264	57	40	structure	structure	NOUN
alkej-264	57	41	considered	consider	VERB
alkej-264	57	42	has	have	VERB
alkej-264	57	43	(	(	PUNCT
alkej-264	57	44	6	6	NUM
alkej-264	57	45	)	)	PUNCT
alkej-264	57	46	identical	identical	ADJ
alkej-264	57	47	legs	leg	NOUN
alkej-264	57	48	and	and	CCONJ
alkej-264	57	49	each	each	DET
alkej-264	57	50	leg	leg	NOUN
alkej-264	57	51	has	have	AUX
alkej-264	57	52	(	(	PUNCT
alkej-264	57	53	3	3	NUM
alkej-264	57	54	)	)	PUNCT
alkej-264	57	55	degree	degree	NOUN
alkej-264	57	56	of	of	ADP
alkej-264	57	57	freedom	freedom	NOUN
alkej-264	57	58	,	,	PUNCT
alkej-264	57	59	in	in	ADP
alkej-264	57	60	addition	addition	NOUN
alkej-264	57	61	to	to	ADP
alkej-264	57	62	that	that	PRON
alkej-264	57	63	,	,	PUNCT
alkej-264	57	64	all	all	DET
alkej-264	57	65	the	the	DET
alkej-264	57	66	related	related	ADJ
alkej-264	57	67	points	point	NOUN
alkej-264	57	68	for	for	ADP
alkej-264	57	69	each	each	DET
alkej-264	57	70	joint	joint	NOUN
alkej-264	57	71	have	have	AUX
alkej-264	57	72	been	be	AUX
alkej-264	57	73	put	put	VERB
alkej-264	57	74	on	on	ADP
alkej-264	57	75	the	the	DET
alkej-264	57	76	model	model	NOUN
alkej-264	57	77	,	,	PUNCT
alkej-264	57	78	the	the	DET
alkej-264	57	79	legs	leg	NOUN
alkej-264	57	80	numbering	number	VERB
alkej-264	57	81	as	as	SCONJ
alkej-264	57	82	shown	show	VERB
alkej-264	57	83	in	in	ADP
alkej-264	57	84	figure	figure	NOUN
alkej-264	57	85	1	1	NUM
alkej-264	57	86	,	,	PUNCT
alkej-264	57	87	robot	robot	NOUN
alkej-264	57	88	’s	’s	PART
alkej-264	57	89	coordinate	coordinate	NOUN
alkej-264	57	90	o	o	PROPN
alkej-264	57	91	(	(	PUNCT
alkej-264	57	92	xo	xo	PROPN
alkej-264	57	93	,	,	PUNCT
alkej-264	57	94	yo	yo	PROPN
alkej-264	57	95	,	,	PUNCT
alkej-264	57	96	zo	zo	PROPN
alkej-264	57	97	)	)	PUNCT
alkej-264	57	98	.	.	PUNCT
alkej-264	58	1	fig	fig	NOUN
alkej-264	58	2	.	.	PUNCT
alkej-264	59	1	1	1	NUM
alkej-264	59	2	.	.	X
alkej-264	59	3	hexapod	hexapod	NOUN
alkej-264	59	4	robot	robot	NOUN
alkej-264	59	5	structure	structure	NOUN
alkej-264	59	6	the	the	DET
alkej-264	59	7	z	z	NOUN
alkej-264	59	8	-	-	PUNCT
alkej-264	59	9	axis	axis	NOUN
alkej-264	59	10	pointing	pointing	NOUN
alkej-264	59	11	up	up	ADP
alkej-264	59	12	,	,	PUNCT
alkej-264	59	13	the	the	DET
alkej-264	59	14	x	x	X
alkej-264	59	15	forward	forward	NOUN
alkej-264	59	16	and	and	CCONJ
alkej-264	59	17	the	the	DET
alkej-264	59	18	y	y	ADJ
alkej-264	59	19	-	-	PUNCT
alkej-264	59	20	axis	axis	NOUN
alkej-264	59	21	pointing	pointing	NOUN
alkej-264	59	22	left	leave	VERB
alkej-264	59	23	to	to	ADP
alkej-264	59	24	right	right	ADJ
alkej-264	59	25	hand	hand	NOUN
alkej-264	59	26	rule	rule	NOUN
alkej-264	59	27	.	.	PUNCT
alkej-264	60	1	hexapod	hexapod	NOUN
alkej-264	60	2	robot	robot	NOUN
alkej-264	60	3	consisting	consist	VERB
alkej-264	60	4	of	of	ADP
alkej-264	60	5	two	two	NUM
alkej-264	60	6	types	type	NOUN
alkej-264	60	7	,	,	PUNCT
alkej-264	60	8	one	one	NUM
alkej-264	60	9	is	be	AUX
alkej-264	60	10	forward	forward	ADV
alkej-264	60	11	kinematic	kinematic	ADJ
alkej-264	60	12	and	and	CCONJ
alkej-264	60	13	its	its	PRON
alkej-264	60	14	inverse	inverse	NOUN
alkej-264	60	15	,	,	PUNCT
alkej-264	60	16	below	below	ADV
alkej-264	60	17	will	will	AUX
alkej-264	60	18	discuss	discuss	VERB
alkej-264	60	19	in	in	ADP
alkej-264	60	20	deta	deta	NOUN
alkej-264	60	21	each	each	DET
alkej-264	60	22	type	type	NOUN
alkej-264	60	23	of	of	ADP
alkej-264	60	24	kinematic	kinematic	NOUN
alkej-264	60	25	.	.	PUNCT
alkej-264	61	1	al	al	PROPN
alkej-264	61	2	-	-	PUNCT
alkej-264	61	3	khwarizmi	khwarizmi	PROPN
alkej-264	61	4	engineering	engineering	NOUN
alkej-264	61	5	journal	journal	PROPN
alkej-264	61	6	,	,	PUNCT
alkej-264	61	7	vol	vol	NOUN
alkej-264	61	8	.	.	PROPN
alkej-264	61	9	11	11	NUM
alkej-264	61	10	,	,	PUNCT
alkej-264	61	11	no	no	INTJ
alkej-264	61	12	.	.	NOUN
alkej-264	61	13	45	45	NUM
alkej-264	61	14	is	be	AUX
alkej-264	61	15	depended	depend	VERB
alkej-264	61	16	on	on	ADP
alkej-264	61	17	f	f	PROPN
alkej-264	61	18	each	each	DET
alkej-264	61	19	leg	leg	NOUN
alkej-264	61	20	in	in	ADP
alkej-264	61	21	order	order	NOUN
alkej-264	61	22	not	not	PART
alkej-264	61	23	to	to	PART
alkej-264	61	24	fall	fall	VERB
alkej-264	61	25	and	and	CCONJ
alkej-264	61	26	the	the	DET
alkej-264	61	27	other	other	ADJ
alkej-264	61	28	approach	approach	NOUN
alkej-264	61	29	is	be	AUX
alkej-264	61	30	called	call	VERB
alkej-264	61	31	stability	stability	NOUN
alkej-264	61	32	using	use	VERB
alkej-264	61	33	genetic	genetic	ADJ
alkej-264	61	34	algorithm	algorithm	NOUN
alkej-264	61	35	is	be	AUX
alkej-264	61	36	that	that	SCONJ
alkej-264	61	37	getting	get	VERB
alkej-264	61	38	from	from	ADP
alkej-264	61	39	the	the	DET
alkej-264	61	40	genetic	genetic	ADJ
alkej-264	61	41	algorithm	algorithm	NOUN
alkej-264	61	42	is	be	AUX
alkej-264	61	43	used	use	VERB
alkej-264	61	44	to	to	ADP
alkej-264	61	45	these	these	DET
alkej-264	61	46	results	result	NOUN
alkej-264	61	47	are	be	AUX
alkej-264	61	48	path	path	NOUN
alkej-264	61	49	planning	planning	NOUN
alkej-264	61	50	of	of	ADP
alkej-264	61	51	hexapod	hexapod	NOUN
alkej-264	61	52	modeling	modeling	NOUN
alkej-264	61	53	of	of	ADP
alkej-264	61	54	hexapod	hexapod	NOUN
alkej-264	61	55	robot	robot	NOUN
alkej-264	61	56	the	the	DET
alkej-264	61	57	legged	legged	ADJ
alkej-264	61	58	locomotion	locomotion	NOUN
alkej-264	61	59	verities	verity	NOUN
alkej-264	61	60	by	by	ADP
alkej-264	61	61	verity	verity	NOUN
alkej-264	61	62	of	of	ADP
alkej-264	61	63	usual	usual	ADJ
alkej-264	61	64	terrain	terrain	NOUN
alkej-264	61	65	and	and	CCONJ
alkej-264	61	66	it	it	PRON
alkej-264	61	67	presents	present	VERB
alkej-264	61	68	a	a	DET
alkej-264	61	69	set	set	NOUN
alkej-264	61	70	of	of	ADP
alkej-264	61	71	difficult	difficult	ADJ
alkej-264	61	72	problems	problem	NOUN
alkej-264	61	73	(	(	PUNCT
alkej-264	61	74	foot	foot	NOUN
alkej-264	61	75	placement	placement	NOUN
alkej-264	61	76	,	,	PUNCT
alkej-264	61	77	obstacle	obstacle	NOUN
alkej-264	61	78	avoidance	avoidance	NOUN
alkej-264	61	79	,	,	PUNCT
alkej-264	61	80	common	common	ADJ
alkej-264	61	81	stability	stability	NOUN
alkej-264	61	82	)	)	PUNCT
alkej-264	61	83	which	which	PRON
alkej-264	61	84	must	must	AUX
alkej-264	61	85	be	be	AUX
alkej-264	61	86	taken	take	VERB
alkej-264	61	87	into	into	ADP
alkej-264	61	88	account	account	NOUN
alkej-264	61	89	both	both	CCONJ
alkej-264	61	90	in	in	ADP
alkej-264	61	91	mechanical	mechanical	ADJ
alkej-264	61	92	construction	construction	NOUN
alkej-264	61	93	of	of	ADP
alkej-264	61	94	vehicles	vehicle	NOUN
alkej-264	61	95	and	and	CCONJ
alkej-264	61	96	in	in	ADP
alkej-264	61	97	development	development	NOUN
alkej-264	61	98	of	of	ADP
alkej-264	61	99	.	.	PUNCT
alkej-264	62	1	besides	besides	SCONJ
alkej-264	62	2	that	that	PRON
alkej-264	62	3	,	,	PUNCT
alkej-264	62	4	these	these	DET
alkej-264	62	5	issues	issue	NOUN
alkej-264	62	6	are	be	AUX
alkej-264	62	7	using	use	VERB
alkej-264	62	8	models	model	NOUN
alkej-264	62	9	that	that	PRON
alkej-264	62	10	mathematically	mathematically	ADV
alkej-264	62	11	explain	explain	VERB
alkej-264	62	12	the	the	DET
alkej-264	62	13	verities	verity	NOUN
alkej-264	62	14	of	of	ADP
alkej-264	62	15	situations	situation	NOUN
alkej-264	62	16	and	and	CCONJ
alkej-264	62	17	for	for	ADP
alkej-264	62	18	that	that	PRON
alkej-264	62	19	;	;	PUNCT
alkej-264	62	20	the	the	DET
alkej-264	62	21	robot	robot	NOUN
alkej-264	62	22	modeling	modeling	NOUN
alkej-264	62	23	becomes	become	VERB
alkej-264	62	24	a	a	DET
alkej-264	62	25	practical	practical	ADJ
alkej-264	62	26	tool	tool	NOUN
alkej-264	62	27	in	in	ADP
alkej-264	62	28	understanding	understand	VERB
alkej-264	62	29	systems	system	NOUN
alkej-264	62	30	complexity	complexity	NOUN
alkej-264	62	31	and	and	CCONJ
alkej-264	62	32	for	for	ADP
alkej-264	62	33	testing	testing	NOUN
alkej-264	62	34	ting	te	VERB
alkej-264	62	35	diverse	diverse	ADJ
alkej-264	62	36	control	control	NOUN
alkej-264	62	37	approaches	approach	NOUN
alkej-264	62	38	[	[	X
alkej-264	62	39	8	8	NUM
alkej-264	62	40	]	]	PUNCT
alkej-264	62	41	.	.	PUNCT
alkej-264	63	1	the	the	DET
alkej-264	63	2	robot	robot	NOUN
alkej-264	63	3	structure	structure	NOUN
alkej-264	63	4	considered	consider	VERB
alkej-264	63	5	has	have	AUX
alkej-264	63	6	(	(	PUNCT
alkej-264	63	7	6	6	NUM
alkej-264	63	8	)	)	PUNCT
alkej-264	63	9	identical	identical	ADJ
alkej-264	63	10	legs	leg	NOUN
alkej-264	63	11	and	and	CCONJ
alkej-264	63	12	each	each	DET
alkej-264	63	13	leg	leg	NOUN
alkej-264	63	14	has	have	VERB
alkej-264	63	15	(	(	PUNCT
alkej-264	63	16	3	3	NUM
alkej-264	63	17	)	)	PUNCT
alkej-264	63	18	degree	degree	NOUN
alkej-264	63	19	of	of	ADP
alkej-264	63	20	freedom	freedom	NOUN
alkej-264	63	21	,	,	PUNCT
alkej-264	63	22	in	in	ADP
alkej-264	63	23	all	all	DET
alkej-264	63	24	the	the	DET
alkej-264	63	25	related	related	ADJ
alkej-264	63	26	points	point	NOUN
alkej-264	63	27	for	for	ADP
alkej-264	63	28	each	each	DET
alkej-264	63	29	joint	joint	NOUN
alkej-264	63	30	have	have	AUX
alkej-264	63	31	been	be	AUX
alkej-264	63	32	put	put	VERB
alkej-264	63	33	on	on	ADP
alkej-264	63	34	the	the	DET
alkej-264	63	35	model	model	NOUN
alkej-264	63	36	,	,	PUNCT
alkej-264	63	37	the	the	DET
alkej-264	63	38	legs	leg	NOUN
alkej-264	63	39	1	1	NUM
alkej-264	63	40	,	,	PUNCT
alkej-264	63	41	robot	robot	NOUN
alkej-264	63	42	’s	’s	PART
alkej-264	63	43	center	center	PROPN
alkej-264	63	44	robot	robot	NOUN
alkej-264	63	45	structure	structure	NOUN
alkej-264	63	46	.	.	PUNCT
alkej-264	64	1	axis	axis	ADJ
alkej-264	64	2	pointing	point	VERB
alkej-264	64	3	up	up	ADP
alkej-264	64	4	,	,	PUNCT
alkej-264	64	5	the	the	DET
alkej-264	64	6	x	x	ADJ
alkej-264	64	7	-	-	ADJ
alkej-264	64	8	axis	axis	ADJ
alkej-264	64	9	pointing	pointing	NOUN
alkej-264	64	10	and	and	CCONJ
alkej-264	64	11	according	accord	VERB
alkej-264	64	12	robot	robot	NOUN
alkej-264	64	13	modeling	modeling	NOUN
alkej-264	64	14	consisting	consist	VERB
alkej-264	64	15	of	of	ADP
alkej-264	64	16	two	two	NUM
alkej-264	64	17	types	type	NOUN
alkej-264	64	18	,	,	PUNCT
alkej-264	64	19	one	one	NUM
alkej-264	64	20	is	be	AUX
alkej-264	64	21	forward	forward	ADV
alkej-264	64	22	kinematic	kinematic	ADJ
alkej-264	64	23	and	and	CCONJ
alkej-264	64	24	its	its	PRON
alkej-264	64	25	inverse	inverse	NOUN
alkej-264	64	26	,	,	PUNCT
alkej-264	64	27	below	below	ADV
alkej-264	64	28	will	will	AUX
alkej-264	64	29	discuss	discuss	VERB
alkej-264	64	30	in	in	ADP
alkej-264	64	31	details	detail	NOUN
alkej-264	64	32	for	for	ADP
alkej-264	64	33	2.1	2.1	NUM
alkej-264	64	34	.	.	PUNCT
alkej-264	65	1	forward	forward	ADJ
alkej-264	65	2	kinematics	kinematic	NOUN
alkej-264	65	3	for	for	ADP
alkej-264	65	4	one	one	NUM
alkej-264	65	5	leg	leg	NOUN
alkej-264	65	6	hexapod	hexapod	NOUN
alkej-264	65	7	robot	robot	NOUN
alkej-264	65	8	the	the	DET
alkej-264	65	9	successful	successful	ADJ
alkej-264	65	10	design	design	NOUN
alkej-264	65	11	of	of	ADP
alkej-264	65	12	a	a	DET
alkej-264	65	13	legged	legged	ADJ
alkej-264	65	14	robot	robot	NOUN
alkej-264	65	15	depends	depend	VERB
alkej-264	65	16	to	to	ADP
alkej-264	65	17	a	a	DET
alkej-264	65	18	large	large	ADJ
alkej-264	65	19	amount	amount	NOUN
alkej-264	65	20	on	on	ADP
alkej-264	65	21	the	the	DET
alkej-264	65	22	leg	leg	NOUN
alkej-264	65	23	design	design	NOUN
alkej-264	65	24	chosen	choose	VERB
alkej-264	65	25	.	.	PUNCT
alkej-264	66	1	since	since	SCONJ
alkej-264	66	2	all	all	DET
alkej-264	66	3	aspects	aspect	NOUN
alkej-264	66	4	of	of	ADP
alkej-264	66	5	walking	walking	NOUN
alkej-264	66	6	are	be	AUX
alkej-264	66	7	ultimately	ultimately	ADV
alkej-264	66	8	governed	govern	VERB
alkej-264	66	9	by	by	ADP
alkej-264	66	10	the	the	DET
alkej-264	66	11	physical	physical	ADJ
alkej-264	66	12	limitations	limitation	NOUN
alkej-264	66	13	of	of	ADP
alkej-264	66	14	the	the	DET
alkej-264	66	15	leg	leg	NOUN
alkej-264	66	16	,	,	PUNCT
alkej-264	66	17	it	it	PRON
alkej-264	66	18	is	be	AUX
alkej-264	66	19	important	important	ADJ
alkej-264	66	20	to	to	PART
alkej-264	66	21	select	select	VERB
alkej-264	66	22	a	a	DET
alkej-264	66	23	leg	leg	NOUN
alkej-264	66	24	that	that	PRON
alkej-264	66	25	will	will	AUX
alkej-264	66	26	allow	allow	VERB
alkej-264	66	27	a	a	DET
alkej-264	66	28	maximum	maximum	ADJ
alkej-264	66	29	range	range	NOUN
alkej-264	66	30	of	of	ADP
alkej-264	66	31	motion	motion	NOUN
alkej-264	66	32	a	a	DET
alkej-264	66	33	unnecessary	unnecessary	ADJ
alkej-264	66	34	constraints	constraint	NOUN
alkej-264	66	35	on	on	ADP
alkej-264	66	36	the	the	DET
alkej-264	66	37	walking	walking	NOUN
alkej-264	66	38	.	.	PUNCT
alkej-264	67	1	three	three	NUM
alkej-264	67	2	-	-	PUNCT
alkej-264	67	3	revolute	revolute	ADJ
alkej-264	67	4	kinematical	kinematical	ADJ
alkej-264	67	5	chain	chain	NOUN
alkej-264	67	6	been	be	AUX
alkej-264	67	7	chosen	choose	VERB
alkej-264	67	8	for	for	ADP
alkej-264	67	9	each	each	DET
alkej-264	67	10	leg	leg	NOUN
alkej-264	67	11	mechanism	mechanism	NOUN
alkej-264	67	12	in	in	SCONJ
alkej-264	67	13	order	order	NOUN
alkej-264	67	14	to	to	PART
alkej-264	67	15	imitate	imitate	VERB
alkej-264	67	16	the	the	DET
alkej-264	67	17	leg	leg	NOUN
alkej-264	67	18	structure	structure	NOUN
alkej-264	67	19	as	as	SCONJ
alkej-264	67	20	shown	show	VERB
alkej-264	67	21	in	in	ADP
alkej-264	67	22	fig	fig	NOUN
alkej-264	67	23	direct	direct	ADJ
alkej-264	67	24	geometrical	geometrical	ADJ
alkej-264	67	25	model	model	NOUN
alkej-264	67	26	for	for	ADP
alkej-264	67	27	each	each	DET
alkej-264	67	28	leg	leg	NOUN
alkej-264	67	29	mechanism	mechanism	NOUN
alkej-264	67	30	is	be	AUX
alkej-264	67	31	formulated	formulate	VERB
alkej-264	67	32	between	between	ADP
alkej-264	67	33	the	the	DET
alkej-264	67	34	moving	move	VERB
alkej-264	67	35	frame	frame	NOUN
alkej-264	67	36	oi(xi	oi(xi	PROPN
alkej-264	67	37	,	,	PUNCT
alkej-264	67	38	yi	yi	PROPN
alkej-264	67	39	,	,	PUNCT
alkej-264	67	40	zi	zi	NOUN
alkej-264	67	41	)	)	PUNCT
alkej-264	67	42	of	of	ADP
alkej-264	67	43	the	the	DET
alkej-264	67	44	leg	leg	NOUN
alkej-264	67	45	base	base	NOUN
alkej-264	67	46	,	,	PUNCT
alkej-264	68	1	where	where	SCONJ
alkej-264	68	2	i=1	i=1	PROPN
alkej-264	68	3	…	…	PUNCT
alkej-264	68	4	fixed	fixed	ADJ
alkej-264	68	5	frame	frame	NOUN
alkej-264	68	6	o	o	NOUN
alkej-264	68	7	(	(	PUNCT
alkej-264	68	8	xo	xo	PROPN
alkej-264	68	9	,	,	PUNCT
alkej-264	68	10	yo	yo	PROPN
alkej-264	68	11	,	,	PUNCT
alkej-264	68	12	zo	zo	PROPN
alkej-264	68	13	)	)	PUNCT
alkej-264	69	1	[	[	X
alkej-264	69	2	9	9	NUM
alkej-264	69	3	]	]	PUNCT
alkej-264	69	4	.	.	PUNCT
alkej-264	70	1	fig	fig	NOUN
alkej-264	70	2	.	.	PUNCT
alkej-264	71	1	2	2	NUM
alkej-264	71	2	.model	.model	NUM
alkej-264	71	3	and	and	CCONJ
alkej-264	71	4	coordinates	coordinate	VERB
alkej-264	71	5	frame	frame	VERB
alkej-264	71	6	for	for	ADP
alkej-264	71	7	leg	leg	NOUN
alkej-264	71	8	kinematics	kinematic	NOUN
alkej-264	71	9	.	.	PUNCT
alkej-264	72	1	in	in	ADP
alkej-264	72	2	this	this	DET
alkej-264	72	3	paper	paper	NOUN
alkej-264	72	4	,	,	PUNCT
alkej-264	72	5	the	the	DET
alkej-264	72	6	bh3is	bh3i	NOUN
alkej-264	72	7	taken	take	VERB
alkej-264	72	8	as	as	ADP
alkej-264	72	9	a	a	DET
alkej-264	72	10	case	case	NOUN
alkej-264	72	11	study	study	NOUN
alkej-264	72	12	lengths	length	NOUN
alkej-264	72	13	of	of	ADP
alkej-264	72	14	the	the	DET
alkej-264	72	15	hexapod	hexapod	NOUN
alkej-264	72	16	’s	’s	PART
alkej-264	72	17	leg	leg	NOUN
alkej-264	72	18	=	=	PUNCT
alkej-264	72	19	(	(	PUNCT
alkej-264	72	20	5.7	5.7	NUM
alkej-264	72	21	cm	cm	NOUN
alkej-264	72	22	)	)	PUNCT
alkej-264	72	23	,	,	PUNCT
alkej-264	72	24	l3	l3	PROPN
alkej-264	72	25	=	=	SYM
alkej-264	72	26	(	(	PUNCT
alkej-264	72	27	10.8	10.8	NUM
alkej-264	72	28	cm	cm	NOUN
alkej-264	72	29	frame	frame	NOUN
alkej-264	72	30	starts	start	VERB
alkej-264	72	31	with	with	ADP
alkej-264	72	32	link	link	NOUN
alkej-264	72	33	(	(	PUNCT
alkej-264	72	34	0	0	NUM
alkej-264	72	35	)	)	PUNCT
alkej-264	72	36	which	which	PRON
alkej-264	72	37	is	be	AUX
alkej-264	72	38	the	the	DET
alkej-264	72	39	robot	robot	NOUN
alkej-264	72	40	body	body	NOUN
alkej-264	72	41	where	where	SCONJ
alkej-264	72	42	the	the	DET
alkej-264	72	43	leg	leg	NOUN
alkej-264	72	44	is	be	AUX
alkej-264	72	45	jointed	joint	VERB
alkej-264	72	46	to	to	PART
alkej-264	72	47	;	;	PUNCT
alkej-264	72	48	link	link	VERB
alkej-264	72	49	(	(	PUNCT
alkej-264	72	50	1	1	X
alkej-264	72	51	)	)	PUNCT
alkej-264	72	52	is	be	AUX
alkej-264	72	53	the	the	DET
alkej-264	72	54	coxa	coxa	NOUN
alkej-264	72	55	,	,	PUNCT
alkej-264	72	56	link	link	NOUN
alkej-264	72	57	(	(	PUNCT
alkej-264	72	58	2	2	NUM
alkej-264	72	59	)	)	PUNCT
alkej-264	72	60	is	be	AUX
alkej-264	72	61	the	the	DET
alkej-264	72	62	femur	femur	NOUN
alkej-264	72	63	and	and	CCONJ
alkej-264	72	64	link	link	NOUN
alkej-264	72	65	(	(	PUNCT
alkej-264	72	66	3	3	NUM
alkej-264	72	67	)	)	PUNCT
alkej-264	72	68	is	be	AUX
alkej-264	72	69	the	the	DET
alkej-264	72	70	tibia	tibia	NOUN
alkej-264	72	71	.	.	PUNCT
alkej-264	73	1	legs	leg	NOUN
alkej-264	73	2	are	be	AUX
alkej-264	73	3	distributed	distribute	VERB
alkej-264	73	4	symmetrically	symmetrically	ADV
alkej-264	73	5	around	around	ADP
alkej-264	73	6	the	the	DET
alkej-264	73	7	axis	axis	NOUN
alkej-264	73	8	in	in	ADP
alkej-264	73	9	the	the	DET
alkej-264	73	10	direction	direction	NOUN
alkej-264	73	11	of	of	ADP
alkej-264	73	12	motion	motion	NOUN
alkej-264	73	13	(	(	PUNCT
alkej-264	73	14	the	the	DET
alkej-264	73	15	general	general	ADJ
alkej-264	73	16	form	form	NOUN
alkej-264	73	17	for	for	ADP
alkej-264	73	18	the	the	DET
alkej-264	73	19	transformation	transformation	NOUN
alkej-264	73	20	matrix	matrix	NOUN
alkej-264	73	21	from	from	ADP
alkej-264	73	22	link	link	NOUN
alkej-264	73	23	(	(	PUNCT
alkej-264	73	24	i	i	NOUN
alkej-264	73	25	)	)	PUNCT
alkej-264	73	26	to	to	PART
alkej-264	73	27	link	link	VERB
alkej-264	73	28	(	(	PUNCT
alkej-264	73	29	i-1	i-1	NUM
alkej-264	73	30	)	)	PUNCT
alkej-264	73	31	using	use	VERB
alkej-264	73	32	denavit	denavit	PROPN
alkej-264	73	33	hartenberg	hartenberg	PROPN
alkej-264	73	34	parameters	parameter	NOUN
alkej-264	73	35	is	be	AUX
alkej-264	73	36	given	give	VERB
alkej-264	73	37	in	in	ADP
alkej-264	73	38	the	the	DET
alkej-264	73	39	d1	d1	PROPN
alkej-264	73	40	r1	r1	NOUN
alkej-264	73	41	θ1	θ1	PROPN
alkej-264	73	42	z1	z1	PROPN
alkej-264	73	43	l1	l1	PROPN
alkej-264	74	1	x0	x0	PROPN
alkej-264	75	1	yo	yo	PROPN
alkej-264	75	2	zo	zo	PROPN
alkej-264	75	3	xc	xc	PROPN
alkej-264	75	4	leg	leg	PROPN
alkej-264	75	5	base	base	PROPN
alkej-264	75	6	θ3	θ3	PROPN
alkej-264	75	7	khwarizmi	khwarizmi	PROPN
alkej-264	75	8	engineering	engineering	PROPN
alkej-264	75	9	journal	journal	PROPN
alkej-264	75	10	,	,	PUNCT
alkej-264	75	11	vol	vol	NOUN
alkej-264	75	12	.	.	PROPN
alkej-264	75	13	11	11	NUM
alkej-264	75	14	,	,	PUNCT
alkej-264	75	15	no	no	INTJ
alkej-264	75	16	.	.	NOUN
alkej-264	75	17	4	4	NUM
alkej-264	75	18	,	,	PUNCT
alkej-264	75	19	p.p	p.p	PROPN
alkej-264	75	20	.	.	NOUN
alkej-264	75	21	4459	4459	NUM
alkej-264	75	22	(	(	PUNCT
alkej-264	75	23	2015	2015	NUM
alkej-264	75	24	)	)	PUNCT
alkej-264	75	25	rd	rd	NOUN
alkej-264	75	26	kinematics	kinematic	NOUN
alkej-264	75	27	for	for	ADP
alkej-264	75	28	one	one	NUM
alkej-264	75	29	leg	leg	NOUN
alkej-264	75	30	of	of	ADP
alkej-264	75	31	successful	successful	ADJ
alkej-264	75	32	design	design	NOUN
alkej-264	75	33	of	of	ADP
alkej-264	75	34	a	a	DET
alkej-264	75	35	legged	legged	ADJ
alkej-264	75	36	robot	robot	NOUN
alkej-264	75	37	depends	depend	VERB
alkej-264	75	38	to	to	ADP
alkej-264	75	39	a	a	DET
alkej-264	75	40	large	large	ADJ
alkej-264	75	41	amount	amount	NOUN
alkej-264	75	42	on	on	ADP
alkej-264	75	43	the	the	DET
alkej-264	75	44	leg	leg	NOUN
alkej-264	75	45	design	design	NOUN
alkej-264	75	46	chosen	choose	VERB
alkej-264	75	47	.	.	PUNCT
alkej-264	76	1	since	since	SCONJ
alkej-264	76	2	all	all	DET
alkej-264	76	3	aspects	aspect	NOUN
alkej-264	76	4	of	of	ADP
alkej-264	76	5	walking	walking	NOUN
alkej-264	76	6	are	be	AUX
alkej-264	76	7	ultimately	ultimately	ADV
alkej-264	76	8	governed	govern	VERB
alkej-264	76	9	by	by	ADP
alkej-264	76	10	the	the	DET
alkej-264	76	11	physical	physical	ADJ
alkej-264	76	12	limitations	limitation	NOUN
alkej-264	76	13	of	of	ADP
alkej-264	76	14	the	the	DET
alkej-264	76	15	leg	leg	NOUN
alkej-264	76	16	,	,	PUNCT
alkej-264	76	17	it	it	PRON
alkej-264	76	18	is	be	AUX
alkej-264	76	19	important	important	ADJ
alkej-264	76	20	to	to	PART
alkej-264	76	21	select	select	VERB
alkej-264	76	22	a	a	DET
alkej-264	76	23	leg	leg	NOUN
alkej-264	76	24	that	that	PRON
alkej-264	76	25	will	will	AUX
alkej-264	76	26	allow	allow	VERB
alkej-264	76	27	a	a	DET
alkej-264	76	28	maximum	maximum	ADJ
alkej-264	76	29	range	range	NOUN
alkej-264	76	30	of	of	ADP
alkej-264	76	31	motion	motion	NOUN
alkej-264	76	32	and	and	CCONJ
alkej-264	76	33	not	not	PART
alkej-264	76	34	inflict	inflict	VERB
alkej-264	76	35	onstraints	onstraint	NOUN
alkej-264	76	36	on	on	ADP
alkej-264	76	37	the	the	DET
alkej-264	76	38	walking	walking	NOUN
alkej-264	76	39	.	.	PUNCT
alkej-264	77	1	the	the	DET
alkej-264	77	2	revolute	revolute	ADJ
alkej-264	77	3	kinematical	kinematical	ADJ
alkej-264	77	4	chain	chain	NOUN
alkej-264	77	5	(	(	PUNCT
alkej-264	77	6	r1	r1	PROPN
alkej-264	77	7	,	,	PUNCT
alkej-264	77	8	r2	r2	PROPN
alkej-264	77	9	,	,	PUNCT
alkej-264	77	10	r3	r3	PROPN
alkej-264	77	11	)	)	PUNCT
alkej-264	77	12	has	have	AUX
alkej-264	77	13	been	be	AUX
alkej-264	77	14	chosen	choose	VERB
alkej-264	77	15	for	for	ADP
alkej-264	77	16	each	each	DET
alkej-264	77	17	leg	leg	NOUN
alkej-264	77	18	mechanism	mechanism	NOUN
alkej-264	77	19	in	in	ADP
alkej-264	77	20	order	order	NOUN
alkej-264	77	21	to	to	PART
alkej-264	77	22	imitate	imitate	VERB
alkej-264	77	23	the	the	DET
alkej-264	77	24	leg	leg	NOUN
alkej-264	77	25	structure	structure	NOUN
alkej-264	77	26	as	as	SCONJ
alkej-264	77	27	shown	show	VERB
alkej-264	77	28	in	in	ADP
alkej-264	77	29	figure	figure	NOUN
alkej-264	77	30	2	2	NUM
alkej-264	77	31	.	.	PUNCT
alkej-264	78	1	a	a	DET
alkej-264	78	2	direct	direct	ADJ
alkej-264	78	3	geometrical	geometrical	ADJ
alkej-264	78	4	model	model	NOUN
alkej-264	78	5	for	for	ADP
alkej-264	78	6	each	each	DET
alkej-264	78	7	leg	leg	NOUN
alkej-264	78	8	mechanism	mechanism	NOUN
alkej-264	78	9	formulated	formulate	VERB
alkej-264	78	10	between	between	ADP
alkej-264	78	11	the	the	DET
alkej-264	78	12	moving	move	VERB
alkej-264	78	13	frame	frame	NOUN
alkej-264	78	14	)	)	PUNCT
alkej-264	78	15	of	of	ADP
alkej-264	78	16	the	the	DET
alkej-264	78	17	leg	leg	NOUN
alkej-264	78	18	base	base	NOUN
alkej-264	78	19	,	,	PUNCT
alkej-264	78	20	where	where	SCONJ
alkej-264	78	21	i=1	i=1	X
alkej-264	78	22	…	…	SYM
alkej-264	78	23	6	6	NUM
alkej-264	78	24	,	,	PUNCT
alkej-264	78	25	and	and	CCONJ
alkej-264	78	26	the	the	DET
alkej-264	78	27	[	[	X
alkej-264	78	28	9	9	NUM
alkej-264	78	29	]	]	PUNCT
alkej-264	78	30	.	.	PUNCT
alkej-264	79	1	l	l	NOUN
alkej-264	79	2	and	and	CCONJ
alkej-264	79	3	coordinates	coordinate	VERB
alkej-264	79	4	frame	frame	VERB
alkej-264	79	5	for	for	ADP
alkej-264	79	6	leg	leg	NOUN
alkej-264	79	7	-r	-r	PROPN
alkej-264	79	8	hexapod	hexapod	NOUN
alkej-264	79	9	robot	robot	NOUN
alkej-264	79	10	model	model	NOUN
alkej-264	79	11	case	case	NOUN
alkej-264	79	12	study	study	NOUN
alkej-264	79	13	of	of	ADP
alkej-264	79	14	hexapod	hexapod	NOUN
alkej-264	79	15	robot	robot	NOUN
alkej-264	79	16	.	.	PUNCT
alkej-264	80	1	the	the	DET
alkej-264	80	2	’s	’s	NOUN
alkej-264	80	3	leg	leg	NOUN
alkej-264	80	4	are	be	AUX
alkej-264	80	5	:	:	PUNCT
alkej-264	80	6	l1	l1	PROPN
alkej-264	80	7	=	=	SYM
alkej-264	80	8	(	(	PUNCT
alkej-264	80	9	2.9	2.9	NUM
alkej-264	80	10	cm	cm	NOUN
alkej-264	80	11	)	)	PUNCT
alkej-264	80	12	,	,	PUNCT
alkej-264	80	13	l2	l2	VERB
alkej-264	80	14	10.8	10.8	NUM
alkej-264	80	15	cm	cm	NOUN
alkej-264	80	16	)	)	PUNCT
alkej-264	81	1	[	[	X
alkej-264	81	2	10	10	NUM
alkej-264	81	3	]	]	PUNCT
alkej-264	81	4	.	.	PUNCT
alkej-264	82	1	the	the	DET
alkej-264	82	2	robot	robot	NOUN
alkej-264	82	3	leg	leg	NOUN
alkej-264	82	4	frame	frame	NOUN
alkej-264	82	5	starts	start	VERB
alkej-264	82	6	with	with	ADP
alkej-264	82	7	link	link	NOUN
alkej-264	82	8	(	(	PUNCT
alkej-264	82	9	0	0	NUM
alkej-264	82	10	)	)	PUNCT
alkej-264	82	11	which	which	PRON
alkej-264	82	12	is	be	AUX
alkej-264	82	13	the	the	DET
alkej-264	82	14	point	point	NOUN
alkej-264	82	15	on	on	ADP
alkej-264	82	16	the	the	DET
alkej-264	82	17	robot	robot	NOUN
alkej-264	82	18	body	body	NOUN
alkej-264	82	19	where	where	SCONJ
alkej-264	82	20	the	the	DET
alkej-264	82	21	leg	leg	NOUN
alkej-264	82	22	is	be	AUX
alkej-264	82	23	jointed	joint	VERB
alkej-264	82	24	to	to	PART
alkej-264	82	25	;	;	PUNCT
alkej-264	82	26	link	link	VERB
alkej-264	82	27	(	(	PUNCT
alkej-264	82	28	1	1	X
alkej-264	82	29	)	)	PUNCT
alkej-264	82	30	is	be	AUX
alkej-264	82	31	the	the	DET
alkej-264	82	32	coxa	coxa	NOUN
alkej-264	82	33	,	,	PUNCT
alkej-264	82	34	link	link	NOUN
alkej-264	82	35	(	(	PUNCT
alkej-264	82	36	2	2	NUM
alkej-264	82	37	)	)	PUNCT
alkej-264	82	38	is	be	AUX
alkej-264	82	39	the	the	DET
alkej-264	82	40	femur	femur	NOUN
alkej-264	82	41	and	and	CCONJ
alkej-264	82	42	link	link	NOUN
alkej-264	82	43	(	(	PUNCT
alkej-264	82	44	3	3	NUM
alkej-264	82	45	)	)	PUNCT
alkej-264	82	46	is	be	AUX
alkej-264	82	47	the	the	DET
alkej-264	82	48	tibia	tibia	NOUN
alkej-264	82	49	.	.	PUNCT
alkej-264	83	1	legs	leg	NOUN
alkej-264	83	2	are	be	AUX
alkej-264	83	3	distributed	distribute	VERB
alkej-264	83	4	symmetrically	symmetrically	ADV
alkej-264	83	5	around	around	ADP
alkej-264	83	6	direction	direction	NOUN
alkej-264	83	7	of	of	ADP
alkej-264	83	8	motion	motion	NOUN
alkej-264	83	9	(	(	PUNCT
alkej-264	83	10	x	x	X
alkej-264	83	11	in	in	ADP
alkej-264	83	12	this	this	DET
alkej-264	83	13	case	case	NOUN
alkej-264	83	14	)	)	PUNCT
alkej-264	83	15	.	.	PUNCT
alkej-264	84	1	the	the	DET
alkej-264	84	2	general	general	ADJ
alkej-264	84	3	form	form	NOUN
alkej-264	84	4	for	for	ADP
alkej-264	84	5	the	the	DET
alkej-264	84	6	transformation	transformation	NOUN
alkej-264	84	7	matrix	matrix	NOUN
alkej-264	84	8	)	)	PUNCT
alkej-264	84	9	using	use	VERB
alkej-264	84	10	denavit	denavit	PROPN
alkej-264	84	11	hartenberg	hartenberg	PROPN
alkej-264	84	12	eq	eq	PROPN
alkej-264	84	13	.	.	PROPN
alkej-264	84	14	1	1	NUM
alkej-264	85	1	[	[	X
alkej-264	85	2	9,11	9,11	NUM
alkej-264	85	3	]	]	X
alkej-264	85	4	:	:	PUNCT
alkej-264	86	1	r2	r2	PROPN
alkej-264	86	2	x1	x1	PROPN
alkej-264	86	3	l2	l2	PROPN
alkej-264	86	4	r3	r3	PROPN
alkej-264	86	5	l3	l3	NOUN
alkej-264	86	6	x3	x3	PROPN
alkej-264	86	7	z3	z3	PROPN
alkej-264	86	8	x2	x2	PROPN
alkej-264	86	9	z2	z2	PROPN
alkej-264	86	10	y0	y0	PROPN
alkej-264	86	11	θ2	θ2	PROPN
alkej-264	86	12	firas	firas	PROPN
alkej-264	86	13	a.	a.	PROPN
alkej-264	86	14	raheem	raheem	PROPN
alkej-264	86	15	al	al	PROPN
alkej-264	86	16	-	-	PUNCT
alkej-264	86	17	khwarizmi	khwarizmi	PROPN
alkej-264	86	18	engineering	engineering	NOUN
alkej-264	86	19	journal	journal	PROPN
alkej-264	86	20	,	,	PUNCT
alkej-264	86	21	vol	vol	NOUN
alkej-264	86	22	.	.	PROPN
alkej-264	86	23	11	11	NUM
alkej-264	86	24	,	,	PUNCT
alkej-264	86	25	no	no	INTJ
alkej-264	86	26	.	.	NOUN
alkej-264	86	27	4	4	NUM
alkej-264	86	28	,	,	PUNCT
alkej-264	86	29	p.p	p.p	PROPN
alkej-264	86	30	.	.	NOUN
alkej-264	86	31	4459	4459	NUM
alkej-264	86	32	(	(	PUNCT
alkej-264	86	33	2015	2015	NUM
alkej-264	86	34	)	)	PUNCT
alkej-264	86	35	46	46	NUM
alkej-264	86	36	t	t	PROPN
alkej-264	86	37	�	�	PROPN
alkej-264	86	38	�	�	PROPN
alkej-264	86	39	�	�	PROPN
alkej-264	86	40	�	�	PROPN
alkej-264	86	41	=	=	SYM
alkej-264	86	42	�	�	PROPN
alkej-264	86	43	cosθ	cosθ	PROPN
alkej-264	86	44	�	�	PROPN
alkej-264	86	45	−sin	−sin	PROPN
alkej-264	86	46	θ	θ	PROPN
alkej-264	86	47	�	�	PROPN
alkej-264	86	48	cos	cos	PROPN
alkej-264	86	49	α	α	PROPN
alkej-264	86	50	�	�	PROPN
alkej-264	86	51	sinθ	sinθ	PROPN
alkej-264	86	52	�	�	PROPN
alkej-264	86	53	cos	cos	PROPN
alkej-264	86	54	θ	θ	PROPN
alkej-264	86	55	�	�	PROPN
alkej-264	86	56	cos	cos	PROPN
alkej-264	86	57	α	α	PROPN
alkej-264	86	58	�	�	PROPN
alkej-264	86	59	sin	sin	PROPN
alkej-264	86	60	θ	θ	PROPN
alkej-264	86	61	�	�	PROPN
alkej-264	86	62	sinα	sinα	PROPN
alkej-264	86	63	�	�	PROPN
alkej-264	86	64	a	a	DET
alkej-264	86	65	�	�	PROPN
alkej-264	86	66	cosθ	cosθ	PROPN
alkej-264	86	67	�	�	PROPN
alkej-264	86	68	−cos	−cos	PART
alkej-264	86	69	θ	θ	PROPN
alkej-264	86	70	�	�	PROPN
alkej-264	86	71	sin	sin	VERB
alkej-264	86	72	α	α	PROPN
alkej-264	86	73	�	�	PROPN
alkej-264	86	74	a	a	DET
alkej-264	86	75	�	�	PROPN
alkej-264	86	76	sinθ	sinθ	PROPN
alkej-264	86	77	�	�	PROPN
alkej-264	86	78	0	0	NUM
alkej-264	86	79	sinα	sinα	PROPN
alkej-264	86	80	�	�	PROPN
alkej-264	86	81	0	0	NUM
alkej-264	86	82	0	0	NUM
alkej-264	86	83	cos	cos	PROPN
alkej-264	86	84	α	α	PROPN
alkej-264	86	85	�	�	PROPN
alkej-264	86	86	d	d	PROPN
alkej-264	86	87	�	�	PROPN
alkej-264	86	88	0	0	NUM
alkej-264	86	89	1	1	NUM
alkej-264	86	90	�	�	NOUN
alkej-264	86	91	…	…	PUNCT
alkej-264	86	92	(	(	PUNCT
alkej-264	86	93	1	1	X
alkej-264	86	94	)	)	PUNCT
alkej-264	86	95	the	the	DET
alkej-264	86	96	transformation	transformation	NOUN
alkej-264	86	97	matrix	matrix	NOUN
alkej-264	86	98	is	be	AUX
alkej-264	86	99	a	a	DET
alkej-264	86	100	series	series	NOUN
alkej-264	86	101	of	of	ADP
alkej-264	86	102	transformations	transformation	NOUN
alkej-264	86	103	:	:	PUNCT
alkej-264	87	1	1	1	X
alkej-264	87	2	.	.	X
alkej-264	87	3	translate	translate	PROPN
alkej-264	87	4	di	di	NOUN
alkej-264	87	5	along	along	ADP
alkej-264	87	6	zi-1	zi-1	PUNCT
alkej-264	87	7	axis	axis	NOUN
alkej-264	87	8	.	.	PUNCT
alkej-264	88	1	2	2	X
alkej-264	88	2	.	.	AUX
alkej-264	88	3	rotate	rotate	VERB
alkej-264	88	4	θ	θ	PROPN
alkej-264	88	5	�	�	PROPN
alkej-264	88	6	about	about	ADV
alkej-264	88	7	zi-1	zi-1	PUNCT
alkej-264	88	8	axis	axis	NOUN
alkej-264	88	9	.	.	PUNCT
alkej-264	89	1	3	3	X
alkej-264	89	2	.	.	X
alkej-264	89	3	translate	translate	VERB
alkej-264	89	4	a	a	DET
alkej-264	89	5	�	�	PROPN
alkej-264	89	6	about	about	ADP
alkej-264	89	7	xi-1	xi-1	VERB
alkej-264	89	8	axis	axis	NOUN
alkej-264	89	9	(	(	PUNCT
alkej-264	89	10	a	a	DET
alkej-264	89	11	�	�	PROPN
alkej-264	89	12	=	=	SYM
alkej-264	89	13	li	li	PROPN
alkej-264	89	14	for	for	ADP
alkej-264	89	15	i=1	i=1	PROPN
alkej-264	89	16	...	...	PUNCT
alkej-264	89	17	3	3	NUM
alkej-264	89	18	)	)	PUNCT
alkej-264	89	19	.	.	PUNCT
alkej-264	90	1	4	4	X
alkej-264	90	2	.	.	X
alkej-264	90	3	rotate	rotate	VERB
alkej-264	90	4	α	α	DET
alkej-264	90	5	�	�	PROPN
alkej-264	90	6	about	about	ADP
alkej-264	90	7	xi-1	xi-1	PROPN
alkej-264	90	8	axis	axis	NOUN
alkej-264	90	9	.	.	PUNCT
alkej-264	91	1	the	the	DET
alkej-264	91	2	overall	overall	ADJ
alkej-264	91	3	transformation	transformation	NOUN
alkej-264	91	4	is	be	AUX
alkej-264	91	5	obtained	obtain	VERB
alkej-264	91	6	as	as	ADP
alkej-264	91	7	a	a	DET
alkej-264	91	8	product	product	NOUN
alkej-264	91	9	between	between	ADP
alkej-264	91	10	three	three	NUM
alkej-264	91	11	transformation	transformation	NOUN
alkej-264	91	12	matrixes	matrix	NOUN
alkej-264	91	13	:	:	PUNCT
alkej-264	91	14	t	t	PROPN
alkej-264	91	15	�	�	PROPN
alkej-264	91	16	�	�	PROPN
alkej-264	91	17	�	�	PROPN
alkej-264	91	18	�	�	PROPN
alkej-264	91	19	�	�	PROPN
alkej-264	91	20	�	�	PROPN
alkej-264	91	21	�	�	PROPN
alkej-264	91	22	�	�	PROPN
alkej-264	91	23	=	=	SYM
alkej-264	91	24	t	t	PROPN
alkej-264	91	25	�	�	PROPN
alkej-264	91	26	�	�	PROPN
alkej-264	91	27	�	�	PROPN
alkej-264	91	28	�	�	PROPN
alkej-264	91	29	�	�	PROPN
alkej-264	91	30	�	�	PROPN
alkej-264	91	31	�	�	PROPN
alkej-264	91	32	�	�	PROPN
alkej-264	91	33	�	�	PROPN
alkej-264	91	34	t	t	PROPN
alkej-264	91	35	�	�	PROPN
alkej-264	91	36	�	�	PROPN
alkej-264	91	37	�	�	PROPN
alkej-264	91	38	�	�	PROPN
alkej-264	91	39	�	�	PROPN
alkej-264	91	40	�	�	PROPN
alkej-264	91	41	�	�	PROPN
alkej-264	91	42	�	�	PROPN
alkej-264	91	43	�	�	PROPN
alkej-264	91	44	…	…	PUNCT
alkej-264	91	45	"	"	PUNCT
alkej-264	91	46	2	2	NUM
alkej-264	91	47	$	$	SYM
alkej-264	91	48	considering	consider	VERB
alkej-264	91	49	figure	figure	NOUN
alkej-264	91	50	2	2	NUM
alkej-264	91	51	and	and	CCONJ
alkej-264	91	52	using	use	VERB
alkej-264	91	53	eq	eq	ADP
alkej-264	91	54	.	.	PROPN
alkej-264	91	55	2	2	NUM
alkej-264	91	56	the	the	DET
alkej-264	91	57	coordinates	coordinate	NOUN
alkej-264	91	58	of	of	ADP
alkej-264	91	59	the	the	DET
alkej-264	91	60	leg	leg	NOUN
alkej-264	91	61	tip	tip	NOUN
alkej-264	91	62	are	be	AUX
alkej-264	91	63	:	:	PUNCT
alkej-264	91	64	x	x	SYM
alkej-264	91	65	=	=	SYM
alkej-264	91	66	cosθ	cosθ	PROPN
alkej-264	91	67	�	�	PROPN
alkej-264	91	68	∗	∗	NOUN
alkej-264	91	69	"	"	PUNCT
alkej-264	91	70	l	l	X
alkej-264	91	71	�	�	PROPN
alkej-264	91	72	+	+	CCONJ
alkej-264	91	73	l	l	NOUN
alkej-264	91	74	)	)	PUNCT
alkej-264	91	75	∗	∗	NOUN
alkej-264	91	76	cosθ	cosθ	PROPN
alkej-264	91	77	)	)	PUNCT
alkej-264	91	78	+	+	NUM
alkej-264	91	79	l*∗	l*∗	NOUN
alkej-264	91	80	cos"θ	cos"θ	ADJ
alkej-264	91	81	)	)	PUNCT
alkej-264	91	82	−	−	ADP
alkej-264	92	1	θ*$$	θ*$$	ADV
alkej-264	92	2	,	,	PUNCT
alkej-264	92	3	y	y	PROPN
alkej-264	92	4	=	=	PROPN
alkej-264	92	5	sinθ	sinθ	PROPN
alkej-264	92	6	�	�	PROPN
alkej-264	92	7	∗	∗	NOUN
alkej-264	92	8	"	"	PUNCT
alkej-264	92	9	l	l	X
alkej-264	92	10	�	�	PROPN
alkej-264	92	11	+	+	CCONJ
alkej-264	92	12	l	l	NOUN
alkej-264	92	13	)	)	PUNCT
alkej-264	92	14	∗	∗	NOUN
alkej-264	92	15	cosθ)+	cosθ)+	NOUN
alkej-264	92	16	l	l	X
alkej-264	92	17	*	*	PUNCT
alkej-264	92	18	∗	∗	NOUN
alkej-264	92	19	cos"θ	cos"θ	ADJ
alkej-264	92	20	)	)	PUNCT
alkej-264	92	21	−	−	PROPN
alkej-264	92	22	θ*$$	θ*$$	ADV
alkej-264	92	23	,	,	PUNCT
alkej-264	92	24	z	z	NOUN
alkej-264	92	25	=	=	SYM
alkej-264	92	26	d	d	PUNCT
alkej-264	92	27	�	�	PROPN
alkej-264	92	28	+	+	CCONJ
alkej-264	92	29	l	l	NOUN
alkej-264	92	30	)	)	PUNCT
alkej-264	92	31	∗	∗	NOUN
alkej-264	92	32	sinθ)+	sinθ)+	PROPN
alkej-264	92	33	l	l	PROPN
alkej-264	92	34	*	*	PROPN
alkej-264	92	35	∗	∗	NOUN
alkej-264	92	36	sin"θ	sin"θ	NOUN
alkej-264	92	37	)	)	PUNCT
alkej-264	92	38	−	−	PROPN
alkej-264	92	39	θ*$	θ*$	NOUN
alkej-264	92	40	…	…	PUNCT
alkej-264	92	41	"	"	PUNCT
alkej-264	92	42	3	3	NUM
alkej-264	92	43	$	$	SYM
alkej-264	92	44	where	where	SCONJ
alkej-264	92	45	:	:	PUNCT
alkej-264	92	46	d1	d1	PROPN
alkej-264	92	47	is	be	AUX
alkej-264	92	48	the	the	DET
alkej-264	92	49	distance	distance	NOUN
alkej-264	92	50	from	from	ADP
alkej-264	92	51	the	the	DET
alkej-264	92	52	ground	ground	NOUN
alkej-264	92	53	to	to	ADP
alkej-264	92	54	the	the	DET
alkej-264	92	55	coxa	coxa	NOUN
alkej-264	92	56	joint	joint	NOUN
alkej-264	92	57	.	.	PUNCT
alkej-264	93	1	li	li	PROPN
alkej-264	93	2	are	be	AUX
alkej-264	93	3	the	the	DET
alkej-264	93	4	lengths	length	NOUN
alkej-264	93	5	of	of	ADP
alkej-264	93	6	the	the	DET
alkej-264	93	7	leg	leg	NOUN
alkej-264	93	8	links	link	NOUN
alkej-264	93	9	.	.	PUNCT
alkej-264	94	1	2.2	2.2	NUM
alkej-264	94	2	.	.	PUNCT
alkej-264	94	3	inverse	inverse	NOUN
alkej-264	94	4	kinematics	kinematic	NOUN
alkej-264	94	5	using	use	VERB
alkej-264	94	6	geometric	geometric	ADJ
alkej-264	94	7	approach	approach	NOUN
alkej-264	94	8	the	the	DET
alkej-264	94	9	inverse	inverse	NOUN
alkej-264	94	10	kinematics	kinematic	NOUN
alkej-264	94	11	problem	problem	NOUN
alkej-264	94	12	consists	consist	VERB
alkej-264	94	13	of	of	ADP
alkej-264	94	14	formative	formative	ADJ
alkej-264	94	15	the	the	DET
alkej-264	94	16	joint	joint	ADJ
alkej-264	94	17	angles	angle	NOUN
alkej-264	94	18	from	from	ADP
alkej-264	94	19	a	a	DET
alkej-264	94	20	given	give	VERB
alkej-264	94	21	position	position	NOUN
alkej-264	94	22	and	and	CCONJ
alkej-264	94	23	orientation	orientation	NOUN
alkej-264	94	24	of	of	ADP
alkej-264	94	25	the	the	DET
alkej-264	94	26	end	end	NOUN
alkej-264	94	27	frame	frame	NOUN
alkej-264	94	28	.	.	PUNCT
alkej-264	95	1	the	the	DET
alkej-264	95	2	solution	solution	NOUN
alkej-264	95	3	of	of	ADP
alkej-264	95	4	this	this	DET
alkej-264	95	5	problem	problem	NOUN
alkej-264	95	6	is	be	AUX
alkej-264	95	7	significant	significant	ADJ
alkej-264	95	8	in	in	ADP
alkej-264	95	9	order	order	NOUN
alkej-264	95	10	to	to	PART
alkej-264	95	11	transform	transform	VERB
alkej-264	95	12	the	the	DET
alkej-264	95	13	motion	motion	NOUN
alkej-264	95	14	assigned	assign	VERB
alkej-264	95	15	to	to	ADP
alkej-264	95	16	the	the	DET
alkej-264	95	17	end	end	NOUN
alkej-264	95	18	frame	frame	NOUN
alkej-264	95	19	into	into	ADP
alkej-264	95	20	the	the	DET
alkej-264	95	21	joint	joint	ADJ
alkej-264	95	22	angle	angle	NOUN
alkej-264	95	23	motions	motion	NOUN
alkej-264	95	24	matching	match	VERB
alkej-264	95	25	to	to	ADP
alkej-264	95	26	the	the	DET
alkej-264	95	27	desired	desire	VERB
alkej-264	95	28	end	end	NOUN
alkej-264	95	29	frame	frame	NOUN
alkej-264	95	30	motion	motion	NOUN
alkej-264	95	31	.	.	PUNCT
alkej-264	96	1	the	the	DET
alkej-264	96	2	goal	goal	NOUN
alkej-264	96	3	is	be	AUX
alkej-264	96	4	to	to	PART
alkej-264	96	5	find	find	VERB
alkej-264	96	6	the	the	DET
alkej-264	96	7	three	three	NUM
alkej-264	96	8	joint	joint	ADJ
alkej-264	96	9	variables	variable	NOUN
alkej-264	96	10	θ1	θ1	NOUN
alkej-264	96	11	,	,	PUNCT
alkej-264	96	12	θ2	θ2	PROPN
alkej-264	96	13	,	,	PUNCT
alkej-264	96	14	and	and	CCONJ
alkej-264	96	15	θ3	θ3	PROPN
alkej-264	96	16	corresponding	correspond	VERB
alkej-264	96	17	to	to	ADP
alkej-264	96	18	the	the	DET
alkej-264	96	19	desired	desire	VERB
alkej-264	96	20	end	end	NOUN
alkej-264	96	21	frame	frame	NOUN
alkej-264	96	22	position	position	NOUN
alkej-264	96	23	.	.	PUNCT
alkej-264	97	1	the	the	DET
alkej-264	97	2	end	end	NOUN
alkej-264	97	3	frames	frame	VERB
alkej-264	97	4	orientation	orientation	NOUN
alkej-264	97	5	is	be	AUX
alkej-264	97	6	not	not	PART
alkej-264	97	7	a	a	DET
alkej-264	97	8	matter	matter	NOUN
alkej-264	97	9	,	,	PUNCT
alkej-264	97	10	where	where	SCONJ
alkej-264	97	11	only	only	ADV
alkej-264	97	12	paying	pay	VERB
alkej-264	97	13	attention	attention	NOUN
alkej-264	97	14	in	in	ADP
alkej-264	97	15	its	its	PRON
alkej-264	97	16	position	position	NOUN
alkej-264	97	17	[	[	X
alkej-264	97	18	9	9	NUM
alkej-264	97	19	]	]	PUNCT
alkej-264	97	20	.	.	PUNCT
alkej-264	98	1	fig	fig	NOUN
alkej-264	98	2	.	.	PUNCT
alkej-264	99	1	3	3	NUM
alkej-264	99	2	.	.	PUNCT
alkej-264	100	1	illustrations	illustration	NOUN
alkej-264	100	2	for	for	ADP
alkej-264	100	3	solving	solve	VERB
alkej-264	100	4	inverse	inverse	NOUN
alkej-264	100	5	kinematics	kinematic	NOUN
alkej-264	100	6	.	.	PUNCT
alkej-264	101	1	using	use	VERB
alkej-264	101	2	eq	eq	ADP
alkej-264	101	3	.	.	PROPN
alkej-264	101	4	3	3	NUM
alkej-264	101	5	and	and	CCONJ
alkej-264	101	6	considering	consider	VERB
alkej-264	101	7	the	the	DET
alkej-264	101	8	following	follow	VERB
alkej-264	101	9	constraints	constraint	NOUN
alkej-264	101	10	:	:	PUNCT
alkej-264	101	11	all	all	DET
alkej-264	101	12	joints	joint	NOUN
alkej-264	101	13	allow	allow	VERB
alkej-264	101	14	rotation	rotation	NOUN
alkej-264	101	15	only	only	ADV
alkej-264	101	16	about	about	ADV
alkej-264	101	17	one	one	NUM
alkej-264	101	18	axis	axis	NOUN
alkej-264	101	19	,	,	PUNCT
alkej-264	101	20	femur	femur	NOUN
alkej-264	101	21	and	and	CCONJ
alkej-264	101	22	tibia	tibia	NOUN
alkej-264	101	23	always	always	ADV
alkej-264	101	24	rotate	rotate	VERB
alkej-264	101	25	on	on	ADP
alkej-264	101	26	parallel	parallel	ADJ
alkej-264	101	27	axes	axis	NOUN
alkej-264	101	28	,	,	PUNCT
alkej-264	101	29	and	and	CCONJ
alkej-264	101	30	the	the	DET
alkej-264	101	31	physical	physical	ADJ
alkej-264	101	32	limitation	limitation	NOUN
alkej-264	101	33	of	of	ADP
alkej-264	101	34	each	each	DET
alkej-264	101	35	joint	joint	NOUN
alkej-264	101	36	can	can	AUX
alkej-264	101	37	determine	determine	VERB
alkej-264	101	38	the	the	DET
alkej-264	101	39	joint	joint	ADJ
alkej-264	101	40	angle	angle	NOUN
alkej-264	101	41	.	.	PUNCT
alkej-264	102	1	the	the	DET
alkej-264	102	2	coxa	coxa	PROPN
alkej-264	102	3	joint	joint	ADJ
alkej-264	102	4	angle	angle	NOUN
alkej-264	102	5	can	can	AUX
alkej-264	102	6	be	be	AUX
alkej-264	102	7	found	find	VERB
alkej-264	102	8	using	use	VERB
alkej-264	102	9	the	the	DET
alkej-264	102	10	following	follow	VERB
alkej-264	102	11	function	function	NOUN
alkej-264	102	12	as	as	SCONJ
alkej-264	102	13	can	can	AUX
alkej-264	102	14	be	be	AUX
alkej-264	102	15	seen	see	VERB
alkej-264	102	16	from	from	ADP
alkej-264	102	17	figure	figure	NOUN
alkej-264	102	18	3	3	NUM
alkej-264	102	19	a.	a.	NOUN
alkej-264	102	20	θ	θ	PUNCT
alkej-264	102	21	�	�	PROPN
alkej-264	102	22	=	=	SYM
alkej-264	102	23	tan	tan	PROPN
alkej-264	102	24	�	�	PROPN
alkej-264	102	25	�	�	PROPN
alkej-264	102	26	0y	0y	NUM
alkej-264	102	27	�	�	PROPN
alkej-264	102	28	x	x	SYM
alkej-264	102	29	�	�	PROPN
alkej-264	102	30	1	1	NUM
alkej-264	102	31	…	…	PUNCT
alkej-264	102	32	"	"	PUNCT
alkej-264	102	33	4	4	NUM
alkej-264	102	34	$	$	SYM
alkej-264	102	35	in	in	ADP
alkej-264	102	36	order	order	NOUN
alkej-264	102	37	to	to	PART
alkej-264	102	38	determine	determine	VERB
alkej-264	102	39	the	the	DET
alkej-264	102	40	other	other	ADJ
alkej-264	102	41	two	two	NUM
alkej-264	102	42	angles	angle	NOUN
alkej-264	102	43	a	a	DET
alkej-264	102	44	geometrical	geometrical	ADJ
alkej-264	102	45	approach	approach	NOUN
alkej-264	102	46	is	be	AUX
alkej-264	102	47	considered	consider	VERB
alkej-264	102	48	.	.	PUNCT
alkej-264	103	1	the	the	DET
alkej-264	103	2	leg	leg	NOUN
alkej-264	103	3	tip	tip	NOUN
alkej-264	103	4	coordinates	coordinate	NOUN
alkej-264	103	5	were	be	AUX
alkej-264	103	6	transformed	transform	VERB
alkej-264	103	7	to	to	ADP
alkej-264	103	8	coxa	coxa	NOUN
alkej-264	103	9	frame	frame	NOUN
alkej-264	103	10	using	use	VERB
alkej-264	103	11	the	the	DET
alkej-264	103	12	transformation	transformation	NOUN
alkej-264	103	13	matrix	matrix	NOUN
alkej-264	103	14	below	below	ADP
alkej-264	103	15	:	:	PUNCT
alkej-264	103	16	t	t	PROPN
alkej-264	103	17	�	�	PROPN
alkej-264	103	18	�	�	PROPN
alkej-264	103	19	�	�	PROPN
alkej-264	103	20	�	�	PROPN
alkej-264	103	21	�	�	PROPN
alkej-264	103	22	�	�	PROPN
alkej-264	103	23	�	�	PROPN
alkej-264	103	24	�	�	PROPN
alkej-264	103	25	�	�	PROPN
alkej-264	103	26	=	=	SYM
alkej-264	103	27	0"r	0"r	PROPN
alkej-264	103	28	�	�	PROPN
alkej-264	103	29	�	�	PROPN
alkej-264	103	30	�	�	PROPN
alkej-264	103	31	�	�	PROPN
alkej-264	103	32	�	�	PROPN
alkej-264	103	33	�	�	PROPN
alkej-264	103	34	�	�	PROPN
alkej-264	103	35	�	�	PROPN
alkej-264	103	36	�	�	PROPN
alkej-264	103	37	$	$	SYM
alkej-264	103	38	−"r	−"r	PROPN
alkej-264	103	39	�	�	PROPN
alkej-264	103	40	�	�	PROPN
alkej-264	103	41	�	�	PROPN
alkej-264	103	42	�	�	PROPN
alkej-264	103	43	�	�	PROPN
alkej-264	103	44	�	�	PROPN
alkej-264	103	45	�	�	PROPN
alkej-264	103	46	�	�	PROPN
alkej-264	103	47	�	�	PROPN
alkej-264	103	48	$	$	SYM
alkej-264	103	49	4	4	NUM
alkej-264	103	50	∗	∗	NOUN
alkej-264	103	51	d	d	NOUN
alkej-264	103	52	�	�	PROPN
alkej-264	103	53	�	�	PROPN
alkej-264	103	54	�	�	PROPN
alkej-264	103	55	�	�	PROPN
alkej-264	103	56	�	�	PROPN
alkej-264	103	57	�	�	PROPN
alkej-264	103	58	�	�	PROPN
alkej-264	103	59	�	�	PROPN
alkej-264	103	60	�	�	PROPN
alkej-264	103	61	0	0	NUM
alkej-264	103	62	1	1	NUM
alkej-264	103	63	1	1	NUM
alkej-264	103	64	…	…	PUNCT
alkej-264	103	65	"	"	PUNCT
alkej-264	103	66	5	5	NUM
alkej-264	103	67	$	$	SYM
alkej-264	103	68	the	the	DET
alkej-264	103	69	angle	angle	NOUN
alkej-264	103	70	θ	θ	PROPN
alkej-264	103	71	)	)	PUNCT
alkej-264	103	72	of	of	ADP
alkej-264	103	73	the	the	DET
alkej-264	103	74	femur	femur	ADJ
alkej-264	103	75	servo	servo	NOUN
alkej-264	103	76	position	position	NOUN
alkej-264	103	77	can	can	AUX
alkej-264	103	78	be	be	AUX
alkej-264	103	79	derived	derive	VERB
alkej-264	103	80	directly	directly	ADV
alkej-264	103	81	from	from	ADP
alkej-264	103	82	the	the	DET
alkej-264	103	83	triangle	triangle	NOUN
alkej-264	103	84	figure	figure	NOUN
alkej-264	103	85	3	3	NUM
alkej-264	103	86	b.	b.	PROPN
alkej-264	103	87	θ	θ	PROPN
alkej-264	103	88	)	)	PUNCT
alkej-264	104	1	=	=	SYM
alkej-264	104	2	φ	φ	PROPN
alkej-264	104	3	−	−	PROPN
alkej-264	104	4	φ	φ	NUM
alkej-264	104	5	�	�	PROPN
alkej-264	104	6	…	…	PUNCT
alkej-264	104	7	"	"	PUNCT
alkej-264	104	8	6	6	NUM
alkej-264	104	9	$	$	SYM
alkej-264	104	10	the	the	DET
alkej-264	104	11	angle	angle	NOUN
alkej-264	104	12	φ	φ	PROPN
alkej-264	104	13	�	�	PROPN
alkej-264	104	14	is	be	AUX
alkej-264	104	15	the	the	DET
alkej-264	104	16	angle	angle	NOUN
alkej-264	104	17	between	between	ADP
alkej-264	104	18	the	the	DET
alkej-264	104	19	x	x	NOUN
alkej-264	104	20	-	-	NOUN
alkej-264	104	21	axis	axis	NOUN
alkej-264	104	22	and	and	CCONJ
alkej-264	104	23	line	line	NOUN
alkej-264	104	24	a	a	PRON
alkej-264	104	25	and	and	CCONJ
alkej-264	104	26	can	can	AUX
alkej-264	104	27	be	be	AUX
alkej-264	104	28	calculated	calculate	VERB
alkej-264	104	29	with	with	ADP
alkej-264	104	30	the	the	DET
alkej-264	104	31	following	follow	VERB
alkej-264	104	32	function	function	NOUN
alkej-264	104	33	:	:	PUNCT
alkej-264	104	34	φ	φ	NUM
alkej-264	104	35	�	�	PROPN
alkej-264	104	36	=	=	SYM
alkej-264	104	37	tan	tan	PROPN
alkej-264	104	38	�	�	PROPN
alkej-264	104	39	�	�	PROPN
alkej-264	104	40	0y*x*1	0y*x*1	PRON
alkej-264	104	41	…	…	PUNCT
alkej-264	104	42	"	"	PUNCT
alkej-264	104	43	7	7	NUM
alkej-264	104	44	$	$	SYM
alkej-264	104	45	where	where	SCONJ
alkej-264	104	46	x3	x3	ADJ
alkej-264	104	47	and	and	CCONJ
alkej-264	104	48	y3	y3	NOUN
alkej-264	104	49	are	be	AUX
alkej-264	104	50	the	the	DET
alkej-264	104	51	leg	leg	NOUN
alkej-264	104	52	tip	tip	NOUN
alkej-264	104	53	coordinates	coordinate	NOUN
alkej-264	104	54	in	in	ADP
alkej-264	104	55	coxa	coxa	ADJ
alkej-264	104	56	frame	frame	NOUN
alkej-264	104	57	.	.	PUNCT
alkej-264	105	1	the	the	DET
alkej-264	105	2	law	law	NOUN
alkej-264	105	3	of	of	ADP
alkej-264	105	4	cosine	cosine	NOUN
alkej-264	105	5	results	result	NOUN
alkej-264	105	6	is	be	AUX
alkej-264	105	7	applied	apply	VERB
alkej-264	105	8	:	:	PUNCT
alkej-264	105	9	φ	φ	PROPN
alkej-264	105	10	=	=	SYM
alkej-264	105	11	cos	cos	PROPN
alkej-264	105	12	�	�	PROPN
alkej-264	105	13	�	�	PROPN
alkej-264	105	14	9l	9l	PROPN
alkej-264	105	15	)	)	PUNCT
alkej-264	105	16	)	)	PUNCT
alkej-264	106	1	+	+	CCONJ
alkej-264	106	2	a	a	X
alkej-264	106	3	)	)	PUNCT
alkej-264	107	1	−	−	PROPN
alkej-264	107	2	l*)2	l*)2	SYM
alkej-264	107	3	∗	∗	PROPN
alkej-264	107	4	l	l	NOUN
alkej-264	107	5	)	)	PUNCT
alkej-264	108	1	∗	∗	NOUN
alkej-264	108	2	a	a	PRON
alkej-264	108	3	:	:	PUNCT
alkej-264	108	4	…	…	PUNCT
alkej-264	108	5	"	"	PUNCT
alkej-264	108	6	8	8	NUM
alkej-264	108	7	$	$	SYM
alkej-264	108	8	where	where	SCONJ
alkej-264	108	9	:	:	PUNCT
alkej-264	108	10	a	a	PRON
alkej-264	108	11	=	=	X
alkej-264	108	12	<	<	X
alkej-264	108	13	=	=	NOUN
alkej-264	108	14	*	*	NOUN
alkej-264	108	15	)	)	PUNCT
alkej-264	109	1	+	+	CCONJ
alkej-264	109	2	>	>	PUNCT
alkej-264	109	3	*	*	PUNCT
alkej-264	109	4	)	)	PUNCT
alkej-264	109	5	…	…	PUNCT
alkej-264	109	6	"	"	PUNCT
alkej-264	109	7	9	9	NUM
alkej-264	109	8	$	$	SYM
alkej-264	109	9	from	from	ADP
alkej-264	109	10	the	the	DET
alkej-264	109	11	eq	eq	NOUN
alkej-264	109	12	.	.	PROPN
alkej-264	109	13	6	6	NUM
alkej-264	109	14	,	,	PUNCT
alkej-264	109	15	the	the	DET
alkej-264	109	16	femur	femur	ADJ
alkej-264	109	17	angle	angle	NOUN
alkej-264	109	18	can	can	AUX
alkej-264	109	19	be	be	AUX
alkej-264	109	20	found	find	VERB
alkej-264	109	21	from[9	from[9	ADP
alkej-264	109	22	]	]	PUNCT
alkej-264	109	23	:	:	PUNCT
alkej-264	109	24	l	l	NOUN
alkej-264	109	25	leg	leg	NOUN
alkej-264	109	26	tip	tip	NOUN
alkej-264	109	27	x1	x1	PROPN
alkej-264	109	28	,	,	PUNCT
alkej-264	109	29	y1	y1	NOUN
alkej-264	109	30	y	y	PROPN
alkej-264	109	31	femur	femur	ADJ
alkej-264	109	32	joint	joint	ADJ
alkej-264	109	33	coxa	coxa	NOUN
alkej-264	109	34	joint	joint	ADJ
alkej-264	109	35	tibia	tibia	NOUN
alkej-264	109	36	joint	joint	ADJ
alkej-264	109	37	l2	l2	NOUN
alkej-264	109	38	θ	θ	PROPN
alkej-264	109	39	*	*	PUNCT
alkej-264	109	40	θ	θ	PROPN
alkej-264	109	41	)	)	PUNCT
alkej-264	109	42	φ	φ	PROPN
alkej-264	109	43	*	*	PROPN
alkej-264	109	44	φ	φ	PROPN
alkej-264	109	45	�	�	PROPN
alkej-264	109	46	x3,y3	x3,y3	PROPN
alkej-264	109	47	a	a	DET
alkej-264	109	48	a	a	PRON
alkej-264	109	49	b	b	X
alkej-264	109	50	y	y	PROPN
alkej-264	109	51	x	x	PROPN
alkej-264	109	52	x	x	PROPN
alkej-264	109	53	φ	φ	PROPN
alkej-264	109	54	firas	firas	PROPN
alkej-264	109	55	a.	a.	PROPN
alkej-264	109	56	raheem	raheem	PROPN
alkej-264	109	57	al	al	PROPN
alkej-264	109	58	-	-	PUNCT
alkej-264	109	59	khwarizmi	khwarizmi	PROPN
alkej-264	109	60	engineering	engineering	NOUN
alkej-264	109	61	journal	journal	PROPN
alkej-264	109	62	,	,	PUNCT
alkej-264	109	63	vol	vol	NOUN
alkej-264	109	64	.	.	PROPN
alkej-264	109	65	11	11	NUM
alkej-264	109	66	,	,	PUNCT
alkej-264	109	67	no	no	INTJ
alkej-264	109	68	.	.	NOUN
alkej-264	109	69	4	4	NUM
alkej-264	109	70	,	,	PUNCT
alkej-264	109	71	p.p	p.p	PROPN
alkej-264	109	72	.	.	NOUN
alkej-264	109	73	4459	4459	NUM
alkej-264	109	74	(	(	PUNCT
alkej-264	109	75	2015	2015	NUM
alkej-264	109	76	)	)	PUNCT
alkej-264	109	77	47	47	NUM
alkej-264	109	78	θ	θ	NOUN
alkej-264	109	79	)	)	PUNCT
alkej-264	109	80	=	=	SYM
alkej-264	109	81	cos	cos	PROPN
alkej-264	109	82	�	�	PROPN
alkej-264	109	83	�	�	PROPN
alkej-264	109	84	9l	9l	PROPN
alkej-264	109	85	)	)	PUNCT
alkej-264	109	86	)	)	PUNCT
alkej-264	110	1	+	+	CCONJ
alkej-264	110	2	a	a	X
alkej-264	110	3	)	)	PUNCT
alkej-264	111	1	−	−	PROPN
alkej-264	111	2	l*)2	l*)2	SYM
alkej-264	111	3	∗	∗	PROPN
alkej-264	111	4	l	l	NOUN
alkej-264	111	5	)	)	PUNCT
alkej-264	111	6	∗	∗	NOUN
alkej-264	111	7	a	a	DET
alkej-264	111	8	:	:	PUNCT
alkej-264	111	9	−	−	PROPN
alkej-264	111	10	tan	tan	PROPN
alkej-264	111	11	�	�	PROPN
alkej-264	111	12	�	�	PROPN
alkej-264	111	13	"y	"y	NOUN
alkej-264	111	14	*	*	NOUN
alkej-264	111	15	,	,	PUNCT
alkej-264	111	16	x*$	x*$	PUNCT
alkej-264	111	17	…	…	PUNCT
alkej-264	111	18	"	"	PUNCT
alkej-264	111	19	10	10	NUM
alkej-264	111	20	$	$	NUM
alkej-264	111	21	by	by	ADP
alkej-264	111	22	applying	apply	VERB
alkej-264	111	23	the	the	DET
alkej-264	111	24	law	law	NOUN
alkej-264	111	25	of	of	ADP
alkej-264	111	26	cosines	cosine	NOUN
alkej-264	111	27	,	,	PUNCT
alkej-264	111	28	the	the	DET
alkej-264	111	29	φ	φ	PROPN
alkej-264	111	30	*	*	PROPN
alkej-264	111	31	angle	angle	NOUN
alkej-264	111	32	is	be	AUX
alkej-264	111	33	found	find	VERB
alkej-264	111	34	:	:	PUNCT
alkej-264	111	35	φ	φ	PROPN
alkej-264	111	36	*	*	PROPN
alkej-264	111	37	=	=	SYM
alkej-264	111	38	cos	cos	PROPN
alkej-264	111	39	�	�	PROPN
alkej-264	111	40	�	�	PROPN
alkej-264	111	41	9l	9l	PROPN
alkej-264	111	42	)	)	PUNCT
alkej-264	111	43	)	)	PUNCT
alkej-264	112	1	+	+	CCONJ
alkej-264	112	2	l	l	NOUN
alkej-264	112	3	*	*	NOUN
alkej-264	112	4	)	)	PUNCT
alkej-264	112	5	−	−	PROPN
alkej-264	112	6	a)2	a)2	PROPN
alkej-264	112	7	l	l	PROPN
alkej-264	112	8	)	)	PUNCT
alkej-264	112	9	∗	∗	NOUN
alkej-264	112	10	l	l	NOUN
alkej-264	112	11	*	*	PUNCT
alkej-264	112	12	:	:	PUNCT
alkej-264	112	13	…	…	PUNCT
alkej-264	112	14	"	"	PUNCT
alkej-264	112	15	11	11	NUM
alkej-264	112	16	$	$	SYM
alkej-264	112	17	considering	consider	VERB
alkej-264	112	18	figure	figure	NOUN
alkej-264	112	19	3	3	NUM
alkej-264	112	20	b	b	PROPN
alkej-264	112	21	,	,	PUNCT
alkej-264	112	22	the	the	DET
alkej-264	112	23	@	@	NUM
alkej-264	112	24	*	*	NOUN
alkej-264	112	25	can	can	AUX
alkej-264	112	26	be	be	AUX
alkej-264	112	27	found	find	VERB
alkej-264	112	28	as	as	SCONJ
alkej-264	112	29	follows	follow	VERB
alkej-264	112	30	[	[	X
alkej-264	112	31	9	9	NUM
alkej-264	112	32	]	]	PUNCT
alkej-264	112	33	:	:	PUNCT
alkej-264	112	34	θ	θ	PUNCT
alkej-264	112	35	*	*	PUNCT
alkej-264	112	36	=	=	SYM
alkej-264	112	37	π−	π−	ADJ
alkej-264	112	38	φ3	φ3	NOUN
alkej-264	112	39	…	…	PUNCT
alkej-264	112	40	"	"	PUNCT
alkej-264	112	41	12	12	NUM
alkej-264	112	42	$	$	SYM
alkej-264	112	43	3	3	NUM
alkej-264	112	44	.	.	PUNCT
alkej-264	113	1	workspace	workspace	NOUN
alkej-264	113	2	of	of	ADP
alkej-264	113	3	hexapod	hexapod	NOUN
alkej-264	113	4	’s	’s	PART
alkej-264	113	5	leg	leg	NOUN
alkej-264	113	6	in	in	ADP
alkej-264	113	7	this	this	DET
alkej-264	113	8	paper	paper	NOUN
alkej-264	113	9	the	the	DET
alkej-264	113	10	hexapod	hexapod	NOUN
alkej-264	113	11	's	's	PART
alkej-264	113	12	leg	leg	NOUN
alkej-264	113	13	workspace	workspace	NOUN
alkej-264	113	14	has	have	AUX
alkej-264	113	15	been	be	AUX
alkej-264	113	16	computed	compute	VERB
alkej-264	113	17	and	and	CCONJ
alkej-264	113	18	analyzed	analyze	VERB
alkej-264	113	19	.	.	PUNCT
alkej-264	114	1	hexapod	hexapod	NOUN
alkej-264	114	2	's	's	PART
alkej-264	114	3	leg	leg	NOUN
alkej-264	114	4	workspace	workspace	NOUN
alkej-264	114	5	can	can	AUX
alkej-264	114	6	defined	define	VERB
alkej-264	114	7	as	as	ADP
alkej-264	114	8	the	the	DET
alkej-264	114	9	set	set	NOUN
alkej-264	114	10	of	of	ADP
alkej-264	114	11	reachable	reachable	ADJ
alkej-264	114	12	points	point	NOUN
alkej-264	114	13	by	by	ADP
alkej-264	114	14	the	the	DET
alkej-264	114	15	end	end	NOUN
alkej-264	114	16	-	-	PUNCT
alkej-264	114	17	effector	effector	NOUN
alkej-264	114	18	for	for	ADP
alkej-264	114	19	each	each	DET
alkej-264	114	20	foot	foot	NOUN
alkej-264	114	21	.	.	PUNCT
alkej-264	115	1	these	these	DET
alkej-264	115	2	points	point	NOUN
alkej-264	115	3	(	(	PUNCT
alkej-264	115	4	positions	position	NOUN
alkej-264	115	5	)	)	PUNCT
alkej-264	115	6	depended	depend	VERB
alkej-264	115	7	on	on	ADP
alkej-264	115	8	the	the	DET
alkej-264	115	9	leg	leg	NOUN
alkej-264	115	10	orientation	orientation	NOUN
alkej-264	115	11	(	(	PUNCT
alkej-264	115	12	the	the	DET
alkej-264	115	13	mechanical	mechanical	ADJ
alkej-264	115	14	limits	limit	NOUN
alkej-264	115	15	of	of	ADP
alkej-264	115	16	the	the	DET
alkej-264	115	17	joints	joint	NOUN
alkej-264	115	18	)	)	PUNCT
alkej-264	115	19	.	.	PUNCT
alkej-264	116	1	the	the	DET
alkej-264	116	2	mechanical	mechanical	ADJ
alkej-264	116	3	limits	limit	NOUN
alkej-264	116	4	of	of	ADP
alkej-264	116	5	the	the	DET
alkej-264	116	6	joints	joint	NOUN
alkej-264	116	7	restrict	restrict	VERB
alkej-264	116	8	leg	leg	NOUN
alkej-264	116	9	motion	motion	NOUN
alkej-264	116	10	and	and	CCONJ
alkej-264	116	11	are	be	AUX
alkej-264	116	12	a	a	DET
alkej-264	116	13	major	major	ADJ
alkej-264	116	14	factor	factor	NOUN
alkej-264	116	15	to	to	PART
alkej-264	116	16	consider	consider	VERB
alkej-264	116	17	when	when	SCONJ
alkej-264	116	18	developing	develop	VERB
alkej-264	116	19	walking	walk	VERB
alkej-264	116	20	algorithm	algorithm	NOUN
alkej-264	116	21	for	for	ADP
alkej-264	116	22	a	a	DET
alkej-264	116	23	hexapod	hexapod	NOUN
alkej-264	116	24	module	module	NOUN
alkej-264	116	25	.	.	PUNCT
alkej-264	117	1	the	the	DET
alkej-264	117	2	working	work	VERB
alkej-264	117	3	volumes	volume	NOUN
alkej-264	117	4	for	for	ADP
alkej-264	117	5	each	each	DET
alkej-264	117	6	leg	leg	NOUN
alkej-264	117	7	are	be	AUX
alkej-264	117	8	identical	identical	ADJ
alkej-264	117	9	because	because	SCONJ
alkej-264	117	10	each	each	DET
alkej-264	117	11	leg	leg	NOUN
alkej-264	117	12	of	of	ADP
alkej-264	117	13	hexapod	hexapod	NOUN
alkej-264	117	14	has	have	VERB
alkej-264	117	15	the	the	DET
alkej-264	117	16	same	same	ADJ
alkej-264	117	17	geometrical	geometrical	ADJ
alkej-264	117	18	configuration	configuration	NOUN
alkej-264	117	19	and	and	CCONJ
alkej-264	117	20	joint	joint	ADJ
alkej-264	117	21	limits	limit	NOUN
alkej-264	117	22	;	;	PUNCT
alkej-264	117	23	the	the	DET
alkej-264	117	24	analyzed	analyze	VERB
alkej-264	117	25	of	of	ADP
alkej-264	117	26	the	the	DET
alkej-264	117	27	two	two	NUM
alkej-264	117	28	approaches	approach	NOUN
alkej-264	117	29	to	to	PART
alkej-264	117	30	evaluate	evaluate	VERB
alkej-264	117	31	the	the	DET
alkej-264	117	32	constraint	constraint	NOUN
alkej-264	117	33	workspace	workspace	NOUN
alkej-264	117	34	for	for	ADP
alkej-264	117	35	bh3	bh3	NOUN
alkej-264	117	36	-	-	PUNCT
alkej-264	117	37	r	r	NOUN
alkej-264	117	38	hexapod	hexapod	NOUN
alkej-264	117	39	robot	robot	NOUN
alkej-264	117	40	[	[	X
alkej-264	117	41	10	10	NUM
alkej-264	117	42	]	]	PUNCT
alkej-264	117	43	.	.	PUNCT
alkej-264	118	1	the	the	DET
alkej-264	118	2	limits	limit	NOUN
alkej-264	118	3	of	of	ADP
alkej-264	118	4	the	the	DET
alkej-264	118	5	joint	joint	ADJ
alkej-264	118	6	variables	variable	NOUN
alkej-264	118	7	for	for	ADP
alkej-264	118	8	a	a	DET
alkej-264	118	9	representative	representative	ADJ
alkej-264	118	10	one	one	NUM
alkej-264	118	11	leg	leg	NOUN
alkej-264	118	12	are	be	AUX
alkej-264	118	13	shown	show	VERB
alkej-264	118	14	in	in	ADP
alkej-264	118	15	table	table	NOUN
alkej-264	118	16	1	1	NUM
alkej-264	119	1	[	[	X
alkej-264	119	2	10	10	NUM
alkej-264	119	3	]	]	PUNCT
alkej-264	119	4	.	.	PUNCT
alkej-264	120	1	table	table	NOUN
alkej-264	120	2	1	1	NUM
alkej-264	120	3	.	.	PUNCT
alkej-264	121	1	the	the	DET
alkej-264	121	2	range	range	NOUN
alkej-264	121	3	of	of	ADP
alkej-264	121	4	angles	angle	NOUN
alkej-264	121	5	for	for	ADP
alkej-264	121	6	one	one	NUM
alkej-264	121	7	hexapod	hexapod	NOUN
alkej-264	121	8	’s	’s	PART
alkej-264	121	9	leg	leg	NOUN
alkej-264	121	10	[	[	X
alkej-264	121	11	10	10	NUM
alkej-264	121	12	]	]	PUNCT
alkej-264	121	13	.	.	PUNCT
alkej-264	122	1	link	link	NOUN
alkej-264	122	2	name	name	NOUN
alkej-264	122	3	the	the	DET
alkej-264	122	4	range	range	NOUN
alkej-264	122	5	of	of	ADP
alkej-264	122	6	one	one	NUM
alkej-264	122	7	robot	robot	NOUN
alkej-264	122	8	’s	’s	PART
alkej-264	122	9	leg	leg	NOUN
alkej-264	122	10	angle	angle	NOUN
alkej-264	122	11	in	in	ADP
alkej-264	122	12	degree	degree	NOUN
alkej-264	122	13	coxa	coxa	NOUN
alkej-264	122	14	−90	−90	X
alkej-264	122	15	<	<	X
alkej-264	122	16	@	@	ADP
alkej-264	122	17	�	�	PROPN
alkej-264	122	18	<	<	X
alkej-264	122	19	90	90	NUM
alkej-264	122	20	femur	femur	NOUN
alkej-264	122	21	−45	−45	ADP
alkej-264	122	22	<	<	X
alkej-264	122	23	@	@	ADP
alkej-264	122	24	)	)	PUNCT
alkej-264	122	25	<	<	X
alkej-264	122	26	90	90	NUM
alkej-264	122	27	tibia	tibia	NOUN
alkej-264	122	28	0	0	NUM
alkej-264	122	29	<	<	X
alkej-264	122	30	@	@	ADP
alkej-264	122	31	*	*	PUNCT
alkej-264	122	32	<	<	X
alkej-264	122	33	135	135	NUM
alkej-264	122	34	these	these	DET
alkej-264	122	35	joint	joint	ADJ
alkej-264	122	36	variable	variable	ADJ
alkej-264	122	37	limits	limit	NOUN
alkej-264	122	38	,	,	PUNCT
alkej-264	122	39	then	then	ADV
alkej-264	122	40	,	,	PUNCT
alkej-264	122	41	separate	separate	VERB
alkej-264	122	42	the	the	DET
alkej-264	122	43	reachable	reachable	ADJ
alkej-264	122	44	area	area	NOUN
alkej-264	122	45	from	from	ADP
alkej-264	122	46	the	the	DET
alkej-264	122	47	unreachable	unreachable	ADJ
alkej-264	122	48	area	area	NOUN
alkej-264	122	49	.	.	PUNCT
alkej-264	123	1	reachable	reachable	ADJ
alkej-264	123	2	areas	area	NOUN
alkej-264	123	3	move	move	VERB
alkej-264	123	4	with	with	ADP
alkej-264	123	5	the	the	DET
alkej-264	123	6	body	body	NOUN
alkej-264	123	7	.	.	PUNCT
alkej-264	124	1	the	the	DET
alkej-264	124	2	region	region	NOUN
alkej-264	124	3	included	include	VERB
alkej-264	124	4	within	within	ADP
alkej-264	124	5	the	the	DET
alkej-264	124	6	reachable	reachable	ADJ
alkej-264	124	7	area	area	NOUN
alkej-264	124	8	is	be	AUX
alkej-264	124	9	known	know	VERB
alkej-264	124	10	as	as	ADP
alkej-264	124	11	the	the	DET
alkej-264	124	12	unconstrained	unconstrained	ADJ
alkej-264	124	13	working	working	NOUN
alkej-264	124	14	volume	volume	NOUN
alkej-264	124	15	(	(	PUNCT
alkej-264	124	16	uwv	uwv	PROPN
alkej-264	124	17	)	)	PUNCT
alkej-264	124	18	.	.	PUNCT
alkej-264	125	1	the	the	DET
alkej-264	125	2	constrained	constrain	VERB
alkej-264	125	3	working	working	NOUN
alkej-264	125	4	volume	volume	NOUN
alkej-264	125	5	(	(	PUNCT
alkej-264	125	6	cwv	cwv	NOUN
alkej-264	125	7	)	)	PUNCT
alkej-264	125	8	is	be	AUX
alkej-264	125	9	defined	define	VERB
alkej-264	125	10	as	as	ADP
alkej-264	125	11	a	a	DET
alkej-264	125	12	subset	subset	NOUN
alkej-264	125	13	of	of	ADP
alkej-264	125	14	the	the	DET
alkej-264	125	15	original	original	ADJ
alkej-264	125	16	working	working	NOUN
alkej-264	125	17	volume	volume	NOUN
alkej-264	125	18	,	,	PUNCT
alkej-264	125	19	for	for	ADP
alkej-264	125	20	each	each	DET
alkej-264	125	21	leg	leg	NOUN
alkej-264	125	22	,	,	PUNCT
alkej-264	125	23	that	that	PRON
alkej-264	125	24	ensures	ensure	VERB
alkej-264	125	25	static	static	ADJ
alkej-264	125	26	stability	stability	NOUN
alkej-264	125	27	.	.	PUNCT
alkej-264	126	1	therefore	therefore	ADV
alkej-264	126	2	,	,	PUNCT
alkej-264	126	3	the	the	DET
alkej-264	126	4	(	(	PUNCT
alkej-264	126	5	cwv	cwv	NOUN
alkej-264	126	6	)	)	PUNCT
alkej-264	126	7	sets	set	VERB
alkej-264	126	8	soft	soft	ADJ
alkej-264	126	9	limits	limit	NOUN
alkej-264	126	10	for	for	ADP
alkej-264	126	11	each	each	DET
alkej-264	126	12	leg	leg	NOUN
alkej-264	126	13	so	so	SCONJ
alkej-264	126	14	as	as	SCONJ
alkej-264	126	15	to	to	PART
alkej-264	126	16	exclude	exclude	VERB
alkej-264	126	17	points	point	NOUN
alkej-264	126	18	from	from	ADP
alkej-264	126	19	the	the	DET
alkej-264	126	20	working	work	VERB
alkej-264	126	21	volume	volume	NOUN
alkej-264	126	22	that	that	PRON
alkej-264	126	23	may	may	AUX
alkej-264	126	24	lead	lead	VERB
alkej-264	126	25	to	to	ADP
alkej-264	126	26	instability	instability	NOUN
alkej-264	126	27	.	.	PUNCT
alkej-264	127	1	in	in	ADP
alkej-264	127	2	our	our	PRON
alkej-264	127	3	case	case	NOUN
alkej-264	127	4	,	,	PUNCT
alkej-264	127	5	the	the	DET
alkej-264	127	6	working	working	NOUN
alkej-264	127	7	volume	volume	NOUN
alkej-264	127	8	is	be	AUX
alkej-264	127	9	also	also	ADV
alkej-264	127	10	constrained	constrain	VERB
alkej-264	127	11	to	to	PART
alkej-264	127	12	prevent	prevent	VERB
alkej-264	127	13	leg	leg	NOUN
alkej-264	127	14	collisions	collision	NOUN
alkej-264	127	15	.	.	PUNCT
alkej-264	128	1	an	an	DET
alkej-264	128	2	excluded	exclude	VERB
alkej-264	128	3	area	area	NOUN
alkej-264	128	4	for	for	ADP
alkej-264	128	5	hexapod	hexapod	NOUN
alkej-264	128	6	's	's	PART
alkej-264	128	7	legs	leg	NOUN
alkej-264	128	8	,	,	PUNCT
alkej-264	128	9	then	then	ADV
alkej-264	128	10	,	,	PUNCT
alkej-264	128	11	is	be	AUX
alkej-264	128	12	that	that	PRON
alkej-264	128	13	part	part	NOUN
alkej-264	128	14	of	of	ADP
alkej-264	128	15	the	the	DET
alkej-264	128	16	reachable	reachable	ADJ
alkej-264	128	17	area	area	NOUN
alkej-264	128	18	where	where	SCONJ
alkej-264	128	19	,	,	PUNCT
alkej-264	128	20	if	if	SCONJ
alkej-264	128	21	a	a	DET
alkej-264	128	22	foot	foot	NOUN
alkej-264	128	23	were	be	AUX
alkej-264	128	24	placed	place	VERB
alkej-264	128	25	there	there	ADV
alkej-264	128	26	,	,	PUNCT
alkej-264	128	27	instability	instability	NOUN
alkej-264	128	28	or	or	CCONJ
alkej-264	128	29	leg	leg	NOUN
alkej-264	128	30	collision	collision	NOUN
alkej-264	128	31	might	might	AUX
alkej-264	128	32	result	result	VERB
alkej-264	128	33	.	.	PUNCT
alkej-264	129	1	fig	fig	NOUN
alkej-264	129	2	.	.	PUNCT
alkej-264	130	1	4	4	X
alkej-264	130	2	.	.	X
alkej-264	130	3	flowchart	flowchart	NOUN
alkej-264	130	4	workspace	workspace	NOUN
alkej-264	130	5	of	of	ADP
alkej-264	130	6	hexapod	hexapod	NOUN
alkej-264	130	7	’s	’s	PART
alkej-264	130	8	leg	leg	NOUN
alkej-264	130	9	.	.	PUNCT
alkej-264	131	1	figure	figure	NOUN
alkej-264	131	2	4	4	NUM
alkej-264	131	3	shows	show	VERB
alkej-264	131	4	that	that	SCONJ
alkej-264	131	5	the	the	DET
alkej-264	131	6	flowchart	flowchart	NOUN
alkej-264	131	7	of	of	ADP
alkej-264	131	8	workspace	workspace	NOUN
alkej-264	131	9	.	.	PUNCT
alkej-264	132	1	the	the	DET
alkej-264	132	2	workspace	workspace	NOUN
alkej-264	132	3	of	of	ADP
alkej-264	132	4	robot	robot	NOUN
alkej-264	132	5	leg	leg	NOUN
alkej-264	132	6	is	be	AUX
alkej-264	132	7	computed	compute	VERB
alkej-264	132	8	from	from	ADP
alkej-264	132	9	kinematics	kinematic	NOUN
alkej-264	132	10	and	and	CCONJ
alkej-264	132	11	geometry	geometry	NOUN
alkej-264	132	12	as	as	SCONJ
alkej-264	132	13	follow	follow	VERB
alkej-264	132	14	:	:	PUNCT
alkej-264	132	15	3.1	3.1	NUM
alkej-264	132	16	.	.	PUNCT
alkej-264	132	17	unconstrained	unconstrained	ADJ
alkej-264	132	18	workspace	workspace	NOUN
alkej-264	132	19	the	the	DET
alkej-264	132	20	unconstrained	unconstrained	ADJ
alkej-264	132	21	horizontal	horizontal	ADJ
alkej-264	132	22	workspace	workspace	NOUN
alkej-264	132	23	of	of	ADP
alkej-264	132	24	hexapod	hexapod	ADJ
alkej-264	132	25	leg	leg	NOUN
alkej-264	132	26	is	be	AUX
alkej-264	132	27	the	the	DET
alkej-264	132	28	reachable	reachable	ADJ
alkej-264	132	29	areas	area	NOUN
alkej-264	132	30	include	include	VERB
alkej-264	132	31	the	the	DET
alkej-264	132	32	sections	section	NOUN
alkej-264	132	33	in	in	ADP
alkej-264	132	34	the	the	DET
alkej-264	132	35	xy	xy	PROPN
alkej-264	132	36	plane	plane	NOUN
alkej-264	132	37	around	around	ADP
alkej-264	132	38	the	the	DET
alkej-264	132	39	individual	individual	ADJ
alkej-264	132	40	coxas	coxas	NOUN
alkej-264	132	41	and	and	CCONJ
alkej-264	132	42	within	within	ADP
alkej-264	132	43	the	the	DET
alkej-264	132	44	mechanical	mechanical	ADJ
alkej-264	132	45	joint	joint	ADJ
alkej-264	132	46	limits	limit	NOUN
alkej-264	132	47	,	,	PUNCT
alkej-264	132	48	the	the	DET
alkej-264	132	49	y	y	PROPN
alkej-264	132	50	plane	plane	NOUN
alkej-264	132	51	equal	equal	ADJ
alkej-264	132	52	(	(	PUNCT
alkej-264	132	53	30	30	NUM
alkej-264	132	54	cm	cm	NOUN
alkej-264	132	55	)	)	PUNCT
alkej-264	132	56	.	.	PUNCT
alkej-264	133	1	the	the	DET
alkej-264	133	2	unconstrained	unconstrained	ADJ
alkej-264	133	3	vertical	vertical	ADJ
alkej-264	133	4	workspace	workspace	NOUN
alkej-264	133	5	,	,	PUNCT
alkej-264	133	6	or	or	CCONJ
alkej-264	133	7	z	z	NOUN
alkej-264	133	8	-	-	PUNCT
alkej-264	133	9	plane	plane	NOUN
alkej-264	133	10	reachable	reachable	ADJ
alkej-264	133	11	area	area	NOUN
alkej-264	133	12	,	,	PUNCT
alkej-264	133	13	depends	depend	VERB
alkej-264	133	14	on	on	ADP
alkej-264	133	15	the	the	DET
alkej-264	133	16	height	height	NOUN
alkej-264	133	17	of	of	ADP
alkej-264	133	18	the	the	DET
alkej-264	133	19	hexapod	hexapod	NOUN
alkej-264	133	20	’s	’s	PART
alkej-264	133	21	center	center	NOUN
alkej-264	133	22	-	-	PUNCT
alkej-264	133	23	of	of	ADP
alkej-264	133	24	-	-	PUNCT
alkej-264	133	25	body	body	NOUN
alkej-264	133	26	above	above	ADP
alkej-264	133	27	the	the	DET
alkej-264	133	28	terrain	terrain	NOUN
alkej-264	133	29	is	be	AUX
alkej-264	133	30	(	(	PUNCT
alkej-264	133	31	5.5	5.5	NUM
alkej-264	133	32	cm	cm	NOUN
alkej-264	133	33	)	)	PUNCT
alkej-264	133	34	.	.	PUNCT
alkej-264	134	1	to	to	PART
alkej-264	134	2	define	define	VERB
alkej-264	134	3	the	the	DET
alkej-264	134	4	maximum	maximum	ADJ
alkej-264	134	5	unconstrained	unconstrained	ADJ
alkej-264	134	6	vertical	vertical	ADJ
alkej-264	134	7	workspace	workspace	NOUN
alkej-264	134	8	,	,	PUNCT
alkej-264	134	9	if	if	SCONJ
alkej-264	134	10	a	a	DET
alkej-264	134	11	leg	leg	NOUN
alkej-264	134	12	were	be	AUX
alkej-264	134	13	extended	extend	VERB
alkej-264	134	14	to	to	ADP
alkej-264	134	15	its	its	PRON
alkej-264	134	16	fullest	full	ADJ
alkej-264	134	17	,	,	PUNCT
alkej-264	134	18	the	the	DET
alkej-264	134	19	added	add	VERB
alkej-264	134	20	lengths	length	NOUN
alkej-264	134	21	of	of	ADP
alkej-264	134	22	radius	radius	NOUN
alkej-264	134	23	body	body	NOUN
alkej-264	134	24	(	(	PUNCT
alkej-264	134	25	13.75	13.75	NUM
alkej-264	134	26	cm	cm	NOUN
alkej-264	134	27	)	)	PUNCT
alkej-264	134	28	,	,	PUNCT
alkej-264	134	29	coxa	coxa	NOUN
alkej-264	134	30	(	(	PUNCT
alkej-264	134	31	2.9	2.9	NUM
alkej-264	134	32	cm	cm	NOUN
alkej-264	134	33	)	)	PUNCT
alkej-264	134	34	,	,	PUNCT
alkej-264	134	35	femur	femur	NOUN
alkej-264	134	36	(	(	PUNCT
alkej-264	134	37	5.7	5.7	NUM
alkej-264	134	38	cm	cm	NOUN
alkej-264	134	39	)	)	PUNCT
alkej-264	134	40	,	,	PUNCT
alkej-264	134	41	and	and	CCONJ
alkej-264	134	42	tibia	tibia	NOUN
alkej-264	134	43	(	(	PUNCT
alkej-264	134	44	10.8	10.8	NUM
alkej-264	134	45	cm	cm	NOUN
alkej-264	134	46	)	)	PUNCT
alkej-264	134	47	yplane	yplane	PROPN
alkej-264	134	48	would	would	AUX
alkej-264	134	49	equal	equal	VERB
alkej-264	134	50	(	(	PUNCT
alkej-264	134	51	30	30	NUM
alkej-264	134	52	cm	cm	NOUN
alkej-264	134	53	)	)	PUNCT
alkej-264	134	54	.	.	PUNCT
alkej-264	135	1	the	the	DET
alkej-264	135	2	minimum	minimum	ADJ
alkej-264	135	3	unconstrained	unconstraine	VERB
alkej-264	135	4	vertical	vertical	ADJ
alkej-264	135	5	workspace	workspace	NOUN
alkej-264	135	6	,	,	PUNCT
alkej-264	135	7	if	if	SCONJ
alkej-264	135	8	a	a	DET
alkej-264	135	9	leg	leg	NOUN
alkej-264	135	10	were	be	AUX
alkej-264	135	11	lack	lack	NOUN
alkej-264	135	12	extent	extent	NOUN
alkej-264	135	13	to	to	ADP
alkej-264	135	14	its	its	PRON
alkej-264	135	15	fullest	full	ADJ
alkej-264	135	16	,	,	PUNCT
alkej-264	135	17	(	(	PUNCT
alkej-264	135	18	i.e	i.e	X
alkej-264	135	19	θ	θ	PROPN
alkej-264	135	20	*	*	PUNCT
alkej-264	135	21	=	=	NUM
alkej-264	135	22	1350	1350	NUM
alkej-264	135	23	)	)	PUNCT
alkej-264	135	24	,	,	PUNCT
alkej-264	135	25	the	the	DET
alkej-264	135	26	yplane	yplane	NOUN
alkej-264	135	27	would	would	AUX
alkej-264	135	28	equal	equal	VERB
alkej-264	135	29	(	(	PUNCT
alkej-264	135	30	14.7	14.7	NUM
alkej-264	135	31	cm	cm	NOUN
alkej-264	135	32	)	)	PUNCT
alkej-264	135	33	while	while	SCONJ
alkej-264	135	34	the	the	DET
alkej-264	135	35	z	z	NOUN
alkej-264	135	36	-	-	PUNCT
alkej-264	135	37	plane	plane	NOUN
alkej-264	135	38	equals	equal	VERB
alkej-264	135	39	to	to	ADP
alkej-264	135	40	(	(	PUNCT
alkej-264	135	41	9	9	NUM
alkej-264	135	42	cm	cm	NOUN
alkej-264	135	43	)	)	PUNCT
alkej-264	135	44	.	.	PUNCT
alkej-264	136	1	3.2	3.2	NUM
alkej-264	136	2	.	.	PUNCT
alkej-264	136	3	constrained	constrain	VERB
alkej-264	136	4	workspace	workspace	NOUN
alkej-264	136	5	the	the	DET
alkej-264	136	6	calculations	calculation	NOUN
alkej-264	136	7	of	of	ADP
alkej-264	136	8	cwv	cwv	NOUN
alkej-264	136	9	results	result	NOUN
alkej-264	136	10	are	be	AUX
alkej-264	136	11	used	use	VERB
alkej-264	136	12	for	for	ADP
alkej-264	136	13	six	six	NUM
alkej-264	136	14	basic	basic	ADJ
alkej-264	136	15	constraints	constraint	NOUN
alkej-264	136	16	:	:	PUNCT
alkej-264	136	17	•	•	NUM
alkej-264	136	18	the	the	DET
alkej-264	136	19	height	height	NOUN
alkej-264	136	20	(	(	PUNCT
alkej-264	136	21	z	z	NOUN
alkej-264	136	22	=	=	SYM
alkej-264	136	23	plane	plane	NOUN
alkej-264	136	24	)	)	PUNCT
alkej-264	136	25	from	from	ADP
alkej-264	136	26	the	the	DET
alkej-264	136	27	ground	ground	NOUN
alkej-264	136	28	to	to	ADP
alkej-264	136	29	the	the	DET
alkej-264	136	30	cb	cb	PROPN
alkej-264	136	31	(	(	PUNCT
alkej-264	136	32	center	center	NOUN
alkej-264	136	33	body	body	NOUN
alkej-264	136	34	of	of	ADP
alkej-264	136	35	robot	robot	NOUN
alkej-264	136	36	)	)	PUNCT
alkej-264	137	1	=	=	PUNCT
alkej-264	137	2	(	(	PUNCT
alkej-264	137	3	10.8	10.8	NUM
alkej-264	137	4	cm	cm	NOUN
alkej-264	137	5	)	)	PUNCT
alkej-264	137	6	is	be	AUX
alkej-264	137	7	fixed	fix	VERB
alkej-264	137	8	for	for	ADP
alkej-264	137	9	minimum	minimum	ADJ
alkej-264	137	10	,	,	PUNCT
alkej-264	137	11	maximum	maximum	ADJ
alkej-264	137	12	reach	reach	NOUN
alkej-264	137	13	,	,	PUNCT
alkej-264	137	14	the	the	DET
alkej-264	137	15	vertical	vertical	ADJ
alkej-264	137	16	maximum	maximum	PROPN
alkej-264	137	17	firas	firas	PROPN
alkej-264	137	18	a.	a.	PROPN
alkej-264	137	19	raheem	raheem	PROPN
alkej-264	137	20	al	al	PROPN
alkej-264	137	21	-	-	PUNCT
alkej-264	137	22	khwarizmi	khwarizmi	PROPN
alkej-264	137	23	engineering	engineering	NOUN
alkej-264	137	24	journal	journal	PROPN
alkej-264	137	25	,	,	PUNCT
alkej-264	137	26	vol	vol	NOUN
alkej-264	137	27	.	.	PROPN
alkej-264	137	28	11	11	NUM
alkej-264	137	29	,	,	PUNCT
alkej-264	137	30	no	no	INTJ
alkej-264	137	31	.	.	NOUN
alkej-264	137	32	4	4	NUM
alkej-264	137	33	,	,	PUNCT
alkej-264	137	34	p.p	p.p	PROPN
alkej-264	137	35	.	.	NOUN
alkej-264	137	36	4459	4459	NUM
alkej-264	137	37	(	(	PUNCT
alkej-264	137	38	2015	2015	NUM
alkej-264	137	39	)	)	PUNCT
alkej-264	137	40	48	48	NUM
alkej-264	137	41	reach	reach	VERB
alkej-264	137	42	equal	equal	ADJ
alkej-264	137	43	(	(	PUNCT
alkej-264	137	44	24.25	24.25	NUM
alkej-264	137	45	cm	cm	NOUN
alkej-264	137	46	)	)	PUNCT
alkej-264	137	47	if	if	SCONJ
alkej-264	137	48	θ	θ	X
alkej-264	137	49	*	*	PUNCT
alkej-264	137	50	=	=	SYM
alkej-264	137	51	800	800	NUM
alkej-264	137	52	and	and	CCONJ
alkej-264	137	53	minimum	minimum	NOUN
alkej-264	137	54	reach	reach	NOUN
alkej-264	137	55	equal	equal	ADJ
alkej-264	137	56	(	(	PUNCT
alkej-264	137	57	21	21	NUM
alkej-264	137	58	cm	cm	NOUN
alkej-264	137	59	)	)	PUNCT
alkej-264	137	60	if	if	SCONJ
alkej-264	137	61	θ	θ	X
alkej-264	137	62	*	*	PUNCT
alkej-264	137	63	=	=	PRON
alkej-264	137	64	97o	97o	NOUN
alkej-264	137	65	,	,	PUNCT
alkej-264	137	66	•	•	ADP
alkej-264	137	67	the	the	DET
alkej-264	137	68	suitable	suitable	ADJ
alkej-264	137	69	posture	posture	NOUN
alkej-264	137	70	of	of	ADP
alkej-264	137	71	robot	robot	NOUN
alkej-264	137	72	=	=	SYM
alkej-264	137	73	(	(	PUNCT
alkej-264	137	74	22.35	22.35	NUM
alkej-264	137	75	cm	cm	NOUN
alkej-264	137	76	)	)	PUNCT
alkej-264	137	77	if	if	SCONJ
alkej-264	137	78	θ	θ	PROPN
alkej-264	137	79	*	*	PUNCT
alkej-264	137	80	=	=	NOUN
alkej-264	137	81	90o	90o	NOUN
alkej-264	137	82	,	,	PUNCT
alkej-264	137	83	•	•	ADP
alkej-264	137	84	the	the	DET
alkej-264	137	85	terrain	terrain	NOUN
alkej-264	137	86	is	be	AUX
alkej-264	137	87	flat	flat	ADJ
alkej-264	137	88	,	,	PUNCT
alkej-264	137	89	•	•	ADP
alkej-264	137	90	the	the	DET
alkej-264	137	91	legs	leg	NOUN
alkej-264	137	92	are	be	AUX
alkej-264	137	93	not	not	PART
alkej-264	137	94	allowed	allow	VERB
alkej-264	137	95	to	to	PART
alkej-264	137	96	collide	collide	VERB
alkej-264	137	97	or	or	CCONJ
alkej-264	137	98	overlap	overlap	NOUN
alkej-264	137	99	,	,	PUNCT
alkej-264	137	100	and	and	CCONJ
alkej-264	137	101	•	•	NUM
alkej-264	137	102	the	the	DET
alkej-264	137	103	horizontal	horizontal	ADJ
alkej-264	137	104	workspace	workspace	NOUN
alkej-264	137	105	of	of	ADP
alkej-264	137	106	hexapod	hexapod	ADJ
alkej-264	137	107	leg	leg	NOUN
alkej-264	137	108	is	be	AUX
alkej-264	137	109	the	the	DET
alkej-264	137	110	reachable	reachable	ADJ
alkej-264	137	111	areas	area	NOUN
alkej-264	137	112	include	include	VERB
alkej-264	137	113	the	the	DET
alkej-264	137	114	sections	section	NOUN
alkej-264	137	115	in	in	ADP
alkej-264	137	116	the	the	DET
alkej-264	137	117	xy	xy	PROPN
alkej-264	137	118	plane	plane	NOUN
alkej-264	137	119	around	around	ADP
alkej-264	137	120	the	the	DET
alkej-264	137	121	individual	individual	ADJ
alkej-264	137	122	coxas	coxas	NOUN
alkej-264	137	123	,	,	PUNCT
alkej-264	137	124	y	y	NOUN
alkej-264	137	125	-	-	PUNCT
alkej-264	137	126	plane	plane	NOUN
alkej-264	137	127	=	=	NOUN
alkej-264	137	128	24.25	24.25	NUM
alkej-264	137	129	cm	cm	NOUN
alkej-264	137	130	and	and	CCONJ
alkej-264	137	131	within	within	ADP
alkej-264	137	132	the	the	DET
alkej-264	137	133	mechanical	mechanical	ADJ
alkej-264	137	134	joint	joint	ADJ
alkej-264	137	135	limits	limit	NOUN
alkej-264	137	136	but	but	CCONJ
alkej-264	137	137	in	in	ADP
alkej-264	137	138	this	this	DET
alkej-264	137	139	case	case	NOUN
alkej-264	137	140	limit	limit	NOUN
alkej-264	137	141	joint	joint	ADJ
alkej-264	137	142	(	(	PUNCT
alkej-264	137	143	half	half	ADJ
alkej-264	137	144	range	range	NOUN
alkej-264	137	145	of	of	ADP
alkej-264	137	146	coxa	coxa	NOUN
alkej-264	137	147	angle	angle	NOUN
alkej-264	137	148	is	be	AUX
alkej-264	137	149	taken	take	VERB
alkej-264	137	150	in	in	ADP
alkej-264	137	151	order	order	NOUN
alkej-264	137	152	not	not	PART
alkej-264	137	153	to	to	ADP
alkej-264	137	154	the	the	DET
alkej-264	137	155	legs	leg	NOUN
alkej-264	137	156	collide	collide	NOUN
alkej-264	137	157	)	)	PUNCT
alkej-264	137	158	so	so	SCONJ
alkej-264	137	159	the	the	DET
alkej-264	137	160	range	range	NOUN
alkej-264	137	161	is	be	AUX
alkej-264	137	162	"	"	PUNCT
alkej-264	137	163	−45	−45	ADP
alkej-264	137	164	<	<	X
alkej-264	137	165	θ	θ	X
alkej-264	137	166	�	�	X
alkej-264	137	167	<	<	X
alkej-264	137	168	45	45	NUM
alkej-264	137	169	$	$	SYM
alkej-264	137	170	degree	degree	NOUN
alkej-264	137	171	.	.	PUNCT
alkej-264	138	1	another	another	DET
alkej-264	138	2	approach	approach	NOUN
alkej-264	138	3	for	for	ADP
alkej-264	138	4	constrained	constrained	ADJ
alkej-264	138	5	workspace	workspace	NOUN
alkej-264	138	6	is	be	AUX
alkej-264	138	7	derived	derive	VERB
alkej-264	138	8	,	,	PUNCT
alkej-264	138	9	the	the	DET
alkej-264	138	10	more	more	ADJ
alkej-264	138	11	details	detail	NOUN
alkej-264	138	12	in	in	ADP
alkej-264	138	13	[	[	X
alkej-264	138	14	12	12	NUM
alkej-264	138	15	]	]	PUNCT
alkej-264	138	16	,	,	PUNCT
alkej-264	138	17	[	[	X
alkej-264	138	18	13	13	NUM
alkej-264	138	19	]	]	PUNCT
alkej-264	138	20	.	.	PUNCT
alkej-264	139	1	for	for	ADP
alkej-264	139	2	the	the	DET
alkej-264	139	3	hexagonal	hexagonal	ADJ
alkej-264	139	4	model	model	NOUN
alkej-264	139	5	the	the	DET
alkej-264	139	6	mathematically	mathematically	ADV
alkej-264	139	7	eq	eq	NOUN
alkej-264	139	8	.	.	PROPN
alkej-264	139	9	13	13	NUM
alkej-264	139	10	for	for	ADP
alkej-264	139	11	the	the	DET
alkej-264	139	12	radius	radius	NOUN
alkej-264	139	13	of	of	ADP
alkej-264	139	14	the	the	DET
alkej-264	139	15	annulus	annulus	NOUN
alkej-264	139	16	is	be	AUX
alkej-264	139	17	:	:	PUNCT
alkej-264	139	18	r	r	X
alkej-264	139	19	�	�	PROPN
alkej-264	139	20	�	�	NOUN
alkej-264	139	21	�	�	PROPN
alkej-264	139	22	)	)	PUNCT
alkej-264	139	23	=	=	PUNCT
alkej-264	140	1	"	"	PUNCT
alkej-264	140	2	r	r	NOUN
alkej-264	140	3	�	�	NOUN
alkej-264	140	4	�	�	PROPN
alkej-264	140	5	d	d	NOUN
alkej-264	140	6	+	+	PROPN
alkej-264	140	7	q$	q$	NOUN
alkej-264	140	8	)	)	PUNCT
alkej-264	141	1	+	+	CCONJ
alkej-264	141	2	f	f	X
alkej-264	141	3	�	�	PROPN
alkej-264	141	4	)	)	PUNCT
alkej-264	141	5	∗	∗	NOUN
alkej-264	141	6	ph	ph	VERB
alkej-264	141	7	)	)	PUNCT
alkej-264	141	8	…	…	PUNCT
alkej-264	141	9	(	(	PUNCT
alkej-264	141	10	13	13	NUM
alkej-264	141	11	)	)	PUNCT
alkej-264	141	12	where	where	SCONJ
alkej-264	141	13	:	:	PUNCT
alkej-264	141	14	r	r	X
alkej-264	141	15	�	�	PROPN
alkej-264	141	16	�	�	PROPN
alkej-264	141	17	�	�	PROPN
alkej-264	141	18	,	,	PUNCT
alkej-264	141	19	r	r	PROPN
alkej-264	141	20	�	�	PROPN
alkej-264	141	21	�	�	PROPN
alkej-264	141	22	d	d	PROPN
alkej-264	141	23	,	,	PUNCT
alkej-264	141	24	q	q	X
alkej-264	141	25	,	,	PUNCT
alkej-264	141	26	p	p	PRON
alkej-264	141	27	defined	define	VERB
alkej-264	141	28	by	by	ADP
alkej-264	141	29	figure	figure	NOUN
alkej-264	141	30	5	5	NUM
alkej-264	141	31	.	.	PUNCT
alkej-264	141	32	fig	fig	NOUN
alkej-264	141	33	.	.	PUNCT
alkej-264	142	1	5	5	X
alkej-264	142	2	.	.	X
alkej-264	142	3	the	the	DET
alkej-264	142	4	relationship	relationship	NOUN
alkej-264	142	5	between	between	ADP
alkej-264	142	6	the	the	DET
alkej-264	142	7	reachable	reachable	ADJ
alkej-264	142	8	area	area	NOUN
alkej-264	142	9	and	and	CCONJ
alkej-264	142	10	annuls	annul	VERB
alkej-264	142	11	.	.	PUNCT
alkej-264	143	1	and	and	CCONJ
alkej-264	143	2	the	the	DET
alkej-264	143	3	rectangular	rectangular	ADJ
alkej-264	143	4	area	area	NOUN
alkej-264	143	5	is	be	AUX
alkej-264	143	6	the	the	DET
alkej-264	143	7	reachable	reachable	ADJ
alkej-264	143	8	area	area	NOUN
alkej-264	143	9	of	of	ADP
alkej-264	143	10	each	each	DET
alkej-264	143	11	leg	leg	NOUN
alkej-264	143	12	of	of	ADP
alkej-264	143	13	robot	robot	NOUN
alkej-264	143	14	,	,	PUNCT
alkej-264	143	15	for	for	ADP
alkej-264	143	16	our	our	PRON
alkej-264	143	17	hexapod	hexapod	NOUN
alkej-264	143	18	robot	robot	NOUN
alkej-264	143	19	rmax	rmax	NOUN
alkej-264	143	20	=	=	SYM
alkej-264	144	1	(	(	PUNCT
alkej-264	144	2	10.5	10.5	NUM
alkej-264	144	3	cm	cm	NOUN
alkej-264	144	4	)	)	PUNCT
alkej-264	144	5	from	from	ADP
alkej-264	144	6	coxa	coxa	ADJ
alkej-264	144	7	joint	joint	NOUN
alkej-264	144	8	.	.	PUNCT
alkej-264	145	1	added	add	VERB
alkej-264	145	2	the	the	DET
alkej-264	145	3	length	length	NOUN
alkej-264	145	4	of	of	ADP
alkej-264	145	5	center	center	NOUN
alkej-264	145	6	robot	robot	NOUN
alkej-264	145	7	(	(	PUNCT
alkej-264	145	8	13.75	13.75	NUM
alkej-264	145	9	cm	cm	NOUN
alkej-264	145	10	)	)	PUNCT
alkej-264	145	11	,	,	PUNCT
alkej-264	145	12	rmax	rmax	NOUN
alkej-264	145	13	=	=	SYM
alkej-264	145	14	(	(	PUNCT
alkej-264	145	15	24.25	24.25	NUM
alkej-264	145	16	cm	cm	NOUN
alkej-264	145	17	)	)	PUNCT
alkej-264	145	18	.	.	PUNCT
alkej-264	146	1	the	the	DET
alkej-264	146	2	center	center	NOUN
alkej-264	146	3	of	of	ADP
alkej-264	146	4	leg	leg	NOUN
alkej-264	146	5	tip	tip	NOUN
alkej-264	146	6	point	point	NOUN
alkej-264	146	7	is	be	AUX
alkej-264	146	8	(	(	PUNCT
alkej-264	146	9	22.35	22.35	NUM
alkej-264	146	10	cm	cm	NOUN
alkej-264	146	11	)	)	PUNCT
alkej-264	146	12	that	that	SCONJ
alkej-264	146	13	it	it	PRON
alkej-264	146	14	is	be	AUX
alkej-264	146	15	equal	equal	ADJ
alkej-264	146	16	to	to	ADP
alkej-264	146	17	the	the	DET
alkej-264	146	18	posture	posture	NOUN
alkej-264	146	19	robot	robot	NOUN
alkej-264	146	20	in	in	ADP
alkej-264	146	21	method1	method1	NOUN
alkej-264	146	22	above	above	ADP
alkej-264	146	23	comparing	compare	VERB
alkej-264	146	24	between	between	ADP
alkej-264	146	25	two	two	NUM
alkej-264	146	26	constraints	constraint	NOUN
alkej-264	146	27	workspaces	workspace	NOUN
alkej-264	146	28	methods	method	NOUN
alkej-264	146	29	are	be	AUX
alkej-264	146	30	found	find	VERB
alkej-264	146	31	that	that	SCONJ
alkej-264	146	32	the	the	DET
alkej-264	146	33	maximum	maximum	ADJ
alkej-264	146	34	reaches	reach	NOUN
alkej-264	146	35	of	of	ADP
alkej-264	146	36	the	the	DET
alkej-264	146	37	leg	leg	NOUN
alkej-264	146	38	are	be	AUX
alkej-264	146	39	equal	equal	ADJ
alkej-264	146	40	for	for	ADP
alkej-264	146	41	our	our	PRON
alkej-264	146	42	hexapod	hexapod	NOUN
alkej-264	146	43	robot	robot	NOUN
alkej-264	146	44	.	.	PUNCT
alkej-264	147	1	4	4	X
alkej-264	147	2	.	.	X
alkej-264	147	3	modified	modify	VERB
alkej-264	147	4	classical	classical	ADJ
alkej-264	147	5	stability	stability	NOUN
alkej-264	147	6	margins	margin	VERB
alkej-264	147	7	analysis	analysis	NOUN
alkej-264	147	8	approach	approach	NOUN
alkej-264	147	9	of	of	ADP
alkej-264	147	10	hexapod	hexapod	NOUN
alkej-264	147	11	robot	robot	NOUN
alkej-264	147	12	the	the	DET
alkej-264	147	13	first	first	ADJ
alkej-264	147	14	gait	gait	NOUN
alkej-264	147	15	of	of	ADP
alkej-264	147	16	the	the	DET
alkej-264	147	17	hexapod	hexapod	NOUN
alkej-264	147	18	robot	robot	NOUN
alkej-264	147	19	is	be	AUX
alkej-264	147	20	the	the	DET
alkej-264	147	21	tripod	tripod	NOUN
alkej-264	147	22	gait	gait	NOUN
alkej-264	147	23	.	.	PUNCT
alkej-264	148	1	in	in	ADP
alkej-264	148	2	this	this	DET
alkej-264	148	3	gait	gait	NOUN
alkej-264	148	4	the	the	DET
alkej-264	148	5	three	three	NUM
alkej-264	148	6	legs	leg	NOUN
alkej-264	148	7	stay	stay	VERB
alkej-264	148	8	on	on	ADP
alkej-264	148	9	the	the	DET
alkej-264	148	10	ground	ground	NOUN
alkej-264	148	11	(	(	PUNCT
alkej-264	148	12	support	support	NOUN
alkej-264	148	13	pattern	pattern	NOUN
alkej-264	148	14	)	)	PUNCT
alkej-264	148	15	while	while	SCONJ
alkej-264	148	16	the	the	DET
alkej-264	148	17	other	other	ADJ
alkej-264	148	18	legs	leg	NOUN
alkej-264	148	19	are	be	AUX
alkej-264	148	20	on	on	ADP
alkej-264	148	21	the	the	DET
alkej-264	148	22	air	air	NOUN
alkej-264	148	23	.	.	PUNCT
alkej-264	149	1	the	the	DET
alkej-264	149	2	analysis	analysis	NOUN
alkej-264	149	3	of	of	ADP
alkej-264	149	4	static	static	ADJ
alkej-264	149	5	stability	stability	NOUN
alkej-264	149	6	depended	depend	VERB
alkej-264	149	7	on	on	ADP
alkej-264	149	8	the	the	DET
alkej-264	149	9	eq	eq	NOUN
alkej-264	149	10	.	.	PROPN
alkej-264	149	11	14	14	NUM
alkej-264	149	12	(	(	PUNCT
alkej-264	149	13	the	the	DET
alkej-264	149	14	triple	triple	ADJ
alkej-264	149	15	equation	equation	NOUN
alkej-264	149	16	in	in	ADP
alkej-264	149	17	the	the	DET
alkej-264	149	18	figure	figure	NOUN
alkej-264	149	19	6	6	NUM
alkej-264	149	20	)	)	PUNCT
alkej-264	150	1	[	[	X
alkej-264	150	2	14	14	NUM
alkej-264	150	3	]	]	PUNCT
alkej-264	150	4	that	that	PRON
alkej-264	150	5	only	only	ADV
alkej-264	150	6	computes	compute	VERB
alkej-264	150	7	the	the	DET
alkej-264	150	8	s1	s1	NOUN
alkej-264	150	9	where	where	SCONJ
alkej-264	150	10	s2	s2	NOUN
alkej-264	150	11	and	and	CCONJ
alkej-264	150	12	s3	s3	PROPN
alkej-264	150	13	are	be	AUX
alkej-264	150	14	evaluated	evaluate	VERB
alkej-264	150	15	from	from	ADP
alkej-264	150	16	the	the	DET
alkej-264	150	17	same	same	ADJ
alkej-264	150	18	pervious	pervious	ADJ
alkej-264	150	19	equation	equation	NOUN
alkej-264	150	20	but	but	CCONJ
alkej-264	150	21	with	with	ADP
alkej-264	150	22	changing	change	VERB
alkej-264	150	23	the	the	DET
alkej-264	150	24	coordinates	coordinate	NOUN
alkej-264	150	25	of	of	ADP
alkej-264	150	26	legs	leg	NOUN
alkej-264	150	27	for	for	ADP
alkej-264	150	28	each	each	DET
alkej-264	150	29	s1	s1	NOUN
alkej-264	150	30	,	,	PUNCT
alkej-264	150	31	s2	s2	NOUN
alkej-264	150	32	as	as	ADP
alkej-264	150	33	in	in	ADP
alkej-264	150	34	the	the	DET
alkej-264	150	35	figure	figure	NOUN
alkej-264	150	36	6	6	NUM
alkej-264	150	37	of	of	ADP
alkej-264	150	38	three	three	NUM
alkej-264	150	39	triangles	triangle	NOUN
alkej-264	150	40	and	and	CCONJ
alkej-264	150	41	there	there	PRON
alkej-264	150	42	are	be	VERB
alkej-264	150	43	two	two	NUM
alkej-264	150	44	conditions	condition	NOUN
alkej-264	150	45	to	to	PART
alkej-264	150	46	set	set	VERB
alkej-264	150	47	the	the	DET
alkej-264	150	48	robot	robot	NOUN
alkej-264	150	49	stable	stable	ADJ
alkej-264	150	50	first	first	ADV
alkej-264	150	51	if	if	SCONJ
alkej-264	150	52	s1	s1	NOUN
alkej-264	150	53	,	,	PUNCT
alkej-264	150	54	s2	s2	NOUN
alkej-264	150	55	and	and	CCONJ
alkej-264	150	56	s3	s3	PROPN
alkej-264	150	57	are	be	AUX
alkej-264	150	58	>	>	PUNCT
alkej-264	150	59	=	=	PROPN
alkej-264	150	60	zero	zero	NUM
alkej-264	150	61	,	,	PUNCT
alkej-264	150	62	the	the	DET
alkej-264	150	63	tripod	tripod	NOUN
alkej-264	150	64	is	be	AUX
alkej-264	150	65	considered	consider	VERB
alkej-264	150	66	stable	stable	ADJ
alkej-264	150	67	other	other	ADJ
alkej-264	150	68	,	,	PUNCT
alkej-264	150	69	the	the	DET
alkej-264	150	70	tripod	tripod	NOUN
alkej-264	150	71	is	be	AUX
alkej-264	150	72	considered	consider	VERB
alkej-264	150	73	unstable	unstable	ADJ
alkej-264	150	74	more	more	ADJ
alkej-264	150	75	details	detail	NOUN
alkej-264	150	76	in	in	ADP
alkej-264	150	77	[	[	X
alkej-264	150	78	14	14	NUM
alkej-264	150	79	]	]	PUNCT
alkej-264	150	80	.	.	PUNCT
alkej-264	151	1	from	from	ADP
alkej-264	151	2	the	the	DET
alkej-264	151	3	definition	definition	NOUN
alkej-264	151	4	of	of	ADP
alkej-264	151	5	“	"	PUNCT
alkej-264	151	6	stability	stability	NOUN
alkej-264	151	7	margin	margin	NOUN
alkej-264	151	8	,	,	PUNCT
alkej-264	151	9	”	"	PUNCT
alkej-264	151	10	(	(	PUNCT
alkej-264	151	11	sm	sm	INTJ
alkej-264	151	12	)	)	PUNCT
alkej-264	151	13	,	,	PUNCT
alkej-264	151	14	is	be	AUX
alkej-264	151	15	the	the	DET
alkej-264	151	16	shortest	short	ADJ
alkej-264	151	17	distance	distance	NOUN
alkej-264	151	18	from	from	ADP
alkej-264	151	19	the	the	DET
alkej-264	151	20	vertical	vertical	ADJ
alkej-264	151	21	projection	projection	NOUN
alkej-264	151	22	of	of	ADP
alkej-264	151	23	the	the	DET
alkej-264	151	24	center	center	NOUN
alkej-264	151	25	of	of	ADP
alkej-264	151	26	robot	robot	NOUN
alkej-264	151	27	to	to	ADP
alkej-264	151	28	the	the	DET
alkej-264	151	29	boundaries	boundary	NOUN
alkej-264	151	30	of	of	ADP
alkej-264	151	31	the	the	DET
alkej-264	151	32	support	support	NOUN
alkej-264	151	33	pattern	pattern	NOUN
alkej-264	151	34	in	in	ADP
alkej-264	151	35	the	the	DET
alkej-264	151	36	horizontal	horizontal	ADJ
alkej-264	151	37	plane	plane	NOUN
alkej-264	151	38	[	[	X
alkej-264	151	39	15	15	NUM
alkej-264	151	40	]	]	PUNCT
alkej-264	151	41	the	the	DET
alkej-264	151	42	proposed	propose	VERB
alkej-264	151	43	method	method	NOUN
alkej-264	151	44	is	be	AUX
alkej-264	151	45	explained	explain	VERB
alkej-264	151	46	below	below	ADV
alkej-264	151	47	:	:	PUNCT
alkej-264	151	48	in	in	ADP
alkej-264	151	49	figure	figure	NOUN
alkej-264	151	50	6	6	NUM
alkej-264	151	51	l1	l1	PROPN
alkej-264	151	52	is	be	AUX
alkej-264	151	53	derived	derive	VERB
alkej-264	151	54	in	in	ADP
alkej-264	151	55	the	the	DET
alkej-264	151	56	eq	eq	NOUN
alkej-264	151	57	.	.	PROPN
alkej-264	151	58	16	16	NUM
alkej-264	151	59	(	(	PUNCT
alkej-264	151	60	the	the	DET
alkej-264	151	61	distance	distance	NOUN
alkej-264	151	62	line	line	NOUN
alkej-264	151	63	between	between	ADP
alkej-264	151	64	two	two	NUM
alkej-264	151	65	points	point	NOUN
alkej-264	151	66	)	)	PUNCT
alkej-264	151	67	and	and	CCONJ
alkej-264	151	68	the	the	DET
alkej-264	151	69	same	same	ADJ
alkej-264	151	70	thing	thing	NOUN
alkej-264	151	71	of	of	ADP
alkej-264	151	72	l2	l2	NOUN
alkej-264	151	73	is	be	AUX
alkej-264	151	74	computed	compute	VERB
alkej-264	151	75	,	,	PUNCT
alkej-264	151	76	l3	l3	PROPN
alkej-264	151	77	for	for	ADP
alkej-264	151	78	other	other	ADJ
alkej-264	151	79	legs	leg	NOUN
alkej-264	151	80	,	,	PUNCT
alkej-264	151	81	each	each	DET
alkej-264	151	82	l	l	NOUN
alkej-264	151	83	is	be	AUX
alkej-264	151	84	considered	consider	VERB
alkej-264	151	85	as	as	ADP
alkej-264	151	86	a	a	DET
alkej-264	151	87	base	base	NOUN
alkej-264	151	88	of	of	ADP
alkej-264	151	89	the	the	DET
alkej-264	151	90	one	one	NUM
alkej-264	151	91	triangle	triangle	NOUN
alkej-264	151	92	while	while	SCONJ
alkej-264	151	93	the	the	DET
alkej-264	151	94	areas	area	NOUN
alkej-264	151	95	of	of	ADP
alkej-264	151	96	the	the	DET
alkej-264	151	97	s1	s1	NOUN
alkej-264	151	98	,	,	PUNCT
alkej-264	151	99	s2	s2	NOUN
alkej-264	151	100	and	and	CCONJ
alkej-264	151	101	s3	s3	PROPN
alkej-264	151	102	are	be	AUX
alkej-264	151	103	previously	previously	ADV
alkej-264	151	104	computed	compute	VERB
alkej-264	151	105	so	so	SCONJ
alkej-264	151	106	that	that	SCONJ
alkej-264	151	107	the	the	DET
alkej-264	151	108	stability	stability	NOUN
alkej-264	151	109	margin	margin	NOUN
alkej-264	151	110	is	be	AUX
alkej-264	151	111	the	the	DET
alkej-264	151	112	shortest	short	ADJ
alkej-264	151	113	perpendicular	perpendicular	ADJ
alkej-264	151	114	distances	distance	NOUN
alkej-264	151	115	from	from	ADP
alkej-264	151	116	l1	l1	PROPN
alkej-264	151	117	,	,	PUNCT
alkej-264	151	118	l2	l2	NOUN
alkej-264	151	119	and	and	CCONJ
alkej-264	151	120	l3	l3	NOUN
alkej-264	151	121	to	to	ADP
alkej-264	151	122	the	the	DET
alkej-264	151	123	center	center	NOUN
alkej-264	151	124	of	of	ADP
alkej-264	151	125	robot	robot	NOUN
alkej-264	151	126	(	(	PUNCT
alkej-264	151	127	h1	h1	PROPN
alkej-264	151	128	,	,	PUNCT
alkej-264	151	129	h2	h2	PROPN
alkej-264	151	130	,	,	PUNCT
alkej-264	151	131	h3	h3	NOUN
alkej-264	151	132	respectively	respectively	ADV
alkej-264	151	133	)	)	PUNCT
alkej-264	151	134	.	.	PUNCT
alkej-264	152	1	h1	h1	PROPN
alkej-264	152	2	is	be	AUX
alkej-264	152	3	computed	compute	VERB
alkej-264	152	4	as	as	ADP
alkej-264	152	5	eq	eq	NOUN
alkej-264	152	6	.	.	PROPN
alkej-264	152	7	17	17	NUM
alkej-264	152	8	as	as	ADV
alkej-264	152	9	well	well	ADV
alkej-264	152	10	as	as	ADP
alkej-264	152	11	the	the	DET
alkej-264	152	12	h2	h2	NOUN
alkej-264	152	13	,	,	PUNCT
alkej-264	152	14	h3	h3	NOUN
alkej-264	152	15	are	be	AUX
alkej-264	152	16	computed	compute	VERB
alkej-264	152	17	in	in	ADP
alkej-264	152	18	the	the	DET
alkej-264	152	19	same	same	ADJ
alkej-264	152	20	manner	manner	NOUN
alkej-264	152	21	.	.	PUNCT
alkej-264	153	1	the	the	DET
alkej-264	153	2	stability	stability	NOUN
alkej-264	153	3	margins	margin	NOUN
alkej-264	153	4	are	be	AUX
alkej-264	153	5	computed	compute	VERB
alkej-264	153	6	and	and	CCONJ
alkej-264	153	7	analyzed	analyze	VERB
alkej-264	153	8	for	for	ADP
alkej-264	153	9	all	all	DET
alkej-264	153	10	cases	case	NOUN
alkej-264	153	11	of	of	ADP
alkej-264	153	12	the	the	DET
alkej-264	153	13	hexapod	hexapod	ADJ
alkej-264	153	14	legs	leg	NOUN
alkej-264	153	15	motion	motion	NOUN
alkej-264	153	16	for	for	ADP
alkej-264	153	17	three	three	NUM
alkej-264	153	18	gaits	gait	NOUN
alkej-264	153	19	(	(	PUNCT
alkej-264	153	20	tripod	tripod	NOUN
alkej-264	153	21	,	,	PUNCT
alkej-264	153	22	ripple	ripple	NOUN
alkej-264	153	23	and	and	CCONJ
alkej-264	153	24	wave	wave	NOUN
alkej-264	153	25	)	)	PUNCT
alkej-264	153	26	for	for	ADP
alkej-264	153	27	example	example	NOUN
alkej-264	153	28	the	the	DET
alkej-264	153	29	support	support	NOUN
alkej-264	153	30	pattern	pattern	NOUN
alkej-264	153	31	of	of	ADP
alkej-264	153	32	tripod	tripod	NOUN
alkej-264	153	33	when	when	SCONJ
alkej-264	153	34	robot	robot	NOUN
alkej-264	153	35	lifts	lift	VERB
alkej-264	153	36	legs	leg	NOUN
alkej-264	153	37	(	(	PUNCT
alkej-264	153	38	1	1	NUM
alkej-264	153	39	,	,	PUNCT
alkej-264	153	40	3	3	NUM
alkej-264	153	41	and	and	CCONJ
alkej-264	153	42	5	5	NUM
alkej-264	153	43	)	)	PUNCT
alkej-264	153	44	:	:	PUNCT
alkej-264	153	45	fig	fig	NOUN
alkej-264	153	46	.	.	PUNCT
alkej-264	154	1	6	6	NUM
alkej-264	154	2	.	.	PUNCT
alkej-264	154	3	the	the	DET
alkej-264	154	4	stability	stability	NOUN
alkej-264	154	5	analysis	analysis	NOUN
alkej-264	154	6	for	for	ADP
alkej-264	154	7	the	the	DET
alkej-264	154	8	tripod	tripod	NOUN
alkej-264	154	9	gait	gait	NOUN
alkej-264	154	10	when	when	SCONJ
alkej-264	154	11	legs	leg	NOUN
alkej-264	154	12	(	(	PUNCT
alkej-264	154	13	2	2	NUM
alkej-264	154	14	,	,	PUNCT
alkej-264	154	15	6	6	NUM
alkej-264	154	16	and	and	CCONJ
alkej-264	154	17	4	4	NUM
alkej-264	154	18	)	)	PUNCT
alkej-264	154	19	on	on	ADP
alkej-264	154	20	the	the	DET
alkej-264	154	21	ground	ground	NOUN
alkej-264	154	22	and	and	CCONJ
alkej-264	154	23	legs	leg	NOUN
alkej-264	154	24	(	(	PUNCT
alkej-264	154	25	1	1	NUM
alkej-264	154	26	,	,	PUNCT
alkej-264	154	27	3	3	NUM
alkej-264	154	28	and	and	CCONJ
alkej-264	154	29	5	5	NUM
alkej-264	154	30	)	)	PUNCT
alkej-264	154	31	on	on	ADP
alkej-264	154	32	the	the	DET
alkej-264	154	33	air	air	NOUN
alkej-264	154	34	.	.	PUNCT
alkej-264	155	1	the	the	DET
alkej-264	155	2	triple	triple	ADJ
alkej-264	155	3	equation	equation	NOUN
alkej-264	155	4	of	of	ADP
alkej-264	155	5	the	the	DET
alkej-264	155	6	figure	figure	NOUN
alkej-264	155	7	6	6	NUM
alkej-264	155	8	is	be	AUX
alkej-264	155	9	:	:	PUNCT
alkej-264	155	10	s	s	X
alkej-264	155	11	�	�	PROPN
alkej-264	155	12	=	=	SYM
alkej-264	155	13	�	�	PROPN
alkej-264	155	14	)	)	PUNCT
alkej-264	155	15	j	j	NOUN
alkej-264	155	16	1	1	NUM
alkej-264	155	17	1	1	NUM
alkej-264	155	18	1xkl	1xkl	NUM
alkej-264	155	19	xm	xm	PROPN
alkej-264	156	1	x)ykl	x)ykl	PROPN
alkej-264	156	2	ym	ym	PROPN
alkej-264	156	3	y)j	y)j	PROPN
alkej-264	156	4	.	.	PUNCT
alkej-264	156	5	.	.	PUNCT
alkej-264	156	6	.	.	PUNCT
alkej-264	157	1	"	"	PUNCT
alkej-264	157	2	14	14	NUM
alkej-264	157	3	$	$	SYM
alkej-264	157	4	the	the	DET
alkej-264	157	5	support	support	NOUN
alkej-264	157	6	pattern	pattern	NOUN
alkej-264	157	7	cb	cb	PROPN
alkej-264	157	8	l1	l1	PROPN
alkej-264	157	9	l2	l2	PROPN
alkej-264	157	10	l3	l3	PROPN
alkej-264	157	11	s1	s1	PROPN
alkej-264	157	12	s2	s2	PROPN
alkej-264	157	13	s3	s3	PROPN
alkej-264	157	14	leg	leg	NOUN
alkej-264	157	15	2	2	NUM
alkej-264	157	16	leg	leg	NOUN
alkej-264	157	17	6	6	NUM
alkej-264	157	18	leg	leg	NOUN
alkej-264	157	19	4	4	NUM
alkej-264	157	20	h1	h1	NOUN
alkej-264	157	21	h3	h3	NOUN
alkej-264	157	22	h2	h2	PROPN
alkej-264	157	23	firas	firas	PROPN
alkej-264	157	24	a.	a.	PROPN
alkej-264	157	25	raheem	raheem	PROPN
alkej-264	158	1	al	al	PROPN
alkej-264	158	2	-	-	PUNCT
alkej-264	158	3	khwarizmi	khwarizmi	PROPN
alkej-264	158	4	engineering	engineering	NOUN
alkej-264	158	5	journal	journal	PROPN
alkej-264	158	6	,	,	PUNCT
alkej-264	158	7	vol	vol	NOUN
alkej-264	158	8	.	.	PROPN
alkej-264	158	9	11	11	NUM
alkej-264	158	10	,	,	PUNCT
alkej-264	158	11	no	no	INTJ
alkej-264	158	12	.	.	NOUN
alkej-264	158	13	4	4	NUM
alkej-264	158	14	,	,	PUNCT
alkej-264	158	15	p.p	p.p	PROPN
alkej-264	158	16	.	.	NOUN
alkej-264	158	17	4459	4459	NUM
alkej-264	158	18	(	(	PUNCT
alkej-264	158	19	2015	2015	NUM
alkej-264	158	20	)	)	PUNCT
alkej-264	158	21	49	49	NUM
alkej-264	159	1	where	where	SCONJ
alkej-264	159	2	(	(	PUNCT
alkej-264	159	3	xkl	xkl	PROPN
alkej-264	159	4	,	,	PUNCT
alkej-264	159	5	ykl	ykl	PROPN
alkej-264	159	6	)	)	PUNCT
alkej-264	159	7	the	the	DET
alkej-264	159	8	coordinate	coordinate	NOUN
alkej-264	159	9	of	of	ADP
alkej-264	159	10	center	center	ADJ
alkej-264	159	11	body	body	NOUN
alkej-264	159	12	,	,	PUNCT
alkej-264	159	13	(	(	PUNCT
alkej-264	159	14	x	x	X
alkej-264	159	15	)	)	PUNCT
alkej-264	159	16	,	,	PUNCT
alkej-264	159	17	y	y	NOUN
alkej-264	159	18	)	)	PUNCT
alkej-264	159	19	)	)	PUNCT
alkej-264	159	20	the	the	DET
alkej-264	159	21	coordinate	coordinate	NOUN
alkej-264	159	22	of	of	ADP
alkej-264	159	23	leg	leg	NOUN
alkej-264	159	24	2	2	NUM
alkej-264	159	25	,	,	PUNCT
alkej-264	159	26	(	(	PUNCT
alkej-264	159	27	xm	xm	PROPN
alkej-264	159	28	,	,	PUNCT
alkej-264	159	29	ym	ym	PROPN
alkej-264	159	30	)	)	PUNCT
alkej-264	159	31	the	the	DET
alkej-264	159	32	coordinate	coordinate	NOUN
alkej-264	159	33	of	of	ADP
alkej-264	159	34	leg	leg	NOUN
alkej-264	159	35	4	4	NUM
alkej-264	159	36	.	.	PUNCT
alkej-264	160	1	the	the	DET
alkej-264	160	2	simplification	simplification	NOUN
alkej-264	160	3	of	of	ADP
alkej-264	160	4	the	the	DET
alkej-264	160	5	eq	eq	NOUN
alkej-264	160	6	.	.	PROPN
alkej-264	160	7	14	14	NUM
alkej-264	160	8	:	:	PUNCT
alkej-264	160	9	s	s	X
alkej-264	160	10	�	�	PROPN
alkej-264	160	11	=	=	SYM
alkej-264	160	12	�	�	PROPN
alkej-264	160	13	)	)	PUNCT
alkej-264	160	14	o"xm	o"xm	NOUN
alkej-264	161	1	−	−	PROPN
alkej-264	161	2	xkl$"y	xkl$"y	PROPN
alkej-264	161	3	)	)	PUNCT
alkej-264	162	1	−	−	PROPN
alkej-264	162	2	ykl$	ykl$	PROPN
alkej-264	162	3	−	−	NOUN
alkej-264	162	4	"	"	PUNCT
alkej-264	162	5	x	x	X
alkej-264	162	6	)	)	PUNCT
alkej-264	163	1	−xkl$p"ym	−xkl$p"ym	ADP
alkej-264	163	2	−	−	NUM
alkej-264	163	3	ykl$qr	ykl$qr	NUM
alkej-264	163	4	…	…	PUNCT
alkej-264	163	5	"	"	PUNCT
alkej-264	163	6	15	15	NUM
alkej-264	163	7	$	$	NUM
alkej-264	163	8	l	l	X
alkej-264	163	9	�	�	NOUN
alkej-264	163	10	=	=	SYM
alkej-264	163	11	sqrt	sqrt	NOUN
alkej-264	163	12	"	"	PUNCT
alkej-264	163	13	"	"	PUNCT
alkej-264	163	14	x	x	X
alkej-264	163	15	)	)	PUNCT
alkej-264	163	16	−	−	PROPN
alkej-264	163	17	xm$	xm$	NUM
alkej-264	163	18	)	)	PUNCT
alkej-264	163	19	+	+	CCONJ
alkej-264	163	20	"	"	PUNCT
alkej-264	163	21	y	y	NOUN
alkej-264	163	22	)	)	PUNCT
alkej-264	163	23	−	−	PROPN
alkej-264	163	24	ym$)$	ym$)$	PROPN
alkej-264	163	25	…	…	PUNCT
alkej-264	163	26	"	"	PUNCT
alkej-264	163	27	16	16	NUM
alkej-264	163	28	$	$	SYM
alkej-264	163	29	where	where	SCONJ
alkej-264	163	30	l1	l1	PROPN
alkej-264	163	31	is	be	AUX
alkej-264	163	32	the	the	DET
alkej-264	163	33	distance	distance	NOUN
alkej-264	163	34	between	between	ADP
alkej-264	163	35	two	two	NUM
alkej-264	163	36	points	point	NOUN
alkej-264	163	37	h	h	PRON
alkej-264	163	38	�	�	PROPN
alkej-264	163	39	=	=	SYM
alkej-264	163	40	2	2	NUM
alkej-264	163	41	∗	∗	NOUN
alkej-264	163	42	0s	0s	NOUN
alkej-264	163	43	�	�	PROPN
alkej-264	163	44	l	l	NOUN
alkej-264	163	45	�	�	PROPN
alkej-264	163	46	1	1	NUM
alkej-264	163	47	…	…	PUNCT
alkej-264	163	48	"	"	PUNCT
alkej-264	163	49	17	17	NUM
alkej-264	163	50	$	$	SYM
alkej-264	163	51	from	from	ADP
alkej-264	163	52	figure	figure	NOUN
alkej-264	163	53	6	6	NUM
alkej-264	163	54	the	the	DET
alkej-264	163	55	stability	stability	NOUN
alkej-264	163	56	margin	margin	NOUN
alkej-264	163	57	are	be	AUX
alkej-264	163	58	computed	compute	VERB
alkej-264	163	59	as	as	ADP
alkej-264	163	60	:	:	PUNCT
alkej-264	163	61	sm	sm	PROPN
alkej-264	163	62	�	�	PROPN
alkej-264	163	63	=	=	SYM
alkej-264	163	64	min"h	min"h	VERB
alkej-264	163	65	�	�	PROPN
alkej-264	163	66	,	,	PUNCT
alkej-264	163	67	h	h	NOUN
alkej-264	163	68	)	)	PUNCT
alkej-264	163	69	,	,	PUNCT
alkej-264	163	70	h*$	h*$	X
alkej-264	163	71	…	…	PUNCT
alkej-264	163	72	"	"	PUNCT
alkej-264	163	73	18	18	NUM
alkej-264	163	74	$	$	NUM
alkej-264	163	75	sm	sm	PROPN
alkej-264	163	76	�	�	PROPN
alkej-264	163	77	is	be	AUX
alkej-264	163	78	the	the	DET
alkej-264	163	79	stability	stability	NOUN
alkej-264	163	80	margin	margin	NOUN
alkej-264	163	81	of	of	ADP
alkej-264	163	82	the	the	DET
alkej-264	163	83	support	support	NOUN
alkej-264	163	84	pattern	pattern	NOUN
alkej-264	163	85	of	of	ADP
alkej-264	163	86	legs	leg	NOUN
alkej-264	163	87	(	(	PUNCT
alkej-264	163	88	2	2	NUM
alkej-264	163	89	,	,	PUNCT
alkej-264	163	90	4	4	NUM
alkej-264	163	91	and	and	CCONJ
alkej-264	163	92	6	6	NUM
alkej-264	163	93	)	)	PUNCT
alkej-264	163	94	similarly	similarly	ADV
alkej-264	163	95	,	,	PUNCT
alkej-264	163	96	the	the	DET
alkej-264	163	97	sm	sm	NOUN
alkej-264	163	98	)	)	PUNCT
alkej-264	163	99	is	be	AUX
alkej-264	163	100	derived	derive	VERB
alkej-264	163	101	for	for	ADP
alkej-264	163	102	other	other	ADJ
alkej-264	163	103	three	three	NUM
alkej-264	163	104	legs	leg	NOUN
alkej-264	163	105	when	when	SCONJ
alkej-264	163	106	(	(	PUNCT
alkej-264	163	107	1	1	NUM
alkej-264	163	108	,	,	PUNCT
alkej-264	163	109	3	3	NUM
alkej-264	163	110	and	and	CCONJ
alkej-264	163	111	5	5	NUM
alkej-264	163	112	)	)	PUNCT
alkej-264	163	113	.	.	PUNCT
alkej-264	164	1	besides	besides	SCONJ
alkej-264	164	2	that	that	PRON
alkej-264	164	3	,	,	PUNCT
alkej-264	164	4	eq	eq	NOUN
alkej-264	164	5	.	.	PROPN
alkej-264	164	6	18	18	NUM
alkej-264	164	7	is	be	AUX
alkej-264	164	8	derived	derive	VERB
alkej-264	164	9	for	for	ADP
alkej-264	164	10	the	the	DET
alkej-264	164	11	other	other	ADJ
alkej-264	164	12	gaits	gait	NOUN
alkej-264	164	13	of	of	ADP
alkej-264	164	14	robot	robot	NOUN
alkej-264	164	15	(	(	PUNCT
alkej-264	164	16	wave	wave	NOUN
alkej-264	164	17	and	and	CCONJ
alkej-264	164	18	ripple	ripple	ADJ
alkej-264	164	19	)	)	PUNCT
alkej-264	164	20	.	.	PUNCT
alkej-264	165	1	5	5	X
alkej-264	165	2	.	.	X
alkej-264	165	3	walking	walking	NOUN
alkej-264	165	4	,	,	PUNCT
alkej-264	165	5	mechanism	mechanism	NOUN
alkej-264	165	6	of	of	ADP
alkej-264	165	7	leg	leg	NOUN
alkej-264	165	8	motion	motion	NOUN
alkej-264	165	9	and	and	CCONJ
alkej-264	165	10	path	path	NOUN
alkej-264	165	11	planning	planning	NOUN
alkej-264	165	12	of	of	ADP
alkej-264	165	13	hexapod	hexapod	NOUN
alkej-264	165	14	robot	robot	NOUN
alkej-264	165	15	the	the	DET
alkej-264	165	16	mechanism	mechanism	NOUN
alkej-264	165	17	of	of	ADP
alkej-264	165	18	leg	leg	NOUN
alkej-264	165	19	motion	motion	NOUN
alkej-264	165	20	is	be	AUX
alkej-264	165	21	very	very	ADV
alkej-264	165	22	complex	complex	ADJ
alkej-264	165	23	problem	problem	NOUN
alkej-264	165	24	that	that	PRON
alkej-264	165	25	each	each	DET
alkej-264	165	26	leg	leg	NOUN
alkej-264	165	27	is	be	AUX
alkej-264	165	28	forward	forward	ADV
alkej-264	165	29	and	and	CCONJ
alkej-264	165	30	back	back	ADJ
alkej-264	165	31	motion	motion	NOUN
alkej-264	165	32	.	.	PUNCT
alkej-264	166	1	it	it	PRON
alkej-264	166	2	derived	derive	VERB
alkej-264	166	3	from	from	ADP
alkej-264	166	4	insect	insect	NOUN
alkej-264	166	5	motion	motion	NOUN
alkej-264	166	6	that	that	PRON
alkej-264	166	7	has	have	VERB
alkej-264	166	8	two	two	NUM
alkej-264	166	9	phases	phase	NOUN
alkej-264	166	10	:	:	PUNCT
alkej-264	166	11	swing	swing	NOUN
alkej-264	166	12	(	(	PUNCT
alkej-264	166	13	the	the	DET
alkej-264	166	14	leg	leg	NOUN
alkej-264	166	15	in	in	ADP
alkej-264	166	16	the	the	DET
alkej-264	166	17	air	air	NOUN
alkej-264	166	18	)	)	PUNCT
alkej-264	166	19	and	and	CCONJ
alkej-264	166	20	stance	stance	NOUN
alkej-264	166	21	(	(	PUNCT
alkej-264	166	22	the	the	DET
alkej-264	166	23	leg	leg	NOUN
alkej-264	166	24	in	in	ADP
alkej-264	166	25	the	the	DET
alkej-264	166	26	ground	ground	NOUN
alkej-264	166	27	)	)	PUNCT
alkej-264	166	28	phases	phase	NOUN
alkej-264	166	29	[	[	X
alkej-264	166	30	3	3	NUM
alkej-264	166	31	]	]	PUNCT
alkej-264	166	32	.	.	PUNCT
alkej-264	167	1	the	the	DET
alkej-264	167	2	equations	equation	NOUN
alkej-264	167	3	of	of	ADP
alkej-264	167	4	motion	motion	NOUN
alkej-264	167	5	in	in	ADP
alkej-264	167	6	[	[	X
alkej-264	167	7	16	16	NUM
alkej-264	167	8	]	]	PUNCT
alkej-264	167	9	are	be	AUX
alkej-264	167	10	derived	derive	VERB
alkej-264	167	11	for	for	ADP
alkej-264	167	12	two	two	NUM
alkej-264	167	13	phases	phase	NOUN
alkej-264	167	14	.	.	PUNCT
alkej-264	168	1	the	the	DET
alkej-264	168	2	walking	walking	NOUN
alkej-264	168	3	of	of	ADP
alkej-264	168	4	hexapod	hexapod	NOUN
alkej-264	168	5	robot	robot	NOUN
alkej-264	168	6	is	be	AUX
alkej-264	168	7	developed	develop	VERB
alkej-264	168	8	by	by	ADP
alkej-264	168	9	combing	comb	VERB
alkej-264	168	10	the	the	DET
alkej-264	168	11	stance	stance	NOUN
alkej-264	168	12	phase	phase	NOUN
alkej-264	168	13	[	[	X
alkej-264	168	14	16	16	NUM
alkej-264	168	15	]	]	PUNCT
alkej-264	168	16	explained	explain	VERB
alkej-264	168	17	by	by	ADP
alkej-264	168	18	eq	eq	PROPN
alkej-264	168	19	.	.	PROPN
alkej-264	168	20	19	19	NUM
alkej-264	168	21	and	and	CCONJ
alkej-264	168	22	the	the	DET
alkej-264	168	23	swing	swing	NOUN
alkej-264	168	24	phase	phase	NOUN
alkej-264	168	25	[	[	X
alkej-264	168	26	17	17	NUM
alkej-264	168	27	]	]	PUNCT
alkej-264	168	28	as	as	ADP
alkej-264	168	29	in	in	ADP
alkej-264	168	30	eq	eq	NOUN
alkej-264	168	31	.	.	PROPN
alkej-264	168	32	20	20	NUM
alkej-264	168	33	to	to	PART
alkej-264	168	34	get	get	VERB
alkej-264	168	35	our	our	PRON
alkej-264	168	36	modified	modified	ADJ
alkej-264	168	37	smooth	smooth	ADJ
alkej-264	168	38	gait	gait	NOUN
alkej-264	168	39	for	for	ADP
alkej-264	168	40	one	one	NUM
alkej-264	168	41	hexapod	hexapod	NOUN
alkej-264	168	42	’s	’s	PART
alkej-264	168	43	leg	leg	NOUN
alkej-264	168	44	as	as	ADP
alkej-264	168	45	below	below	ADV
alkej-264	168	46	:	:	PUNCT
alkej-264	168	47	x	x	X
alkej-264	168	48	�	�	PROPN
alkej-264	168	49	w	w	PROPN
alkej-264	168	50	�	�	PROPN
alkej-264	168	51	=	=	SYM
alkej-264	168	52	x	x	SYM
alkej-264	168	53	�	�	PROPN
alkej-264	168	54	−	−	NOUN
alkej-264	168	55	v	v	NOUN
alkej-264	168	56	∗	∗	NOUN
alkej-264	168	57	t	t	PROPN
alkej-264	168	58	∗	∗	NOUN
alkej-264	168	59	cos"ϕ$	cos"ϕ$	NOUN
alkej-264	168	60	,	,	PUNCT
alkej-264	168	61	y	y	PROPN
alkej-264	168	62	�	�	PROPN
alkej-264	168	63	w	w	PROPN
alkej-264	168	64	�	�	PROPN
alkej-264	168	65	=	=	SYM
alkej-264	168	66	y	y	PROPN
alkej-264	168	67	�	�	PROPN
alkej-264	168	68	−	−	PROPN
alkej-264	168	69	v	v	NOUN
alkej-264	168	70	∗	∗	NOUN
alkej-264	168	71	t	t	PROPN
alkej-264	168	72	∗	∗	NOUN
alkej-264	168	73	sin"ϕ$	sin"ϕ$	NOUN
alkej-264	168	74	…	…	PUNCT
alkej-264	168	75	(	(	PUNCT
alkej-264	168	76	19	19	NUM
alkej-264	168	77	)	)	PUNCT
alkej-264	168	78	where	where	SCONJ
alkej-264	168	79	x	x	X
alkej-264	168	80	�	�	PROPN
alkej-264	168	81	,	,	PUNCT
alkej-264	168	82	y	y	PROPN
alkej-264	168	83	�	�	PROPN
alkej-264	168	84	the	the	DET
alkej-264	168	85	coordinates	coordinate	NOUN
alkej-264	168	86	of	of	ADP
alkej-264	168	87	leg	leg	NOUN
alkej-264	168	88	tip	tip	NOUN
alkej-264	168	89	derived	derive	VERB
alkej-264	168	90	from	from	ADP
alkej-264	168	91	the	the	DET
alkej-264	168	92	forward	forward	NOUN
alkej-264	168	93	kinematic	kinematic	PROPN
alkej-264	168	94	,	,	PUNCT
alkej-264	168	95	ϕ	ϕ	PROPN
alkej-264	168	96	is	be	AUX
alkej-264	168	97	the	the	DET
alkej-264	168	98	direction	direction	NOUN
alkej-264	168	99	of	of	ADP
alkej-264	168	100	motion	motion	NOUN
alkej-264	168	101	,	,	PUNCT
alkej-264	168	102	t	t	PROPN
alkej-264	168	103	is	be	AUX
alkej-264	168	104	the	the	DET
alkej-264	168	105	period	period	NOUN
alkej-264	168	106	required	require	VERB
alkej-264	168	107	to	to	PART
alkej-264	168	108	complete	complete	VERB
alkej-264	168	109	one	one	NUM
alkej-264	168	110	cycle	cycle	NOUN
alkej-264	168	111	and	and	CCONJ
alkej-264	168	112	changes	change	NOUN
alkej-264	168	113	during	during	ADP
alkej-264	168	114	type	type	NOUN
alkej-264	168	115	gait	gait	NOUN
alkej-264	168	116	and	and	CCONJ
alkej-264	168	117	v	v	NOUN
alkej-264	168	118	describes	describe	VERB
alkej-264	168	119	how	how	SCONJ
alkej-264	168	120	many	many	ADJ
alkej-264	168	121	centimeters	centimeter	NOUN
alkej-264	168	122	per	per	ADP
alkej-264	168	123	gait	gait	NOUN
alkej-264	168	124	cycle	cycle	NOUN
alkej-264	168	125	the	the	DET
alkej-264	168	126	hexapod	hexapod	NOUN
alkej-264	168	127	robot	robot	NOUN
alkej-264	168	128	should	should	AUX
alkej-264	168	129	move	move	VERB
alkej-264	168	130	.	.	PUNCT
alkej-264	169	1	the	the	DET
alkej-264	169	2	equations	equation	NOUN
alkej-264	169	3	in	in	ADP
alkej-264	169	4	swing	swing	NOUN
alkej-264	169	5	phase	phase	NOUN
alkej-264	169	6	are	be	AUX
alkej-264	169	7	:	:	PUNCT
alkej-264	169	8	x	x	X
alkej-264	169	9	�	�	PROPN
alkej-264	169	10	w	w	PROPN
alkej-264	169	11	�	�	PROPN
alkej-264	169	12	=	=	SYM
alkej-264	169	13	2	2	NUM
alkej-264	169	14	∗	∗	NOUN
alkej-264	169	15	xz	xz	PROPN
alkej-264	169	16	[	[	PUNCT
alkej-264	169	17	∗	∗	X
alkej-264	169	18	dt	dt	PROPN
alkej-264	169	19	�	�	PROPN
alkej-264	169	20	�	�	PROPN
alkej-264	169	21	\"1	\"1	PROPN
alkej-264	169	22	−	−	PUNCT
alkej-264	169	23	cos	cos	PROPN
alkej-264	169	24	0	0	NUM
alkej-264	169	25	]	]	PUNCT
alkej-264	169	26	^	^	PUNCT
alkej-264	170	1	_	_	PRON
alkej-264	170	2	`	`	PUNCT
alkej-264	170	3	ab1	ab1	X
alkej-264	170	4	$	$	SYM
alkej-264	170	5	,	,	PUNCT
alkej-264	170	6	y	y	PROPN
alkej-264	170	7	�	�	PROPN
alkej-264	170	8	w	w	PROPN
alkej-264	170	9	�	�	PROPN
alkej-264	170	10	=	=	SYM
alkej-264	170	11	2	2	NUM
alkej-264	170	12	∗	∗	NOUN
alkej-264	170	13	yz	yz	PROPN
alkej-264	170	14	[	[	PUNCT
alkej-264	170	15	∗	∗	X
alkej-264	170	16	dt	dt	PROPN
alkej-264	170	17	�	�	PROPN
alkej-264	170	18	�	�	PROPN
alkej-264	170	19	\"1	\"1	PROPN
alkej-264	170	20	−	−	PUNCT
alkej-264	170	21	cos	cos	PROPN
alkej-264	170	22	0	0	NUM
alkej-264	170	23	]	]	PUNCT
alkej-264	170	24	^	^	PUNCT
alkej-264	171	1	_	_	PRON
alkej-264	171	2	`	`	PUNCT
alkej-264	171	3	ab1	ab1	X
alkej-264	171	4	$	$	SYM
alkej-264	171	5	,	,	PUNCT
alkej-264	171	6	z	z	PROPN
alkej-264	171	7	�	�	PROPN
alkej-264	171	8	w	w	PROPN
alkej-264	171	9	�	�	PROPN
alkej-264	171	10	=	=	SYM
alkej-264	171	11	h	h	PROPN
alkej-264	171	12	∗	∗	NOUN
alkej-264	171	13	"	"	PUNCT
alkej-264	171	14	1	1	NUM
alkej-264	171	15	−	−	PROPN
alkej-264	171	16	cos	cos	NOUN
alkej-264	171	17	0	0	NUM
alkej-264	171	18	]	]	PUNCT
alkej-264	171	19	^	^	PUNCT
alkej-264	172	1	_	_	DET
alkej-264	172	2	`	`	PUNCT
alkej-264	172	3	ab1	ab1	X
alkej-264	172	4	$	$	NUM
alkej-264	172	5	…	…	PUNCT
alkej-264	172	6	(	(	PUNCT
alkej-264	172	7	20	20	NUM
alkej-264	172	8	)	)	PUNCT
alkej-264	172	9	xz	xz	PROPN
alkej-264	172	10	[	[	PUNCT
alkej-264	172	11	,	,	PUNCT
alkej-264	172	12	yz	yz	PROPN
alkej-264	172	13	[	[	PUNCT
alkej-264	172	14	are	be	AUX
alkej-264	172	15	the	the	DET
alkej-264	172	16	speed	speed	NOUN
alkej-264	172	17	of	of	ADP
alkej-264	172	18	the	the	DET
alkej-264	172	19	hexapod	hexapod	NOUN
alkej-264	172	20	robot	robot	NOUN
alkej-264	172	21	’s	’s	PART
alkej-264	172	22	truck	truck	NOUN
alkej-264	172	23	in	in	ADP
alkej-264	172	24	x	x	X
alkej-264	172	25	and	and	CCONJ
alkej-264	172	26	y	y	PROPN
alkej-264	172	27	directions	direction	NOUN
alkej-264	172	28	,	,	PUNCT
alkej-264	172	29	dt	dt	PROPN
alkej-264	172	30	�	�	PROPN
alkej-264	172	31	�	�	PROPN
alkej-264	172	32	\	\	PROPN
alkej-264	172	33	is	be	AUX
alkej-264	172	34	the	the	DET
alkej-264	172	35	time	time	NOUN
alkej-264	172	36	duration	duration	NOUN
alkej-264	172	37	for	for	ADP
alkej-264	172	38	each	each	DET
alkej-264	172	39	step	step	NOUN
alkej-264	172	40	and	and	CCONJ
alkej-264	172	41	h	h	NOUN
alkej-264	172	42	is	be	AUX
alkej-264	172	43	the	the	DET
alkej-264	172	44	height	height	NOUN
alkej-264	172	45	of	of	ADP
alkej-264	172	46	each	each	DET
alkej-264	172	47	step	step	NOUN
alkej-264	172	48	.	.	PUNCT
alkej-264	173	1	the	the	DET
alkej-264	173	2	movement	movement	NOUN
alkej-264	173	3	of	of	ADP
alkej-264	173	4	the	the	DET
alkej-264	173	5	center	center	NOUN
alkej-264	173	6	of	of	ADP
alkej-264	173	7	body	body	NOUN
alkej-264	173	8	that	that	PRON
alkej-264	173	9	moves	move	VERB
alkej-264	173	10	from	from	ADP
alkej-264	173	11	start	start	NOUN
alkej-264	173	12	point	point	NOUN
alkej-264	173	13	to	to	ADP
alkej-264	173	14	the	the	DET
alkej-264	173	15	goal	goal	NOUN
alkej-264	173	16	point	point	NOUN
alkej-264	173	17	so	so	SCONJ
alkej-264	173	18	the	the	DET
alkej-264	173	19	new	new	ADJ
alkej-264	173	20	center	center	NOUN
alkej-264	173	21	point	point	NOUN
alkej-264	173	22	[	[	X
alkej-264	173	23	14	14	NUM
alkej-264	173	24	]	]	PUNCT
alkej-264	173	25	is	be	AUX
alkej-264	173	26	calculated	calculate	VERB
alkej-264	173	27	as	as	ADP
alkej-264	173	28	:	:	PUNCT
alkej-264	173	29	x	x	X
alkej-264	173	30	�	�	PROPN
alkej-264	173	31	�	�	PROPN
alkej-264	173	32	w	w	PROPN
alkej-264	173	33	�	�	PROPN
alkej-264	173	34	=	=	SYM
alkej-264	173	35	x	x	SYM
alkej-264	173	36	�	�	PROPN
alkej-264	173	37	�	�	PROPN
alkej-264	173	38	+	+	NUM
alkej-264	173	39	d	d	PROPN
alkej-264	173	40	∗	∗	NOUN
alkej-264	173	41	cos"ϕ$	cos"ϕ$	NOUN
alkej-264	173	42	,	,	PUNCT
alkej-264	173	43	y	y	PROPN
alkej-264	173	44	�	�	PROPN
alkej-264	173	45	�	�	PROPN
alkej-264	173	46	w	w	PROPN
alkej-264	173	47	�	�	PROPN
alkej-264	173	48	=	=	SYM
alkej-264	173	49	y	y	PROPN
alkej-264	173	50	�	�	PROPN
alkej-264	173	51	�	�	PROPN
alkej-264	173	52	+	+	NUM
alkej-264	173	53	d	d	PROPN
alkej-264	173	54	∗	∗	NOUN
alkej-264	173	55	sin"ϕ$	sin"ϕ$	NOUN
alkej-264	173	56	…	…	PUNCT
alkej-264	173	57	(	(	PUNCT
alkej-264	173	58	21	21	NUM
alkej-264	173	59	)	)	PUNCT
alkej-264	173	60	where	where	SCONJ
alkej-264	173	61	d	d	NOUN
alkej-264	173	62	is	be	AUX
alkej-264	173	63	the	the	DET
alkej-264	173	64	step	step	NOUN
alkej-264	173	65	size	size	NOUN
alkej-264	173	66	.	.	PUNCT
alkej-264	174	1	the	the	DET
alkej-264	174	2	path	path	NOUN
alkej-264	174	3	planning	planning	NOUN
alkej-264	174	4	start	start	VERB
alkej-264	174	5	from	from	ADP
alkej-264	174	6	point	point	NOUN
alkej-264	174	7	(	(	PUNCT
alkej-264	174	8	0,0	0,0	NOUN
alkej-264	174	9	)	)	PUNCT
alkej-264	174	10	cm	cm	NOUN
alkej-264	174	11	and	and	CCONJ
alkej-264	174	12	end	end	VERB
alkej-264	174	13	with	with	ADP
alkej-264	174	14	goal	goal	NOUN
alkej-264	174	15	point	point	NOUN
alkej-264	174	16	(	(	PUNCT
alkej-264	174	17	500,0)cm	500,0)cm	NUM
alkej-264	174	18	for	for	ADP
alkej-264	174	19	the	the	DET
alkej-264	174	20	straight	straight	ADJ
alkej-264	174	21	line	line	NOUN
alkej-264	174	22	.	.	PUNCT
alkej-264	175	1	6	6	X
alkej-264	175	2	.	.	X
alkej-264	175	3	stability	stability	NOUN
alkej-264	175	4	margins	margin	NOUN
alkej-264	175	5	enhancement	enhancement	NOUN
alkej-264	175	6	using	use	VERB
alkej-264	175	7	genetic	genetic	ADJ
alkej-264	175	8	algorithm	algorithm	NOUN
alkej-264	175	9	the	the	DET
alkej-264	175	10	results	result	NOUN
alkej-264	175	11	of	of	ADP
alkej-264	175	12	sequences	sequence	NOUN
alkej-264	175	13	of	of	ADP
alkej-264	175	14	three	three	NUM
alkej-264	175	15	main	main	ADJ
alkej-264	175	16	gaits	gait	NOUN
alkej-264	175	17	for	for	ADP
alkej-264	175	18	hexapod	hexapod	NOUN
alkej-264	175	19	robot	robot	NOUN
alkej-264	175	20	are	be	AUX
alkej-264	175	21	found	find	VERB
alkej-264	175	22	the	the	DET
alkej-264	175	23	range	range	NOUN
alkej-264	175	24	values	value	NOUN
alkej-264	175	25	for	for	ADP
alkej-264	175	26	the	the	DET
alkej-264	175	27	stability	stability	NOUN
alkej-264	175	28	margins	margin	NOUN
alkej-264	175	29	as	as	SCONJ
alkej-264	175	30	mentioned	mention	VERB
alkej-264	175	31	above	above	ADV
alkej-264	175	32	.	.	PUNCT
alkej-264	176	1	each	each	DET
alkej-264	176	2	gait	gait	NOUN
alkej-264	176	3	of	of	ADP
alkej-264	176	4	hexapod	hexapod	NOUN
alkej-264	176	5	robot	robot	NOUN
alkej-264	176	6	,	,	PUNCT
alkej-264	176	7	has	have	VERB
alkej-264	176	8	the	the	DET
alkej-264	176	9	sequence	sequence	NOUN
alkej-264	176	10	of	of	ADP
alkej-264	176	11	gait	gait	NOUN
alkej-264	176	12	such	such	ADJ
alkej-264	176	13	as	as	ADP
alkej-264	176	14	the	the	DET
alkej-264	176	15	tripod	tripod	NOUN
alkej-264	176	16	gait	gait	NOUN
alkej-264	176	17	has	have	VERB
alkej-264	176	18	two	two	NUM
alkej-264	176	19	sequences	sequence	NOUN
alkej-264	176	20	,	,	PUNCT
alkej-264	176	21	the	the	DET
alkej-264	176	22	first	first	ADJ
alkej-264	176	23	sequence	sequence	NOUN
alkej-264	176	24	lifts	lift	VERB
alkej-264	176	25	legs	leg	NOUN
alkej-264	176	26	(	(	PUNCT
alkej-264	176	27	1	1	NUM
alkej-264	176	28	,	,	PUNCT
alkej-264	176	29	3	3	NUM
alkej-264	176	30	and	and	CCONJ
alkej-264	176	31	5	5	NUM
alkej-264	176	32	)	)	PUNCT
alkej-264	176	33	where	where	SCONJ
alkej-264	176	34	the	the	DET
alkej-264	176	35	legs	leg	NOUN
alkej-264	176	36	(	(	PUNCT
alkej-264	176	37	2	2	NUM
alkej-264	176	38	,	,	PUNCT
alkej-264	176	39	4	4	NUM
alkej-264	176	40	and	and	CCONJ
alkej-264	176	41	6	6	NUM
alkej-264	176	42	)	)	PUNCT
alkej-264	176	43	on	on	ADP
alkej-264	176	44	the	the	DET
alkej-264	176	45	ground	ground	NOUN
alkej-264	176	46	.	.	PUNCT
alkej-264	177	1	the	the	DET
alkej-264	177	2	second	second	ADJ
alkej-264	177	3	sequence	sequence	NOUN
alkej-264	177	4	lifts	lift	VERB
alkej-264	177	5	legs	leg	NOUN
alkej-264	177	6	(	(	PUNCT
alkej-264	177	7	2	2	NUM
alkej-264	177	8	,	,	PUNCT
alkej-264	177	9	4	4	NUM
alkej-264	177	10	and	and	CCONJ
alkej-264	177	11	6	6	NUM
alkej-264	177	12	)	)	PUNCT
alkej-264	177	13	where	where	SCONJ
alkej-264	177	14	the	the	DET
alkej-264	177	15	legs	leg	NOUN
alkej-264	177	16	(	(	PUNCT
alkej-264	177	17	1	1	NUM
alkej-264	177	18	,	,	PUNCT
alkej-264	177	19	3	3	NUM
alkej-264	177	20	and	and	CCONJ
alkej-264	177	21	5	5	NUM
alkej-264	177	22	)	)	PUNCT
alkej-264	177	23	are	be	AUX
alkej-264	177	24	on	on	ADP
alkej-264	177	25	the	the	DET
alkej-264	177	26	ground	ground	NOUN
alkej-264	177	27	.	.	PUNCT
alkej-264	178	1	in	in	ADP
alkej-264	178	2	the	the	DET
alkej-264	178	3	proposed	propose	VERB
alkej-264	178	4	method	method	NOUN
alkej-264	178	5	,	,	PUNCT
alkej-264	178	6	an	an	DET
alkej-264	178	7	intelligent	intelligent	ADJ
alkej-264	178	8	method	method	NOUN
alkej-264	178	9	which	which	PRON
alkej-264	178	10	is	be	AUX
alkej-264	178	11	(	(	PUNCT
alkej-264	178	12	ga	ga	NOUN
alkej-264	178	13	)	)	PUNCT
alkej-264	178	14	has	have	AUX
alkej-264	178	15	been	be	AUX
alkej-264	178	16	applied	apply	VERB
alkej-264	178	17	to	to	PART
alkej-264	178	18	find	find	VERB
alkej-264	178	19	the	the	DET
alkej-264	178	20	best	good	ADJ
alkej-264	178	21	stability	stability	NOUN
alkej-264	178	22	margin	margin	NOUN
alkej-264	178	23	during	during	ADP
alkej-264	178	24	each	each	DET
alkej-264	178	25	sequence	sequence	NOUN
alkej-264	178	26	in	in	ADP
alkej-264	178	27	each	each	DET
alkej-264	178	28	gait	gait	NOUN
alkej-264	178	29	.	.	PUNCT
alkej-264	179	1	while	while	SCONJ
alkej-264	179	2	modified	modify	VERB
alkej-264	179	3	classical	classical	ADJ
alkej-264	179	4	stability	stability	NOUN
alkej-264	179	5	margins	margin	VERB
alkej-264	179	6	analysis	analysis	NOUN
alkej-264	179	7	method	method	NOUN
alkej-264	179	8	which	which	PRON
alkej-264	179	9	used	use	VERB
alkej-264	179	10	to	to	PART
alkej-264	179	11	find	find	VERB
alkej-264	179	12	the	the	DET
alkej-264	179	13	range	range	NOUN
alkej-264	179	14	values	value	NOUN
alkej-264	179	15	for	for	ADP
alkej-264	179	16	stability	stability	NOUN
alkej-264	179	17	margins	margin	NOUN
alkej-264	179	18	is	be	AUX
alkej-264	179	19	considered	consider	VERB
alkej-264	179	20	as	as	ADP
alkej-264	179	21	constraints	constraint	NOUN
alkej-264	179	22	for	for	ADP
alkej-264	179	23	genetic	genetic	ADJ
alkej-264	179	24	algorithm	algorithm	NOUN
alkej-264	179	25	to	to	PART
alkej-264	179	26	find	find	VERB
alkej-264	179	27	the	the	DET
alkej-264	179	28	best	good	ADJ
alkej-264	179	29	stability	stability	NOUN
alkej-264	179	30	margins	margin	NOUN
alkej-264	179	31	based	base	VERB
alkej-264	179	32	on	on	ADP
alkej-264	179	33	these	these	DET
alkej-264	179	34	constraints	constraint	NOUN
alkej-264	179	35	.	.	PUNCT
alkej-264	180	1	also	also	ADV
alkej-264	180	2	,	,	PUNCT
alkej-264	180	3	the	the	DET
alkej-264	180	4	genetic	genetic	ADJ
alkej-264	180	5	algorithm	algorithm	NOUN
alkej-264	180	6	has	have	AUX
alkej-264	180	7	been	be	AUX
alkej-264	180	8	applied	apply	VERB
alkej-264	180	9	to	to	PART
alkej-264	180	10	find	find	VERB
alkej-264	180	11	the	the	DET
alkej-264	180	12	best	good	ADJ
alkej-264	180	13	positions	position	NOUN
alkej-264	180	14	of	of	ADP
alkej-264	180	15	legs	leg	NOUN
alkej-264	180	16	tips	tip	NOUN
alkej-264	180	17	as	as	SCONJ
alkej-264	180	18	described	describe	VERB
alkej-264	180	19	below	below	ADP
alkej-264	180	20	:	:	PUNCT
alkej-264	180	21	a.	a.	NOUN
alkej-264	180	22	parameters	parameter	NOUN
alkej-264	180	23	initialization	initialization	NOUN
alkej-264	180	24	of	of	ADP
alkej-264	180	25	genetic	genetic	ADJ
alkej-264	180	26	algorithm	algorithm	NOUN
alkej-264	180	27	the	the	DET
alkej-264	180	28	initial	initial	ADJ
alkej-264	180	29	populations	population	NOUN
alkej-264	180	30	for	for	ADP
alkej-264	180	31	genetic	genetic	ADJ
alkej-264	180	32	algorithm	algorithm	NOUN
alkej-264	180	33	are	be	AUX
alkej-264	180	34	the	the	DET
alkej-264	180	35	coordinates	coordinate	NOUN
alkej-264	180	36	of	of	ADP
alkej-264	180	37	each	each	DET
alkej-264	180	38	leg	leg	NOUN
alkej-264	180	39	’s	’s	PART
alkej-264	180	40	tip	tip	NOUN
alkej-264	180	41	(	(	PUNCT
alkej-264	180	42	xi	xi	PROPN
alkej-264	180	43	,	,	PUNCT
alkej-264	180	44	yi	yi	PROPN
alkej-264	180	45	)	)	PUNCT
alkej-264	180	46	and	and	CCONJ
alkej-264	180	47	the	the	DET
alkej-264	180	48	coordinates	coordinate	NOUN
alkej-264	180	49	of	of	ADP
alkej-264	180	50	center	center	NOUN
alkej-264	180	51	body	body	NOUN
alkej-264	180	52	(	(	PUNCT
alkej-264	180	53	xcbi	xcbi	PROPN
alkej-264	180	54	,	,	PUNCT
alkej-264	180	55	ycbi	ycbi	PROPN
alkej-264	180	56	)	)	PUNCT
alkej-264	180	57	while	while	SCONJ
alkej-264	180	58	the	the	DET
alkej-264	180	59	(	(	PUNCT
alkej-264	180	60	zi	zi	NOUN
alkej-264	180	61	)	)	PUNCT
alkej-264	180	62	is	be	AUX
alkej-264	180	63	constant	constant	ADJ
alkej-264	180	64	(	(	PUNCT
alkej-264	180	65	the	the	DET
alkej-264	180	66	motion	motion	NOUN
alkej-264	180	67	of	of	ADP
alkej-264	180	68	hexapod	hexapod	NOUN
alkej-264	180	69	robot	robot	NOUN
alkej-264	180	70	on	on	ADP
alkej-264	180	71	the	the	DET
alkej-264	180	72	flat	flat	ADJ
alkej-264	180	73	plane	plane	NOUN
alkej-264	180	74	)	)	PUNCT
alkej-264	180	75	.	.	PUNCT
alkej-264	181	1	chromosomes	chromosome	NOUN
alkej-264	181	2	(	(	PUNCT
alkej-264	181	3	individuals	individual	NOUN
alkej-264	181	4	)	)	PUNCT
alkej-264	181	5	represent	represent	VERB
alkej-264	181	6	the	the	DET
alkej-264	181	7	solutions	solution	NOUN
alkej-264	181	8	for	for	ADP
alkej-264	181	9	optimization	optimization	NOUN
alkej-264	181	10	problem	problem	NOUN
alkej-264	181	11	.	.	PUNCT
alkej-264	182	1	in	in	ADP
alkej-264	182	2	the	the	DET
alkej-264	182	3	proposed	propose	VERB
alkej-264	182	4	work	work	NOUN
alkej-264	182	5	,	,	PUNCT
alkej-264	182	6	the	the	DET
alkej-264	182	7	better	well	ADJ
alkej-264	182	8	results	result	NOUN
alkej-264	182	9	of	of	ADP
alkej-264	182	10	new	new	ADJ
alkej-264	182	11	stable	stable	ADJ
alkej-264	182	12	population	population	NOUN
alkej-264	182	13	are	be	AUX
alkej-264	182	14	evaluated	evaluate	VERB
alkej-264	182	15	.	.	PUNCT
alkej-264	183	1	these	these	DET
alkej-264	183	2	results	result	NOUN
alkej-264	183	3	are	be	AUX
alkej-264	183	4	considered	consider	VERB
alkej-264	183	5	as	as	ADP
alkej-264	183	6	initial	initial	ADJ
alkej-264	183	7	coordinate	coordinate	NOUN
alkej-264	183	8	(	(	PUNCT
alkej-264	183	9	xi	xi	PROPN
alkej-264	183	10	,	,	PUNCT
alkej-264	183	11	yi	yi	PROPN
alkej-264	183	12	)	)	PUNCT
alkej-264	183	13	for	for	ADP
alkej-264	183	14	walking	walking	NOUN
alkej-264	183	15	of	of	ADP
alkej-264	183	16	the	the	DET
alkej-264	183	17	hexapod	hexapod	NOUN
alkej-264	183	18	robot	robot	NOUN
alkej-264	183	19	.	.	PUNCT
alkej-264	184	1	these	these	DET
alkej-264	184	2	stable	stable	ADJ
alkej-264	184	3	positions	position	NOUN
alkej-264	184	4	are	be	AUX
alkej-264	184	5	repeated	repeat	VERB
alkej-264	184	6	till	till	SCONJ
alkej-264	184	7	hexapod	hexapod	NOUN
alkej-264	184	8	robot	robot	NOUN
alkej-264	184	9	reaches	reach	VERB
alkej-264	184	10	to	to	ADP
alkej-264	184	11	the	the	DET
alkej-264	184	12	goal	goal	NOUN
alkej-264	184	13	point	point	NOUN
alkej-264	184	14	.	.	PUNCT
alkej-264	185	1	the	the	DET
alkej-264	185	2	size	size	NOUN
alkej-264	185	3	of	of	ADP
alkej-264	185	4	genes	gene	NOUN
alkej-264	185	5	in	in	ADP
alkej-264	185	6	each	each	DET
alkej-264	185	7	chromosome	chromosome	NOUN
alkej-264	185	8	is	be	AUX
alkej-264	185	9	various	various	ADJ
alkej-264	185	10	according	accord	VERB
alkej-264	185	11	to	to	ADP
alkej-264	185	12	the	the	DET
alkej-264	185	13	type	type	NOUN
alkej-264	185	14	of	of	ADP
alkej-264	185	15	gait	gait	NOUN
alkej-264	185	16	(	(	PUNCT
alkej-264	185	17	support	support	NOUN
alkej-264	185	18	pattern	pattern	NOUN
alkej-264	185	19	for	for	ADP
alkej-264	185	20	each	each	DET
alkej-264	185	21	sequence	sequence	NOUN
alkej-264	185	22	)	)	PUNCT
alkej-264	185	23	for	for	ADP
alkej-264	185	24	example	example	NOUN
alkej-264	185	25	the	the	DET
alkej-264	185	26	size	size	NOUN
alkej-264	185	27	of	of	ADP
alkej-264	185	28	firas	firas	PROPN
alkej-264	185	29	a.	a.	PROPN
alkej-264	185	30	raheem	raheem	PROPN
alkej-264	185	31	al	al	PROPN
alkej-264	185	32	-	-	PUNCT
alkej-264	185	33	khwarizmi	khwarizmi	PROPN
alkej-264	185	34	engineering	engineering	NOUN
alkej-264	185	35	journal	journal	PROPN
alkej-264	185	36	,	,	PUNCT
alkej-264	185	37	vol	vol	NOUN
alkej-264	185	38	.	.	PROPN
alkej-264	185	39	11	11	NUM
alkej-264	185	40	,	,	PUNCT
alkej-264	185	41	no	no	INTJ
alkej-264	185	42	.	.	NOUN
alkej-264	185	43	4	4	NUM
alkej-264	185	44	,	,	PUNCT
alkej-264	185	45	p.p	p.p	PROPN
alkej-264	185	46	.	.	NOUN
alkej-264	185	47	4459	4459	NUM
alkej-264	185	48	(	(	PUNCT
alkej-264	185	49	2015	2015	NUM
alkej-264	185	50	)	)	PUNCT
alkej-264	185	51	50	50	NUM
alkej-264	185	52	chromosomes	chromosome	NOUN
alkej-264	185	53	equals	equal	VERB
alkej-264	185	54	to	to	ADP
alkej-264	185	55	eight	eight	NUM
alkej-264	185	56	variables	variable	NOUN
alkej-264	185	57	in	in	ADP
alkej-264	185	58	tripod	tripod	NOUN
alkej-264	185	59	gait	gait	NOUN
alkej-264	185	60	.	.	PUNCT
alkej-264	186	1	the	the	DET
alkej-264	186	2	first	first	ADJ
alkej-264	186	3	sequence	sequence	NOUN
alkej-264	186	4	in	in	ADP
alkej-264	186	5	tripod	tripod	NOUN
alkej-264	186	6	gait	gait	NOUN
alkej-264	186	7	when	when	SCONJ
alkej-264	186	8	lifting	lift	VERB
alkej-264	186	9	legs	leg	NOUN
alkej-264	186	10	(	(	PUNCT
alkej-264	186	11	1	1	NUM
alkej-264	186	12	,	,	PUNCT
alkej-264	186	13	3	3	NUM
alkej-264	186	14	and	and	CCONJ
alkej-264	186	15	5	5	NUM
alkej-264	186	16	)	)	PUNCT
alkej-264	186	17	where	where	SCONJ
alkej-264	186	18	legs	leg	NOUN
alkej-264	186	19	(	(	PUNCT
alkej-264	186	20	2	2	NUM
alkej-264	186	21	,	,	PUNCT
alkej-264	186	22	4	4	NUM
alkej-264	186	23	and	and	CCONJ
alkej-264	186	24	6	6	NUM
alkej-264	186	25	)	)	PUNCT
alkej-264	186	26	on	on	ADP
alkej-264	186	27	the	the	DET
alkej-264	186	28	ground	ground	NOUN
alkej-264	186	29	have	have	AUX
alkej-264	186	30	been	be	AUX
alkej-264	186	31	calculated	calculate	VERB
alkej-264	186	32	with	with	ADP
alkej-264	186	33	center	center	ADJ
alkej-264	186	34	body	body	NOUN
alkej-264	186	35	coordinates	coordinate	NOUN
alkej-264	186	36	as	as	ADP
alkej-264	186	37	the	the	DET
alkej-264	186	38	following	follow	VERB
alkej-264	186	39	formula	formula	NOUN
alkej-264	186	40	:	:	PUNCT
alkej-264	186	41	chromosome	chromosome	NOUN
alkej-264	186	42	=	=	SYM
alkej-264	186	43	gx	gx	PROPN
alkej-264	186	44	�	�	PROPN
alkej-264	186	45	y	y	PROPN
alkej-264	186	46	�	�	PROPN
alkej-264	186	47	x	x	SYM
alkej-264	186	48	)	)	PUNCT
alkej-264	186	49	y	y	PROPN
alkej-264	186	50	)	)	PUNCT
alkej-264	186	51	xh	xh	PROPN
alkej-264	186	52	yh	yh	PROPN
alkej-264	186	53	xm	xm	PROPN
alkej-264	186	54	ymi	ymi	PROPN
alkej-264	186	55	.	.	PUNCT
alkej-264	187	1	the	the	DET
alkej-264	187	2	other	other	ADJ
alkej-264	187	3	sequences	sequence	NOUN
alkej-264	187	4	of	of	ADP
alkej-264	187	5	hexapod	hexapod	NOUN
alkej-264	187	6	gaits	gait	NOUN
alkej-264	187	7	types	type	NOUN
alkej-264	187	8	are	be	AUX
alkej-264	187	9	formulated	formulate	VERB
alkej-264	187	10	as	as	ADP
alkej-264	187	11	in	in	ADP
alkej-264	187	12	the	the	DET
alkej-264	187	13	above	above	ADJ
alkej-264	187	14	example	example	NOUN
alkej-264	187	15	and	and	CCONJ
alkej-264	187	16	according	accord	VERB
alkej-264	187	17	to	to	ADP
alkej-264	187	18	each	each	DET
alkej-264	187	19	gait	gait	NOUN
alkej-264	187	20	.	.	PUNCT
alkej-264	188	1	b.	b.	PROPN
alkej-264	188	2	fitness	fitness	PROPN
alkej-264	188	3	function	function	PROPN
alkej-264	188	4	:	:	PUNCT
alkej-264	188	5	the	the	DET
alkej-264	188	6	fitness	fitness	NOUN
alkej-264	188	7	function	function	NOUN
alkej-264	188	8	of	of	ADP
alkej-264	188	9	ga	ga	PROPN
alkej-264	188	10	is	be	AUX
alkej-264	188	11	used	use	VERB
alkej-264	188	12	as	as	ADP
alkej-264	188	13	minimization	minimization	NOUN
alkej-264	188	14	of	of	ADP
alkej-264	188	15	the	the	DET
alkej-264	188	16	cost	cost	NOUN
alkej-264	188	17	function	function	NOUN
alkej-264	188	18	(	(	PUNCT
alkej-264	188	19	stability	stability	NOUN
alkej-264	188	20	margins	margin	NOUN
alkej-264	188	21	)	)	PUNCT
alkej-264	188	22	as	as	SCONJ
alkej-264	188	23	derived	derive	VERB
alkej-264	188	24	previously	previously	ADV
alkej-264	188	25	,	,	PUNCT
alkej-264	188	26	where	where	SCONJ
alkej-264	188	27	each	each	DET
alkej-264	188	28	sm	sm	PROPN
alkej-264	188	29	=	=	SYM
alkej-264	188	30	min"h	min"h	ADJ
alkej-264	188	31	�	�	NOUN
alkej-264	188	32	,	,	PUNCT
alkej-264	188	33	h	h	NOUN
alkej-264	188	34	)	)	PUNCT
alkej-264	188	35	,	,	PUNCT
alkej-264	188	36	…	…	PUNCT
alkej-264	188	37	,	,	PUNCT
alkej-264	188	38	hh$	hh$	PROPN
alkej-264	188	39	and	and	CCONJ
alkej-264	188	40	the	the	DET
alkej-264	188	41	hi	hi	INTJ
alkej-264	188	42	defined	define	VERB
alkej-264	188	43	in	in	ADP
alkej-264	188	44	section	section	NOUN
alkej-264	188	45	(	(	PUNCT
alkej-264	188	46	4	4	NUM
alkej-264	188	47	)	)	PUNCT
alkej-264	188	48	.	.	PUNCT
alkej-264	189	1	for	for	ADP
alkej-264	189	2	example	example	NOUN
alkej-264	189	3	,	,	PUNCT
alkej-264	189	4	the	the	DET
alkej-264	189	5	fitness	fitness	NOUN
alkej-264	189	6	function	function	NOUN
alkej-264	189	7	of	of	ADP
alkej-264	189	8	tripod	tripod	NOUN
alkej-264	189	9	gait	gait	NOUN
alkej-264	189	10	equals	equal	VERB
alkej-264	189	11	to	to	PART
alkej-264	189	12	stability	stability	NOUN
alkej-264	189	13	margin	margin	NOUN
alkej-264	189	14	(	(	PUNCT
alkej-264	189	15	sm	sm	X
alkej-264	189	16	)	)	PUNCT
alkej-264	189	17	is	be	AUX
alkej-264	189	18	selected	select	VERB
alkej-264	189	19	according	accord	VERB
alkej-264	189	20	to	to	ADP
alkej-264	189	21	the	the	DET
alkej-264	189	22	each	each	DET
alkej-264	189	23	sequence	sequence	NOUN
alkej-264	189	24	of	of	ADP
alkej-264	189	25	each	each	DET
alkej-264	189	26	gait	gait	NOUN
alkej-264	189	27	such	such	ADJ
alkej-264	189	28	as	as	ADP
alkej-264	189	29	the	the	DET
alkej-264	189	30	eq	eq	NOUN
alkej-264	189	31	.	.	PROPN
alkej-264	189	32	18	18	NUM
alkej-264	189	33	the	the	DET
alkej-264	189	34	idea	idea	NOUN
alkej-264	189	35	of	of	ADP
alkej-264	189	36	proposed	propose	VERB
alkej-264	189	37	approach	approach	NOUN
alkej-264	189	38	is	be	AUX
alkej-264	189	39	different	different	ADJ
alkej-264	189	40	from	from	ADP
alkej-264	189	41	the	the	DET
alkej-264	189	42	approach	approach	NOUN
alkej-264	189	43	in	in	ADP
alkej-264	189	44	[	[	X
alkej-264	189	45	17	17	NUM
alkej-264	189	46	]	]	PUNCT
alkej-264	189	47	.	.	PUNCT
alkej-264	190	1	the	the	DET
alkej-264	190	2	difference	difference	NOUN
alkej-264	190	3	is	be	AUX
alkej-264	190	4	that	that	SCONJ
alkej-264	190	5	the	the	DET
alkej-264	190	6	researchers	researcher	NOUN
alkej-264	190	7	in	in	ADP
alkej-264	190	8	[	[	X
alkej-264	190	9	17	17	NUM
alkej-264	190	10	]	]	PUNCT
alkej-264	190	11	that	that	SCONJ
alkej-264	190	12	the	the	DET
alkej-264	190	13	minimum	minimum	PROPN
alkej-264	190	14	fitness	fitness	NOUN
alkej-264	190	15	stability	stability	NOUN
alkej-264	190	16	margin	margin	NOUN
alkej-264	190	17	is	be	AUX
alkej-264	190	18	squared	square	VERB
alkej-264	190	19	value	value	NOUN
alkej-264	190	20	(	(	PUNCT
alkej-264	190	21	fitness	fitness	NOUN
alkej-264	190	22	function	function	NOUN
alkej-264	190	23	=	=	SYM
alkej-264	190	24	sm2	sm2	NOUN
alkej-264	190	25	)	)	PUNCT
alkej-264	190	26	in	in	ADP
alkej-264	190	27	order	order	NOUN
alkej-264	190	28	to	to	PART
alkej-264	190	29	get	get	VERB
alkej-264	190	30	the	the	DET
alkej-264	190	31	high	high	ADJ
alkej-264	190	32	values	value	NOUN
alkej-264	190	33	of	of	ADP
alkej-264	190	34	stability	stability	NOUN
alkej-264	190	35	margin	margin	NOUN
alkej-264	190	36	(	(	PUNCT
alkej-264	190	37	sm	sm	NOUN
alkej-264	190	38	)	)	PUNCT
alkej-264	190	39	,	,	PUNCT
alkej-264	190	40	while	while	SCONJ
alkej-264	190	41	in	in	ADP
alkej-264	190	42	proposed	propose	VERB
alkej-264	190	43	work	work	NOUN
alkej-264	190	44	,	,	PUNCT
alkej-264	190	45	the	the	DET
alkej-264	190	46	minimum	minimum	ADJ
alkej-264	190	47	fitness	fitness	NOUN
alkej-264	190	48	stability	stability	NOUN
alkej-264	190	49	margin	margin	NOUN
alkej-264	190	50	is	be	AUX
alkej-264	190	51	(	(	PUNCT
alkej-264	190	52	fitness	fitness	NOUN
alkej-264	190	53	function	function	NOUN
alkej-264	190	54	=	=	SYM
alkej-264	190	55	sm	sm	NOUN
alkej-264	190	56	)	)	PUNCT
alkej-264	190	57	and	and	CCONJ
alkej-264	190	58	all	all	DET
alkej-264	190	59	values	value	NOUN
alkej-264	190	60	are	be	AUX
alkej-264	190	61	high	high	ADJ
alkej-264	190	62	and	and	CCONJ
alkej-264	190	63	within	within	ADP
alkej-264	190	64	the	the	DET
alkej-264	190	65	constraints	constraint	NOUN
alkej-264	190	66	of	of	ADP
alkej-264	190	67	legs	leg	NOUN
alkej-264	190	68	tips	tip	NOUN
alkej-264	190	69	without	without	ADP
alkej-264	190	70	need	need	NOUN
alkej-264	190	71	to	to	PART
alkej-264	190	72	square	square	VERB
alkej-264	190	73	the	the	DET
alkej-264	190	74	stability	stability	NOUN
alkej-264	190	75	margin	margin	NOUN
alkej-264	190	76	(	(	PUNCT
alkej-264	190	77	sm	sm	NOUN
alkej-264	190	78	)	)	PUNCT
alkej-264	190	79	.	.	PUNCT
alkej-264	191	1	all	all	DET
alkej-264	191	2	cases	case	NOUN
alkej-264	191	3	of	of	ADP
alkej-264	191	4	our	our	PRON
alkej-264	191	5	approach	approach	NOUN
alkej-264	191	6	results	result	NOUN
alkej-264	191	7	of	of	ADP
alkej-264	191	8	the	the	DET
alkej-264	191	9	stability	stability	NOUN
alkej-264	191	10	margin	margin	NOUN
alkej-264	191	11	are	be	AUX
alkej-264	191	12	within	within	ADP
alkej-264	191	13	the	the	DET
alkej-264	191	14	ranges	range	NOUN
alkej-264	191	15	of	of	ADP
alkej-264	191	16	stability	stability	NOUN
alkej-264	191	17	margins	margin	NOUN
alkej-264	191	18	from	from	ADP
alkej-264	191	19	modified	modified	ADJ
alkej-264	191	20	classical	classical	ADJ
alkej-264	191	21	analysis	analysis	NOUN
alkej-264	191	22	method	method	NOUN
alkej-264	191	23	.	.	PUNCT
alkej-264	192	1	in	in	ADP
alkej-264	192	2	the	the	DET
alkej-264	192	3	ga	ga	PROPN
alkej-264	192	4	,	,	PUNCT
alkej-264	192	5	the	the	DET
alkej-264	192	6	best	good	ADJ
alkej-264	192	7	stability	stability	NOUN
alkej-264	192	8	margins	margin	NOUN
alkej-264	192	9	are	be	AUX
alkej-264	192	10	evaluated	evaluate	VERB
alkej-264	192	11	while	while	SCONJ
alkej-264	192	12	in	in	ADP
alkej-264	192	13	the	the	DET
alkej-264	192	14	modified	modify	VERB
alkej-264	192	15	classical	classical	ADJ
alkej-264	192	16	approach	approach	NOUN
alkej-264	192	17	the	the	DET
alkej-264	192	18	ranges	range	NOUN
alkej-264	192	19	of	of	ADP
alkej-264	192	20	the	the	DET
alkej-264	192	21	stability	stability	NOUN
alkej-264	192	22	margins	margin	NOUN
alkej-264	192	23	are	be	AUX
alkej-264	192	24	obtained	obtain	VERB
alkej-264	192	25	.	.	PUNCT
alkej-264	193	1	the	the	DET
alkej-264	193	2	all	all	DET
alkej-264	193	3	cases	case	NOUN
alkej-264	193	4	of	of	ADP
alkej-264	193	5	the	the	DET
alkej-264	193	6	fitness	fitness	NOUN
alkej-264	193	7	equations	equation	NOUN
alkej-264	193	8	for	for	ADP
alkej-264	193	9	three	three	NUM
alkej-264	193	10	gaits	gait	NOUN
alkej-264	193	11	are	be	AUX
alkej-264	193	12	derived	derive	VERB
alkej-264	193	13	from	from	ADP
alkej-264	193	14	the	the	DET
alkej-264	193	15	modified	modify	VERB
alkej-264	193	16	classical	classical	ADJ
alkej-264	193	17	stability	stability	NOUN
alkej-264	193	18	method	method	NOUN
alkej-264	193	19	where	where	SCONJ
alkej-264	193	20	in	in	ADP
alkej-264	193	21	each	each	DET
alkej-264	193	22	sequence	sequence	NOUN
alkej-264	193	23	there	there	PRON
alkej-264	193	24	is	be	VERB
alkej-264	193	25	fitness	fitness	NOUN
alkej-264	193	26	function	function	NOUN
alkej-264	193	27	as	as	ADP
alkej-264	193	28	an	an	DET
alkej-264	193	29	example	example	NOUN
alkej-264	193	30	for	for	ADP
alkej-264	193	31	eq	eq	NOUN
alkej-264	193	32	.	.	PROPN
alkej-264	193	33	18	18	NUM
alkej-264	193	34	is	be	AUX
alkej-264	193	35	the	the	DET
alkej-264	193	36	fitness	fitness	NOUN
alkej-264	193	37	function	function	NOUN
alkej-264	193	38	of	of	ADP
alkej-264	193	39	tripod	tripod	NOUN
alkej-264	193	40	gait	gait	NOUN
alkej-264	193	41	for	for	ADP
alkej-264	193	42	the	the	DET
alkej-264	193	43	first	first	ADJ
alkej-264	193	44	sequence	sequence	NOUN
alkej-264	193	45	(	(	PUNCT
alkej-264	193	46	where	where	SCONJ
alkej-264	193	47	the	the	DET
alkej-264	193	48	robot	robot	NOUN
alkej-264	193	49	lifting	lift	VERB
alkej-264	193	50	legs	leg	NOUN
alkej-264	193	51	(	(	PUNCT
alkej-264	193	52	1	1	NUM
alkej-264	193	53	,	,	PUNCT
alkej-264	193	54	3	3	NUM
alkej-264	193	55	and	and	CCONJ
alkej-264	193	56	5	5	NUM
alkej-264	193	57	)	)	PUNCT
alkej-264	193	58	and	and	CCONJ
alkej-264	193	59	legs	leg	NOUN
alkej-264	193	60	(	(	PUNCT
alkej-264	193	61	2	2	NUM
alkej-264	193	62	,	,	PUNCT
alkej-264	193	63	4	4	NUM
alkej-264	193	64	and	and	CCONJ
alkej-264	193	65	6	6	NUM
alkej-264	193	66	)	)	PUNCT
alkej-264	193	67	are	be	AUX
alkej-264	193	68	on	on	ADP
alkej-264	193	69	the	the	DET
alkej-264	193	70	ground	ground	NOUN
alkej-264	193	71	)	)	PUNCT
alkej-264	193	72	.	.	PUNCT
alkej-264	194	1	c.	c.	PROPN
alkej-264	194	2	crossover	crossover	PROPN
alkej-264	194	3	operation	operation	NOUN
alkej-264	194	4	the	the	DET
alkej-264	194	5	main	main	ADJ
alkej-264	194	6	processing	processing	NOUN
alkej-264	194	7	of	of	ADP
alkej-264	194	8	crossover	crossover	NOUN
alkej-264	194	9	is	be	AUX
alkej-264	194	10	to	to	PART
alkej-264	194	11	get	get	VERB
alkej-264	194	12	two	two	NUM
alkej-264	194	13	parents	parent	NOUN
alkej-264	194	14	of	of	ADP
alkej-264	194	15	coordinates	coordinate	NOUN
alkej-264	194	16	of	of	ADP
alkej-264	194	17	leg	leg	NOUN
alkej-264	194	18	’s	’s	PART
alkej-264	194	19	tips	tip	NOUN
alkej-264	194	20	and	and	CCONJ
alkej-264	194	21	the	the	DET
alkej-264	194	22	center	center	NOUN
alkej-264	194	23	body	body	NOUN
alkej-264	194	24	coordinates	coordinate	NOUN
alkej-264	194	25	and	and	CCONJ
alkej-264	194	26	producing	produce	VERB
alkej-264	194	27	from	from	ADP
alkej-264	194	28	them	they	PRON
alkej-264	194	29	the	the	DET
alkej-264	194	30	children	child	NOUN
alkej-264	194	31	.	.	PUNCT
alkej-264	195	1	crossover	crossover	NOUN
alkej-264	195	2	operator	operator	NOUN
alkej-264	195	3	is	be	AUX
alkej-264	195	4	applied	apply	VERB
alkej-264	195	5	to	to	PART
alkej-264	195	6	produce	produce	VERB
alkej-264	195	7	a	a	DET
alkej-264	195	8	better	well	ADJ
alkej-264	195	9	offspring	offspring	NOUN
alkej-264	195	10	(	(	PUNCT
alkej-264	195	11	children	child	NOUN
alkej-264	195	12	)	)	PUNCT
alkej-264	195	13	.	.	PUNCT
alkej-264	196	1	d.	d.	PROPN
alkej-264	196	2	mutation	mutation	PROPN
alkej-264	196	3	operation	operation	NOUN
alkej-264	196	4	after	after	ADP
alkej-264	196	5	the	the	DET
alkej-264	196	6	crossover	crossover	NOUN
alkej-264	196	7	operation	operation	NOUN
alkej-264	196	8	,	,	PUNCT
alkej-264	196	9	the	the	DET
alkej-264	196	10	output	output	NOUN
alkej-264	196	11	string	string	NOUN
alkej-264	196	12	from	from	ADP
alkej-264	196	13	crossover	crossover	NOUN
alkej-264	196	14	is	be	AUX
alkej-264	196	15	subjected	subject	VERB
alkej-264	196	16	to	to	ADP
alkej-264	196	17	mutation	mutation	NOUN
alkej-264	196	18	process	process	NOUN
alkej-264	196	19	.	.	PUNCT
alkej-264	197	1	fig	fig	NOUN
alkej-264	197	2	.	.	PUNCT
alkej-264	198	1	7	7	X
alkej-264	198	2	.	.	NUM
alkej-264	198	3	proposed	propose	VERB
alkej-264	198	4	flowchart	flowchart	PROPN
alkej-264	198	5	of	of	ADP
alkej-264	198	6	ga	ga	PROPN
alkej-264	198	7	.	.	PROPN
alkej-264	198	8	7	7	X
alkej-264	198	9	.	.	X
alkej-264	198	10	flowchart	flowchart	NOUN
alkej-264	198	11	of	of	ADP
alkej-264	198	12	proposed	propose	VERB
alkej-264	198	13	genetic	genetic	ADJ
alkej-264	198	14	algorithm	algorithm	NOUN
alkej-264	198	15	after	after	SCONJ
alkej-264	198	16	complete	complete	VERB
alkej-264	198	17	the	the	DET
alkej-264	198	18	modified	modified	ADJ
alkej-264	198	19	classical	classical	ADJ
alkej-264	198	20	method	method	NOUN
alkej-264	198	21	,	,	PUNCT
alkej-264	198	22	below	below	ADV
alkej-264	198	23	will	will	AUX
alkej-264	198	24	describe	describe	VERB
alkej-264	198	25	the	the	DET
alkej-264	198	26	developed	develop	VERB
alkej-264	198	27	method	method	NOUN
alkej-264	198	28	using	use	VERB
alkej-264	198	29	genetic	genetic	ADJ
alkej-264	198	30	algorithm	algorithm	NOUN
alkej-264	198	31	.	.	PUNCT
alkej-264	199	1	in	in	ADP
alkej-264	199	2	the	the	DET
alkej-264	199	3	figure	figure	NOUN
alkej-264	199	4	7	7	NUM
alkej-264	199	5	shows	show	VERB
alkej-264	199	6	that	that	SCONJ
alkej-264	199	7	flowchart	flowchart	NOUN
alkej-264	199	8	of	of	ADP
alkej-264	199	9	proposed	propose	VERB
alkej-264	199	10	genetic	genetic	ADJ
alkej-264	199	11	algorithm	algorithm	NOUN
alkej-264	199	12	.	.	PUNCT
alkej-264	200	1	it	it	PRON
alkej-264	200	2	has	have	AUX
alkej-264	200	3	consists	consist	NOUN
alkej-264	200	4	of	of	ADP
alkej-264	200	5	steps	step	NOUN
alkej-264	200	6	where	where	SCONJ
alkej-264	200	7	described	describe	VERB
alkej-264	200	8	as	as	ADP
alkej-264	200	9	below	below	ADV
alkej-264	200	10	:	:	PUNCT
alkej-264	200	11	•	•	NUM
alkej-264	200	12	defined	define	VERB
alkej-264	200	13	the	the	DET
alkej-264	200	14	variables	variable	NOUN
alkej-264	200	15	which	which	PRON
alkej-264	200	16	determined	determine	VERB
alkej-264	200	17	the	the	DET
alkej-264	200	18	leg	leg	NOUN
alkej-264	200	19	’s	’s	PART
alkej-264	200	20	tip	tip	NOUN
alkej-264	200	21	of	of	ADP
alkej-264	200	22	hexapod	hexapod	NOUN
alkej-264	200	23	robot	robot	NOUN
alkej-264	200	24	(	(	PUNCT
alkej-264	200	25	chromosomes	chromosome	NOUN
alkej-264	200	26	)	)	PUNCT
alkej-264	200	27	.	.	PUNCT
alkej-264	201	1	•	•	NUM
alkej-264	201	2	generate	generate	VERB
alkej-264	201	3	the	the	DET
alkej-264	201	4	coordinates	coordinate	NOUN
alkej-264	201	5	of	of	ADP
alkej-264	201	6	leg	leg	NOUN
alkej-264	201	7	’s	’s	PART
alkej-264	201	8	tip	tip	NOUN
alkej-264	201	9	and	and	CCONJ
alkej-264	201	10	center	center	ADJ
alkej-264	201	11	point	point	NOUN
alkej-264	201	12	of	of	ADP
alkej-264	201	13	body	body	NOUN
alkej-264	201	14	(	(	PUNCT
alkej-264	201	15	chromosomes	chromosome	NOUN
alkej-264	201	16	)	)	PUNCT
alkej-264	201	17	.	.	PUNCT
alkej-264	202	1	•	•	NUM
alkej-264	202	2	find	find	VERB
alkej-264	202	3	the	the	DET
alkej-264	202	4	cost	cost	NOUN
alkej-264	202	5	function	function	NOUN
alkej-264	202	6	(	(	PUNCT
alkej-264	202	7	stability	stability	NOUN
alkej-264	202	8	margins	margin	VERB
alkej-264	202	9	equations	equation	NOUN
alkej-264	202	10	as	as	ADP
alkej-264	202	11	in	in	ADP
alkej-264	202	12	section	section	NOUN
alkej-264	202	13	(	(	PUNCT
alkej-264	202	14	4	4	NUM
alkej-264	202	15	)	)	PUNCT
alkej-264	202	16	to	to	PART
alkej-264	202	17	get	get	VERB
alkej-264	202	18	the	the	DET
alkej-264	202	19	best	good	ADJ
alkej-264	202	20	stability	stability	NOUN
alkej-264	202	21	margin	margin	NOUN
alkej-264	202	22	for	for	ADP
alkej-264	202	23	each	each	DET
alkej-264	202	24	sequence	sequence	NOUN
alkej-264	202	25	for	for	ADP
alkej-264	202	26	each	each	DET
alkej-264	202	27	gait	gait	NOUN
alkej-264	202	28	.	.	PUNCT
alkej-264	203	1	•	•	NUM
alkej-264	203	2	select	select	ADJ
alkej-264	203	3	mates	mate	NOUN
alkej-264	203	4	,	,	PUNCT
alkej-264	203	5	mating	mating	NOUN
alkej-264	203	6	,	,	PUNCT
alkej-264	203	7	and	and	CCONJ
alkej-264	203	8	mutation	mutation	NOUN
alkej-264	203	9	.	.	PUNCT
alkej-264	204	1	•	•	NUM
alkej-264	204	2	convergences	convergence	NOUN
alkej-264	204	3	condition	condition	NOUN
alkej-264	204	4	,	,	PUNCT
alkej-264	204	5	if	if	SCONJ
alkej-264	204	6	the	the	DET
alkej-264	204	7	generation	generation	NOUN
alkej-264	204	8	<	<	X
alkej-264	204	9	=	=	X
alkej-264	204	10	ng	ng	PROPN
alkej-264	204	11	(	(	PUNCT
alkej-264	204	12	100	100	NUM
alkej-264	204	13	generations	generation	NOUN
alkej-264	204	14	)	)	PUNCT
alkej-264	204	15	.	.	PUNCT
alkej-264	205	1	•	•	NUM
alkej-264	205	2	done	do	VERB
alkej-264	205	3	.	.	PUNCT
alkej-264	206	1	8	8	X
alkej-264	206	2	.	.	X
alkej-264	206	3	simulation	simulation	NOUN
alkej-264	206	4	results	result	VERB
alkej-264	206	5	the	the	DET
alkej-264	206	6	simulation	simulation	NOUN
alkej-264	206	7	results	result	NOUN
alkej-264	206	8	consist	consist	VERB
alkej-264	206	9	of	of	ADP
alkej-264	206	10	two	two	NUM
alkej-264	206	11	approaches	approach	NOUN
alkej-264	206	12	where	where	SCONJ
alkej-264	206	13	illustrated	illustrate	VERB
alkej-264	206	14	as	as	ADP
alkej-264	206	15	below	below	ADV
alkej-264	206	16	:	:	PUNCT
alkej-264	206	17	firas	firas	PROPN
alkej-264	206	18	a.	a.	PROPN
alkej-264	206	19	raheem	raheem	PROPN
alkej-264	207	1	al	al	PROPN
alkej-264	207	2	-	-	PUNCT
alkej-264	207	3	khwarizmi	khwarizmi	PROPN
alkej-264	207	4	engineering	engineering	NOUN
alkej-264	207	5	journal	journal	PROPN
alkej-264	207	6	,	,	PUNCT
alkej-264	207	7	vol	vol	NOUN
alkej-264	207	8	.	.	PROPN
alkej-264	207	9	11	11	NUM
alkej-264	207	10	,	,	PUNCT
alkej-264	207	11	no	no	INTJ
alkej-264	207	12	.	.	NOUN
alkej-264	207	13	4	4	NUM
alkej-264	207	14	,	,	PUNCT
alkej-264	207	15	p.p	p.p	PROPN
alkej-264	207	16	.	.	NOUN
alkej-264	207	17	4459	4459	NUM
alkej-264	207	18	(	(	PUNCT
alkej-264	207	19	2015	2015	NUM
alkej-264	207	20	)	)	PUNCT
alkej-264	207	21	51	51	NUM
alkej-264	207	22	8.1	8.1	NUM
alkej-264	207	23	.	.	PUNCT
alkej-264	208	1	the	the	DET
alkej-264	208	2	modified	modify	VERB
alkej-264	208	3	classical	classical	ADJ
alkej-264	208	4	stability	stability	NOUN
alkej-264	208	5	margins	margin	VERB
alkej-264	208	6	analysis	analysis	NOUN
alkej-264	208	7	of	of	ADP
alkej-264	208	8	the	the	DET
alkej-264	208	9	stability	stability	NOUN
alkej-264	208	10	margins	margin	VERB
alkej-264	208	11	above	above	ADV
alkej-264	208	12	for	for	ADP
alkej-264	208	13	three	three	NUM
alkej-264	208	14	gaits	gait	NOUN
alkej-264	208	15	(	(	PUNCT
alkej-264	208	16	ripple	ripple	ADJ
alkej-264	208	17	,	,	PUNCT
alkej-264	208	18	wave	wave	NOUN
alkej-264	208	19	and	and	CCONJ
alkej-264	208	20	tripod	tripod	NOUN
alkej-264	208	21	)	)	PUNCT
alkej-264	208	22	are	be	AUX
alkej-264	208	23	simulated	simulate	VERB
alkej-264	208	24	for	for	ADP
alkej-264	208	25	each	each	DET
alkej-264	208	26	gait	gait	NOUN
alkej-264	208	27	within	within	ADP
alkej-264	208	28	the	the	DET
alkej-264	208	29	steps	step	NOUN
alkej-264	208	30	as	as	ADP
alkej-264	208	31	below	below	ADV
alkej-264	208	32	:	:	PUNCT
alkej-264	208	33	athe	athe	PROPN
alkej-264	208	34	wave	wave	PROPN
alkej-264	208	35	gait	gait	PROPN
alkej-264	208	36	cases	case	NOUN
alkej-264	208	37	1	1	NUM
alkej-264	208	38	2	2	NUM
alkej-264	208	39	3	3	NUM
alkej-264	208	40	4	4	NUM
alkej-264	208	41	5	5	NUM
alkej-264	208	42	6	6	NUM
alkej-264	208	43	fig	fig	NOUN
alkej-264	208	44	.	.	PUNCT
alkej-264	209	1	8	8	NUM
alkej-264	209	2	.	.	PUNCT
alkej-264	210	1	the	the	DET
alkej-264	210	2	configuration	configuration	NOUN
alkej-264	210	3	of	of	ADP
alkej-264	210	4	hexapod	hexapod	NOUN
alkej-264	210	5	robot	robot	NOUN
alkej-264	210	6	’s	’s	PART
alkej-264	210	7	leg	leg	NOUN
alkej-264	210	8	of	of	ADP
alkej-264	210	9	sequences	sequence	NOUN
alkej-264	210	10	of	of	ADP
alkej-264	210	11	wave	wave	NOUN
alkej-264	210	12	gait	gait	PROPN
alkej-264	210	13	.	.	PUNCT
alkej-264	211	1	firas	firas	PROPN
alkej-264	211	2	a.	a.	PROPN
alkej-264	211	3	raheem	raheem	PROPN
alkej-264	211	4	al	al	PROPN
alkej-264	211	5	-	-	PUNCT
alkej-264	211	6	khwarizmi	khwarizmi	PROPN
alkej-264	211	7	engineering	engineering	NOUN
alkej-264	211	8	journal	journal	PROPN
alkej-264	211	9	,	,	PUNCT
alkej-264	211	10	vol	vol	NOUN
alkej-264	211	11	.	.	PROPN
alkej-264	211	12	11	11	NUM
alkej-264	211	13	,	,	PUNCT
alkej-264	211	14	no	no	INTJ
alkej-264	211	15	.	.	NOUN
alkej-264	211	16	4	4	NUM
alkej-264	211	17	,	,	PUNCT
alkej-264	211	18	p.p	p.p	PROPN
alkej-264	211	19	.	.	NOUN
alkej-264	211	20	4459	4459	NUM
alkej-264	211	21	(	(	PUNCT
alkej-264	211	22	2015	2015	NUM
alkej-264	211	23	)	)	PUNCT
alkej-264	211	24	52	52	NUM
alkej-264	211	25	bthe	bthe	DET
alkej-264	211	26	ripple	ripple	ADJ
alkej-264	211	27	gait	gait	PROPN
alkej-264	211	28	cases	case	NOUN
alkej-264	211	29	1	1	NUM
alkej-264	211	30	2	2	NUM
alkej-264	211	31	3	3	NUM
alkej-264	211	32	4	4	NUM
alkej-264	211	33	fig	fig	NOUN
alkej-264	211	34	.	.	PUNCT
alkej-264	212	1	9	9	X
alkej-264	212	2	.	.	X
alkej-264	213	1	the	the	DET
alkej-264	213	2	configuration	configuration	NOUN
alkej-264	213	3	of	of	ADP
alkej-264	213	4	hexapod	hexapod	NOUN
alkej-264	213	5	robot	robot	NOUN
alkej-264	213	6	’s	’s	PART
alkej-264	213	7	leg	leg	NOUN
alkej-264	213	8	of	of	ADP
alkej-264	213	9	sequences	sequence	NOUN
alkej-264	213	10	of	of	ADP
alkej-264	213	11	ripple	ripple	ADJ
alkej-264	213	12	gait	gait	NOUN
alkej-264	213	13	.	.	PUNCT
alkej-264	214	1	cthe	cthe	ADJ
alkej-264	214	2	tripod	tripod	NOUN
alkej-264	214	3	gait	gait	NOUN
alkej-264	214	4	cases	case	NOUN
alkej-264	214	5	1	1	NUM
alkej-264	214	6	2	2	NUM
alkej-264	214	7	fig	fig	NOUN
alkej-264	214	8	.	.	PUNCT
alkej-264	215	1	10	10	NUM
alkej-264	215	2	.	.	PUNCT
alkej-264	216	1	the	the	DET
alkej-264	216	2	configuration	configuration	NOUN
alkej-264	216	3	of	of	ADP
alkej-264	216	4	hexapod	hexapod	NOUN
alkej-264	216	5	robot	robot	NOUN
alkej-264	216	6	’s	’s	PART
alkej-264	216	7	leg	leg	NOUN
alkej-264	216	8	of	of	ADP
alkej-264	216	9	sequences	sequence	NOUN
alkej-264	216	10	of	of	ADP
alkej-264	216	11	tripod	tripod	NOUN
alkej-264	216	12	gait	gait	NOUN
alkej-264	216	13	.	.	PUNCT
alkej-264	217	1	the	the	DET
alkej-264	217	2	figures	figure	NOUN
alkej-264	217	3	(	(	PUNCT
alkej-264	217	4	8	8	NUM
alkej-264	217	5	-	-	SYM
alkej-264	217	6	10	10	NUM
alkej-264	217	7	)	)	PUNCT
alkej-264	217	8	show	show	VERB
alkej-264	217	9	that	that	SCONJ
alkej-264	217	10	the	the	DET
alkej-264	217	11	configurations	configuration	NOUN
alkej-264	217	12	of	of	ADP
alkej-264	217	13	hexapod	hexapod	NOUN
alkej-264	217	14	robot	robot	NOUN
alkej-264	217	15	’s	’s	PART
alkej-264	217	16	legs	leg	NOUN
alkej-264	217	17	for	for	ADP
alkej-264	217	18	three	three	NUM
alkej-264	217	19	gaits	gait	NOUN
alkej-264	217	20	.	.	PUNCT
alkej-264	218	1	the	the	DET
alkej-264	218	2	yellow	yellow	ADJ
alkej-264	218	3	lines	line	NOUN
alkej-264	218	4	indicated	indicate	VERB
alkej-264	218	5	to	to	ADP
alkej-264	218	6	the	the	DET
alkej-264	218	7	support	support	NOUN
alkej-264	218	8	patterns	pattern	NOUN
alkej-264	218	9	.	.	PUNCT
alkej-264	219	1	from	from	ADP
alkej-264	219	2	support	support	NOUN
alkej-264	219	3	patterns	pattern	NOUN
alkej-264	219	4	the	the	DET
alkej-264	219	5	(	(	PUNCT
alkej-264	219	6	sm	sm	NOUN
alkej-264	219	7	)	)	PUNCT
alkej-264	219	8	is	be	AUX
alkej-264	219	9	evaluated	evaluate	VERB
alkej-264	219	10	for	for	ADP
alkej-264	219	11	each	each	DET
alkej-264	219	12	sequence	sequence	NOUN
alkej-264	219	13	in	in	ADP
alkej-264	219	14	every	every	DET
alkej-264	219	15	gait	gait	NOUN
alkej-264	219	16	and	and	CCONJ
alkej-264	219	17	the	the	DET
alkej-264	219	18	simulation	simulation	NOUN
alkej-264	219	19	results	result	NOUN
alkej-264	219	20	of	of	ADP
alkej-264	219	21	all	all	DET
alkej-264	219	22	stability	stability	NOUN
alkej-264	219	23	margins	margin	NOUN
alkej-264	219	24	are	be	AUX
alkej-264	219	25	described	describe	VERB
alkej-264	219	26	in	in	ADP
alkej-264	219	27	simulations	simulation	NOUN
alkej-264	219	28	below	below	ADP
alkej-264	219	29	:	:	PUNCT
alkej-264	220	1	firas	firas	PROPN
alkej-264	220	2	a.	a.	PROPN
alkej-264	220	3	raheem	raheem	PROPN
alkej-264	220	4	al	al	PROPN
alkej-264	220	5	-	-	PUNCT
alkej-264	220	6	khwarizmi	khwarizmi	PROPN
alkej-264	220	7	engineering	engineering	NOUN
alkej-264	220	8	journal	journal	PROPN
alkej-264	220	9	,	,	PUNCT
alkej-264	220	10	vol	vol	NOUN
alkej-264	220	11	.	.	PROPN
alkej-264	220	12	11	11	NUM
alkej-264	220	13	,	,	PUNCT
alkej-264	220	14	no	no	INTJ
alkej-264	220	15	.	.	NOUN
alkej-264	220	16	4	4	NUM
alkej-264	220	17	,	,	PUNCT
alkej-264	220	18	p.p	p.p	PROPN
alkej-264	220	19	.	.	NOUN
alkej-264	220	20	4459	4459	NUM
alkej-264	220	21	(	(	PUNCT
alkej-264	220	22	2015	2015	NUM
alkej-264	220	23	)	)	PUNCT
alkej-264	220	24	53	53	NUM
alkej-264	220	25	(	(	PUNCT
alkej-264	220	26	a	a	NOUN
alkej-264	220	27	)	)	PUNCT
alkej-264	220	28	(	(	PUNCT
alkej-264	220	29	b	b	X
alkej-264	220	30	)	)	PUNCT
alkej-264	220	31	firas	firas	PROPN
alkej-264	220	32	a.	a.	PROPN
alkej-264	220	33	raheem	raheem	PROPN
alkej-264	221	1	al	al	PROPN
alkej-264	221	2	-	-	PUNCT
alkej-264	221	3	khwarizmi	khwarizmi	PROPN
alkej-264	221	4	engineering	engineering	NOUN
alkej-264	221	5	journal	journal	PROPN
alkej-264	221	6	,	,	PUNCT
alkej-264	221	7	vol	vol	NOUN
alkej-264	221	8	.	.	PROPN
alkej-264	221	9	11	11	NUM
alkej-264	221	10	,	,	PUNCT
alkej-264	221	11	no	no	INTJ
alkej-264	221	12	.	.	NOUN
alkej-264	221	13	4	4	NUM
alkej-264	221	14	,	,	PUNCT
alkej-264	221	15	p.p	p.p	PROPN
alkej-264	221	16	.	.	NOUN
alkej-264	221	17	4459	4459	NUM
alkej-264	221	18	(	(	PUNCT
alkej-264	221	19	2015	2015	NUM
alkej-264	221	20	)	)	PUNCT
alkej-264	221	21	54	54	NUM
alkej-264	221	22	(	(	PUNCT
alkej-264	221	23	c	c	NOUN
alkej-264	221	24	)	)	PUNCT
alkej-264	221	25	fig	fig	NOUN
alkej-264	221	26	.	.	PUNCT
alkej-264	222	1	11	11	NUM
alkej-264	222	2	.	.	X
alkej-264	223	1	minimum	minimum	ADJ
alkej-264	223	2	and	and	CCONJ
alkej-264	223	3	maximum	maximum	ADJ
alkej-264	223	4	stability	stability	NOUN
alkej-264	223	5	margins	margin	NOUN
alkej-264	223	6	for	for	ADP
alkej-264	223	7	,	,	PUNCT
alkej-264	223	8	(	(	PUNCT
alkej-264	223	9	a	a	X
alkej-264	223	10	)	)	PUNCT
alkej-264	223	11	ripple	ripple	NOUN
alkej-264	223	12	gait	gait	NOUN
alkej-264	223	13	,	,	PUNCT
alkej-264	223	14	(	(	PUNCT
alkej-264	223	15	b	b	X
alkej-264	223	16	)	)	PUNCT
alkej-264	223	17	tripod	tripod	NOUN
alkej-264	223	18	gait	gait	NOUN
alkej-264	223	19	,	,	PUNCT
alkej-264	223	20	and	and	CCONJ
alkej-264	223	21	(	(	PUNCT
alkej-264	223	22	c	c	NOUN
alkej-264	223	23	)	)	PUNCT
alkej-264	223	24	wave	wave	NOUN
alkej-264	223	25	gait	gait	NOUN
alkej-264	223	26	.	.	PUNCT
alkej-264	224	1	in	in	ADP
alkej-264	224	2	figure	figure	NOUN
alkej-264	224	3	11	11	NUM
alkej-264	224	4	shows	show	VERB
alkej-264	224	5	that	that	SCONJ
alkej-264	224	6	the	the	DET
alkej-264	224	7	stable	stable	ADJ
alkej-264	224	8	range	range	NOUN
alkej-264	224	9	of	of	ADP
alkej-264	224	10	stability	stability	NOUN
alkej-264	224	11	margins	margin	NOUN
alkej-264	224	12	for	for	ADP
alkej-264	224	13	three	three	NUM
alkej-264	224	14	gaits	gait	NOUN
alkej-264	224	15	and	and	CCONJ
alkej-264	224	16	these	these	DET
alkej-264	224	17	values	value	NOUN
alkej-264	224	18	are	be	AUX
alkej-264	224	19	considered	consider	VERB
alkej-264	224	20	the	the	DET
alkej-264	224	21	constraints	constraint	NOUN
alkej-264	224	22	to	to	ADP
alkej-264	224	23	the	the	DET
alkej-264	224	24	genetic	genetic	ADJ
alkej-264	224	25	algorithm	algorithm	NOUN
alkej-264	224	26	of	of	ADP
alkej-264	224	27	our	our	PRON
alkej-264	224	28	proposed	propose	VERB
alkej-264	224	29	work	work	NOUN
alkej-264	224	30	.	.	PUNCT
alkej-264	225	1	8.2	8.2	NUM
alkej-264	225	2	.	.	PUNCT
alkej-264	226	1	best	good	ADJ
alkej-264	226	2	stability	stability	NOUN
alkej-264	226	3	margins	margin	NOUN
alkej-264	226	4	using	use	VERB
alkej-264	226	5	genetic	genetic	ADJ
alkej-264	226	6	algorithm	algorithm	NOUN
alkej-264	226	7	from	from	ADP
alkej-264	226	8	the	the	DET
alkej-264	226	9	study	study	NOUN
alkej-264	226	10	in	in	ADP
alkej-264	226	11	the	the	DET
alkej-264	226	12	section	section	NOUN
alkej-264	226	13	(	(	PUNCT
alkej-264	226	14	4	4	NUM
alkej-264	226	15	)	)	PUNCT
alkej-264	226	16	,	,	PUNCT
alkej-264	226	17	the	the	DET
alkej-264	226	18	results	result	NOUN
alkej-264	226	19	of	of	ADP
alkej-264	226	20	best	good	ADJ
alkej-264	226	21	stability	stability	NOUN
alkej-264	226	22	margins	margin	NOUN
alkej-264	226	23	are	be	AUX
alkej-264	226	24	shown	show	VERB
alkej-264	226	25	in	in	ADP
alkej-264	226	26	below	below	ADV
alkej-264	226	27	:	:	PUNCT
alkej-264	226	28	fig	fig	NOUN
alkej-264	226	29	.	.	PUNCT
alkej-264	227	1	12	12	NUM
alkej-264	227	2	.	.	PUNCT
alkej-264	228	1	the	the	DET
alkej-264	228	2	best	good	ADJ
alkej-264	228	3	fitness	fitness	NOUN
alkej-264	228	4	value	value	NOUN
alkej-264	228	5	for	for	ADP
alkej-264	228	6	tripod	tripod	NOUN
alkej-264	228	7	gait	gait	NOUN
alkej-264	228	8	when	when	SCONJ
alkej-264	228	9	the	the	DET
alkej-264	228	10	legs	leg	NOUN
alkej-264	228	11	(	(	PUNCT
alkej-264	228	12	2	2	NUM
alkej-264	228	13	,	,	PUNCT
alkej-264	228	14	6	6	NUM
alkej-264	228	15	,	,	PUNCT
alkej-264	228	16	and	and	CCONJ
alkej-264	228	17	4	4	X
alkej-264	228	18	)	)	PUNCT
alkej-264	228	19	are	be	AUX
alkej-264	228	20	on	on	ADP
alkej-264	228	21	the	the	DET
alkej-264	228	22	ground	ground	NOUN
alkej-264	228	23	and	and	CCONJ
alkej-264	228	24	lifting	lift	VERB
alkej-264	228	25	legs	leg	NOUN
alkej-264	228	26	(	(	PUNCT
alkej-264	228	27	1	1	NUM
alkej-264	228	28	,	,	PUNCT
alkej-264	228	29	3	3	NUM
alkej-264	228	30	and	and	CCONJ
alkej-264	228	31	5	5	NUM
alkej-264	228	32	)	)	PUNCT
alkej-264	228	33	.	.	PUNCT
alkej-264	229	1	fig	fig	NOUN
alkej-264	229	2	.	.	PUNCT
alkej-264	230	1	13	13	NUM
alkej-264	230	2	.	.	PUNCT
alkej-264	231	1	the	the	DET
alkej-264	231	2	best	good	ADJ
alkej-264	231	3	fitness	fitness	NOUN
alkej-264	231	4	value	value	NOUN
alkej-264	231	5	for	for	ADP
alkej-264	231	6	tripod	tripod	NOUN
alkej-264	231	7	gait	gait	NOUN
alkej-264	231	8	when	when	SCONJ
alkej-264	231	9	the	the	DET
alkej-264	231	10	legs	leg	NOUN
alkej-264	231	11	(	(	PUNCT
alkej-264	231	12	1	1	NUM
alkej-264	231	13	,	,	PUNCT
alkej-264	231	14	3	3	NUM
alkej-264	231	15	and	and	CCONJ
alkej-264	231	16	5	5	NUM
alkej-264	231	17	)	)	PUNCT
alkej-264	231	18	are	be	AUX
alkej-264	231	19	on	on	ADP
alkej-264	231	20	the	the	DET
alkej-264	231	21	ground	ground	NOUN
alkej-264	231	22	and	and	CCONJ
alkej-264	231	23	lifting	lift	VERB
alkej-264	231	24	legs	leg	NOUN
alkej-264	231	25	(	(	PUNCT
alkej-264	231	26	2	2	NUM
alkej-264	231	27	,	,	PUNCT
alkej-264	231	28	6	6	NUM
alkej-264	231	29	and	and	CCONJ
alkej-264	231	30	4	4	NUM
alkej-264	231	31	)	)	PUNCT
alkej-264	231	32	.	.	PUNCT
alkej-264	232	1	0	0	NUM
alkej-264	233	1	10	10	NUM
alkej-264	233	2	20	20	NUM
alkej-264	233	3	30	30	NUM
alkej-264	233	4	40	40	NUM
alkej-264	233	5	50	50	NUM
alkej-264	233	6	60	60	NUM
alkej-264	233	7	70	70	NUM
alkej-264	233	8	80	80	NUM
alkej-264	233	9	90	90	NUM
alkej-264	233	10	100	100	NUM
alkej-264	233	11	3.935	3.935	NUM
alkej-264	233	12	3.936	3.936	NUM
alkej-264	233	13	3.937	3.937	NUM
alkej-264	233	14	3.938	3.938	NUM
alkej-264	233	15	3.939	3.939	NUM
alkej-264	233	16	generation	generation	NOUN
alkej-264	233	17	f	f	NOUN
alkej-264	233	18	itn	itn	NOUN
alkej-264	233	19	es	es	X
alkej-264	233	20	s	s	PROPN
alkej-264	233	21	va	va	PROPN
alkej-264	233	22	lu	lu	PROPN
alkej-264	233	23	e	e	PROPN
alkej-264	233	24	best	good	ADJ
alkej-264	233	25	fitness	fitness	NOUN
alkej-264	233	26	:	:	PUNCT
alkej-264	233	27	3.9356	3.9356	NUM
alkej-264	233	28	average	average	ADJ
alkej-264	233	29	distance	distance	NOUN
alkej-264	233	30	between	between	ADP
alkej-264	233	31	individuals	individual	NOUN
alkej-264	233	32	best	good	ADJ
alkej-264	233	33	f	f	X
alkej-264	233	34	itness	itness	NOUN
alkej-264	233	35	0	0	NUM
alkej-264	234	1	10	10	NUM
alkej-264	234	2	20	20	NUM
alkej-264	234	3	30	30	NUM
alkej-264	234	4	40	40	NUM
alkej-264	234	5	50	50	NUM
alkej-264	234	6	60	60	NUM
alkej-264	234	7	70	70	NUM
alkej-264	234	8	80	80	NUM
alkej-264	234	9	90	90	NUM
alkej-264	234	10	100	100	NUM
alkej-264	234	11	5.1	5.1	NUM
alkej-264	234	12	5.2	5.2	NUM
alkej-264	234	13	5.3	5.3	NUM
alkej-264	234	14	5.4	5.4	NUM
alkej-264	234	15	generation	generation	NOUN
alkej-264	234	16	f	f	NOUN
alkej-264	234	17	itn	itn	NOUN
alkej-264	234	18	es	es	X
alkej-264	234	19	s	s	PROPN
alkej-264	234	20	va	va	PROPN
alkej-264	234	21	lu	lu	PROPN
alkej-264	234	22	e	e	PROPN
alkej-264	234	23	best	good	ADJ
alkej-264	234	24	fitness	fitness	NOUN
alkej-264	234	25	:	:	PUNCT
alkej-264	234	26	5.1304	5.1304	NUM
alkej-264	234	27	average	average	ADJ
alkej-264	234	28	distance	distance	NOUN
alkej-264	234	29	between	between	ADP
alkej-264	234	30	individuals	individual	NOUN
alkej-264	234	31	best	good	ADJ
alkej-264	234	32	fitness	fitness	PROPN
alkej-264	234	33	firas	firas	PROPN
alkej-264	234	34	a.	a.	PROPN
alkej-264	234	35	raheem	raheem	PROPN
alkej-264	234	36	al	al	PROPN
alkej-264	234	37	-	-	PUNCT
alkej-264	234	38	khwarizmi	khwarizmi	PROPN
alkej-264	234	39	engineering	engineering	NOUN
alkej-264	234	40	journal	journal	PROPN
alkej-264	234	41	,	,	PUNCT
alkej-264	234	42	vol	vol	NOUN
alkej-264	234	43	.	.	PROPN
alkej-264	234	44	11	11	NUM
alkej-264	234	45	,	,	PUNCT
alkej-264	234	46	no	no	INTJ
alkej-264	234	47	.	.	NOUN
alkej-264	234	48	4	4	NUM
alkej-264	234	49	,	,	PUNCT
alkej-264	234	50	p.p	p.p	PROPN
alkej-264	234	51	.	.	NOUN
alkej-264	234	52	4459	4459	NUM
alkej-264	234	53	(	(	PUNCT
alkej-264	234	54	2015	2015	NUM
alkej-264	234	55	)	)	PUNCT
alkej-264	234	56	55	55	NUM
alkej-264	234	57	fig	fig	NOUN
alkej-264	234	58	.	.	PUNCT
alkej-264	235	1	14	14	NUM
alkej-264	235	2	.	.	PUNCT
alkej-264	236	1	the	the	DET
alkej-264	236	2	best	good	ADJ
alkej-264	236	3	fitness	fitness	NOUN
alkej-264	236	4	value	value	NOUN
alkej-264	236	5	for	for	ADP
alkej-264	236	6	ripple	ripple	ADJ
alkej-264	236	7	gait	gait	NOUN
alkej-264	236	8	when	when	SCONJ
alkej-264	236	9	the	the	DET
alkej-264	236	10	legs	leg	NOUN
alkej-264	236	11	(	(	PUNCT
alkej-264	236	12	2	2	NUM
alkej-264	236	13	,	,	PUNCT
alkej-264	236	14	3	3	NUM
alkej-264	236	15	,	,	PUNCT
alkej-264	236	16	5	5	NUM
alkej-264	236	17	,	,	PUNCT
alkej-264	236	18	and	and	CCONJ
alkej-264	236	19	4	4	X
alkej-264	236	20	)	)	PUNCT
alkej-264	236	21	are	be	AUX
alkej-264	236	22	on	on	ADP
alkej-264	236	23	the	the	DET
alkej-264	236	24	ground	ground	NOUN
alkej-264	236	25	and	and	CCONJ
alkej-264	236	26	lifting	lift	VERB
alkej-264	236	27	legs	leg	NOUN
alkej-264	236	28	(	(	PUNCT
alkej-264	236	29	1	1	NUM
alkej-264	236	30	,	,	PUNCT
alkej-264	236	31	and	and	CCONJ
alkej-264	236	32	6	6	NUM
alkej-264	236	33	)	)	PUNCT
alkej-264	236	34	.	.	PUNCT
alkej-264	237	1	fig	fig	NOUN
alkej-264	237	2	.	.	PUNCT
alkej-264	238	1	15	15	NUM
alkej-264	238	2	.	.	PUNCT
alkej-264	239	1	the	the	DET
alkej-264	239	2	best	good	ADJ
alkej-264	239	3	fitness	fitness	NOUN
alkej-264	239	4	value	value	NOUN
alkej-264	239	5	for	for	ADP
alkej-264	239	6	ripple	ripple	ADJ
alkej-264	239	7	gait	gait	NOUN
alkej-264	239	8	when	when	SCONJ
alkej-264	239	9	the	the	DET
alkej-264	239	10	legs	leg	NOUN
alkej-264	239	11	(	(	PUNCT
alkej-264	239	12	4	4	NUM
alkej-264	239	13	,	,	PUNCT
alkej-264	239	14	1	1	NUM
alkej-264	239	15	,	,	PUNCT
alkej-264	239	16	2	2	NUM
alkej-264	239	17	,	,	PUNCT
alkej-264	239	18	3	3	NUM
alkej-264	239	19	and	and	CCONJ
alkej-264	239	20	6	6	NUM
alkej-264	239	21	)	)	PUNCT
alkej-264	239	22	on	on	ADP
alkej-264	239	23	the	the	DET
alkej-264	239	24	ground	ground	NOUN
alkej-264	239	25	and	and	CCONJ
alkej-264	239	26	lifting	lifting	NOUN
alkej-264	239	27	leg	leg	NOUN
alkej-264	239	28	(	(	PUNCT
alkej-264	239	29	5	5	NUM
alkej-264	239	30	)	)	PUNCT
alkej-264	239	31	.	.	PUNCT
alkej-264	240	1	fig	fig	NOUN
alkej-264	240	2	.	.	PUNCT
alkej-264	241	1	16	16	NUM
alkej-264	241	2	.	.	PUNCT
alkej-264	242	1	best	good	ADJ
alkej-264	242	2	fitness	fitness	NOUN
alkej-264	242	3	value	value	NOUN
alkej-264	242	4	for	for	ADP
alkej-264	242	5	ripple	ripple	ADJ
alkej-264	242	6	gait	gait	NOUN
alkej-264	242	7	when	when	SCONJ
alkej-264	242	8	the	the	DET
alkej-264	242	9	legs	leg	NOUN
alkej-264	242	10	(	(	PUNCT
alkej-264	242	11	1,2,3,6	1,2,3,6	NUM
alkej-264	242	12	and	and	CCONJ
alkej-264	242	13	5	5	NUM
alkej-264	242	14	)	)	PUNCT
alkej-264	242	15	on	on	ADP
alkej-264	242	16	the	the	DET
alkej-264	242	17	ground	ground	NOUN
alkej-264	242	18	and	and	CCONJ
alkej-264	242	19	lifting	lifting	NOUN
alkej-264	242	20	leg	leg	NOUN
alkej-264	242	21	(	(	PUNCT
alkej-264	242	22	3	3	NUM
alkej-264	242	23	and	and	CCONJ
alkej-264	242	24	4	4	NUM
alkej-264	242	25	)	)	PUNCT
alkej-264	242	26	.	.	PUNCT
alkej-264	243	1	fig	fig	NOUN
alkej-264	243	2	.	.	PUNCT
alkej-264	244	1	17	17	NUM
alkej-264	244	2	.	.	PUNCT
alkej-264	245	1	the	the	DET
alkej-264	245	2	best	good	ADJ
alkej-264	245	3	fitness	fitness	NOUN
alkej-264	245	4	value	value	NOUN
alkej-264	245	5	for	for	ADP
alkej-264	245	6	ripple	ripple	ADJ
alkej-264	245	7	gait	gait	NOUN
alkej-264	245	8	when	when	SCONJ
alkej-264	245	9	the	the	DET
alkej-264	245	10	legs	leg	NOUN
alkej-264	245	11	(	(	PUNCT
alkej-264	245	12	1	1	NUM
alkej-264	245	13	,	,	PUNCT
alkej-264	245	14	3	3	NUM
alkej-264	245	15	,	,	PUNCT
alkej-264	245	16	6	6	NUM
alkej-264	245	17	,	,	PUNCT
alkej-264	245	18	5	5	NUM
alkej-264	245	19	and	and	CCONJ
alkej-264	245	20	4	4	NUM
alkej-264	245	21	)	)	PUNCT
alkej-264	245	22	on	on	ADP
alkej-264	245	23	the	the	DET
alkej-264	245	24	ground	ground	NOUN
alkej-264	245	25	and	and	CCONJ
alkej-264	245	26	lifting	lifting	NOUN
alkej-264	245	27	leg	leg	NOUN
alkej-264	245	28	(	(	PUNCT
alkej-264	245	29	2	2	NUM
alkej-264	245	30	)	)	PUNCT
alkej-264	245	31	.	.	PUNCT
alkej-264	246	1	fig	fig	NOUN
alkej-264	246	2	.	.	PUNCT
alkej-264	247	1	18	18	NUM
alkej-264	247	2	.	.	PUNCT
alkej-264	248	1	the	the	DET
alkej-264	248	2	best	good	ADJ
alkej-264	248	3	fitness	fitness	NOUN
alkej-264	248	4	value	value	NOUN
alkej-264	248	5	for	for	ADP
alkej-264	248	6	wave	wave	NOUN
alkej-264	248	7	gait	gait	NOUN
alkej-264	248	8	when	when	SCONJ
alkej-264	248	9	the	the	DET
alkej-264	248	10	legs	leg	NOUN
alkej-264	248	11	(	(	PUNCT
alkej-264	248	12	2	2	NUM
alkej-264	248	13	,	,	PUNCT
alkej-264	248	14	3	3	NUM
alkej-264	248	15	,	,	PUNCT
alkej-264	248	16	6	6	NUM
alkej-264	248	17	,	,	PUNCT
alkej-264	248	18	5	5	NUM
alkej-264	248	19	and	and	CCONJ
alkej-264	248	20	4	4	NUM
alkej-264	248	21	)	)	PUNCT
alkej-264	248	22	on	on	ADP
alkej-264	248	23	the	the	DET
alkej-264	248	24	ground	ground	NOUN
alkej-264	248	25	and	and	CCONJ
alkej-264	248	26	lifting	lifting	NOUN
alkej-264	248	27	leg	leg	NOUN
alkej-264	248	28	(	(	PUNCT
alkej-264	248	29	1	1	NUM
alkej-264	248	30	)	)	PUNCT
alkej-264	248	31	.	.	PUNCT
alkej-264	249	1	fig	fig	NOUN
alkej-264	249	2	.	.	PUNCT
alkej-264	250	1	19	19	NUM
alkej-264	250	2	.	.	PUNCT
alkej-264	251	1	the	the	DET
alkej-264	251	2	best	good	ADJ
alkej-264	251	3	fitness	fitness	NOUN
alkej-264	251	4	value	value	NOUN
alkej-264	251	5	for	for	ADP
alkej-264	251	6	wave	wave	NOUN
alkej-264	251	7	gait	gait	NOUN
alkej-264	251	8	when	when	SCONJ
alkej-264	251	9	the	the	DET
alkej-264	251	10	legs	leg	NOUN
alkej-264	251	11	(	(	PUNCT
alkej-264	251	12	1	1	NUM
alkej-264	251	13	,	,	PUNCT
alkej-264	251	14	3	3	NUM
alkej-264	251	15	,	,	PUNCT
alkej-264	251	16	6	6	NUM
alkej-264	251	17	,	,	PUNCT
alkej-264	251	18	5	5	NUM
alkej-264	251	19	and	and	CCONJ
alkej-264	251	20	4	4	NUM
alkej-264	251	21	)	)	PUNCT
alkej-264	251	22	on	on	ADP
alkej-264	251	23	the	the	DET
alkej-264	251	24	ground	ground	NOUN
alkej-264	251	25	and	and	CCONJ
alkej-264	251	26	lifting	lifting	NOUN
alkej-264	251	27	(	(	PUNCT
alkej-264	251	28	2	2	NUM
alkej-264	251	29	)	)	PUNCT
alkej-264	251	30	.	.	PUNCT
alkej-264	251	31	0	0	NUM
alkej-264	252	1	10	10	NUM
alkej-264	252	2	20	20	NUM
alkej-264	252	3	30	30	NUM
alkej-264	252	4	40	40	NUM
alkej-264	252	5	50	50	NUM
alkej-264	252	6	60	60	NUM
alkej-264	252	7	70	70	NUM
alkej-264	252	8	80	80	NUM
alkej-264	252	9	90	90	NUM
alkej-264	252	10	100	100	NUM
alkej-264	252	11	6.26	6.26	NUM
alkej-264	252	12	6.265	6.265	NUM
alkej-264	252	13	6.27	6.27	NUM
alkej-264	252	14	6.275	6.275	NUM
alkej-264	252	15	6.28	6.28	NUM
alkej-264	252	16	generation	generation	NOUN
alkej-264	252	17	f	f	PROPN
alkej-264	252	18	itn	itn	NOUN
alkej-264	252	19	es	es	X
alkej-264	252	20	s	s	PROPN
alkej-264	252	21	va	va	PROPN
alkej-264	252	22	lu	lu	PROPN
alkej-264	252	23	e	e	PROPN
alkej-264	252	24	best	good	ADJ
alkej-264	252	25	fitness	fitness	NOUN
alkej-264	252	26	:	:	PUNCT
alkej-264	252	27	6.2614	6.2614	NUM
alkej-264	252	28	best	good	ADJ
alkej-264	252	29	f	f	PROPN
alkej-264	252	30	itness	itness	NOUN
alkej-264	252	31	0	0	NUM
alkej-264	252	32	10	10	NUM
alkej-264	252	33	20	20	NUM
alkej-264	252	34	30	30	NUM
alkej-264	252	35	40	40	NUM
alkej-264	252	36	50	50	NUM
alkej-264	252	37	60	60	NUM
alkej-264	252	38	70	70	NUM
alkej-264	252	39	80	80	NUM
alkej-264	252	40	90	90	NUM
alkej-264	252	41	100	100	NUM
alkej-264	252	42	12	12	NUM
alkej-264	252	43	13	13	NUM
alkej-264	252	44	14	14	NUM
alkej-264	252	45	15	15	NUM
alkej-264	252	46	generation	generation	NOUN
alkej-264	252	47	f	f	NOUN
alkej-264	252	48	itn	itn	NOUN
alkej-264	252	49	es	es	X
alkej-264	252	50	s	s	PROPN
alkej-264	252	51	va	va	PROPN
alkej-264	252	52	lu	lu	PROPN
alkej-264	252	53	e	e	PROPN
alkej-264	252	54	best	good	ADJ
alkej-264	252	55	fitness	fitness	NOUN
alkej-264	252	56	:	:	PUNCT
alkej-264	252	57	13.1925	13.1925	NUM
alkej-264	252	58	average	average	ADJ
alkej-264	252	59	distance	distance	NOUN
alkej-264	252	60	between	between	ADP
alkej-264	252	61	individuals	individual	NOUN
alkej-264	252	62	best	good	ADJ
alkej-264	252	63	fitness	fitness	NOUN
alkej-264	252	64	0	0	NUM
alkej-264	252	65	10	10	NUM
alkej-264	252	66	20	20	NUM
alkej-264	252	67	30	30	NUM
alkej-264	252	68	40	40	NUM
alkej-264	252	69	50	50	NUM
alkej-264	252	70	60	60	NUM
alkej-264	252	71	70	70	NUM
alkej-264	252	72	80	80	NUM
alkej-264	252	73	90	90	NUM
alkej-264	252	74	100	100	NUM
alkej-264	252	75	8.48	8.48	NUM
alkej-264	252	76	8.5	8.5	NUM
alkej-264	252	77	8.52	8.52	NUM
alkej-264	252	78	8.54	8.54	NUM
alkej-264	252	79	generation	generation	NOUN
alkej-264	252	80	f	f	NOUN
alkej-264	252	81	itn	itn	NOUN
alkej-264	252	82	es	es	X
alkej-264	252	83	s	s	PROPN
alkej-264	252	84	va	va	PROPN
alkej-264	252	85	lu	lu	PROPN
alkej-264	252	86	e	e	PROPN
alkej-264	252	87	best	good	ADJ
alkej-264	252	88	fitness	fitness	NOUN
alkej-264	252	89	:	:	PUNCT
alkej-264	252	90	8.4736	8.4736	NUM
alkej-264	252	91	best	good	ADJ
alkej-264	252	92	f	f	PROPN
alkej-264	252	93	itness	itness	NOUN
alkej-264	252	94	0	0	NUM
alkej-264	252	95	10	10	NUM
alkej-264	252	96	20	20	NUM
alkej-264	252	97	30	30	NUM
alkej-264	252	98	40	40	NUM
alkej-264	252	99	50	50	NUM
alkej-264	252	100	60	60	NUM
alkej-264	252	101	70	70	NUM
alkej-264	252	102	80	80	NUM
alkej-264	252	103	90	90	NUM
alkej-264	252	104	100	100	NUM
alkej-264	252	105	12.55	12.55	NUM
alkej-264	252	106	12.6	12.6	NUM
alkej-264	252	107	12.65	12.65	NUM
alkej-264	252	108	12.7	12.7	NUM
alkej-264	252	109	12.75	12.75	NUM
alkej-264	252	110	generation	generation	NOUN
alkej-264	253	1	f	f	NOUN
alkej-264	253	2	itn	itn	NOUN
alkej-264	253	3	es	es	X
alkej-264	253	4	s	s	PROPN
alkej-264	253	5	va	va	PROPN
alkej-264	253	6	lu	lu	PROPN
alkej-264	253	7	e	e	PROPN
alkej-264	253	8	best	good	ADJ
alkej-264	253	9	fitness	fitness	NOUN
alkej-264	253	10	:	:	PUNCT
alkej-264	253	11	12.5673	12.5673	NUM
alkej-264	253	12	best	good	ADJ
alkej-264	253	13	fitness	fitness	NOUN
alkej-264	253	14	0	0	NUM
alkej-264	253	15	10	10	NUM
alkej-264	253	16	20	20	NUM
alkej-264	253	17	30	30	NUM
alkej-264	253	18	40	40	NUM
alkej-264	253	19	50	50	NUM
alkej-264	253	20	60	60	NUM
alkej-264	253	21	70	70	NUM
alkej-264	253	22	80	80	NUM
alkej-264	253	23	90	90	NUM
alkej-264	253	24	100	100	NUM
alkej-264	253	25	6.6	6.6	NUM
alkej-264	253	26	6.62	6.62	NUM
alkej-264	253	27	6.64	6.64	NUM
alkej-264	253	28	6.66	6.66	NUM
alkej-264	253	29	generation	generation	NOUN
alkej-264	254	1	f	f	NOUN
alkej-264	254	2	itn	itn	NOUN
alkej-264	254	3	es	es	X
alkej-264	254	4	s	s	PROPN
alkej-264	254	5	va	va	PROPN
alkej-264	254	6	lu	lu	PROPN
alkej-264	254	7	e	e	PROPN
alkej-264	254	8	best	good	ADJ
alkej-264	254	9	fitness	fitness	NOUN
alkej-264	254	10	:	:	PUNCT
alkej-264	254	11	6.6121	6.6121	NUM
alkej-264	254	12	best	good	ADJ
alkej-264	254	13	fitness	fitness	NOUN
alkej-264	254	14	0	0	NUM
alkej-264	254	15	10	10	NUM
alkej-264	254	16	20	20	NUM
alkej-264	254	17	30	30	NUM
alkej-264	254	18	40	40	NUM
alkej-264	254	19	50	50	NUM
alkej-264	254	20	60	60	NUM
alkej-264	254	21	70	70	NUM
alkej-264	254	22	80	80	NUM
alkej-264	254	23	90	90	NUM
alkej-264	254	24	100	100	NUM
alkej-264	254	25	13.98	13.98	NUM
alkej-264	254	26	13.99	13.99	NUM
alkej-264	254	27	14	14	NUM
alkej-264	254	28	14.01	14.01	NUM
alkej-264	254	29	14.02	14.02	NUM
alkej-264	254	30	generation	generation	NOUN
alkej-264	254	31	f	f	NOUN
alkej-264	254	32	itn	itn	NOUN
alkej-264	254	33	es	es	X
alkej-264	254	34	s	s	PROPN
alkej-264	254	35	va	va	PROPN
alkej-264	254	36	lu	lu	PROPN
alkej-264	254	37	e	e	PROPN
alkej-264	254	38	best	good	ADJ
alkej-264	254	39	fitness	fitness	NOUN
alkej-264	254	40	:	:	PUNCT
alkej-264	254	41	13.9895	13.9895	NUM
alkej-264	254	42	average	average	ADJ
alkej-264	254	43	distance	distance	NOUN
alkej-264	254	44	between	between	ADP
alkej-264	254	45	individuals	individual	NOUN
alkej-264	254	46	best	good	ADJ
alkej-264	254	47	f	f	PROPN
alkej-264	254	48	itness	itness	NOUN
alkej-264	254	49	firas	firas	PROPN
alkej-264	254	50	a.	a.	PROPN
alkej-264	254	51	raheem	raheem	PROPN
alkej-264	255	1	al	al	PROPN
alkej-264	255	2	-	-	PUNCT
alkej-264	255	3	khwarizmi	khwarizmi	PROPN
alkej-264	255	4	engineering	engineering	NOUN
alkej-264	255	5	journal	journal	PROPN
alkej-264	255	6	,	,	PUNCT
alkej-264	255	7	vol	vol	NOUN
alkej-264	255	8	.	.	PROPN
alkej-264	255	9	11	11	NUM
alkej-264	255	10	,	,	PUNCT
alkej-264	255	11	no	no	INTJ
alkej-264	255	12	.	.	NOUN
alkej-264	255	13	4	4	NUM
alkej-264	255	14	,	,	PUNCT
alkej-264	255	15	p.p	p.p	PROPN
alkej-264	255	16	.	.	NOUN
alkej-264	255	17	4459	4459	NUM
alkej-264	255	18	(	(	PUNCT
alkej-264	255	19	2015	2015	NUM
alkej-264	255	20	)	)	PUNCT
alkej-264	255	21	56	56	NUM
alkej-264	255	22	fig	fig	NOUN
alkej-264	255	23	.	.	PUNCT
alkej-264	256	1	20	20	NUM
alkej-264	256	2	.	.	PUNCT
alkej-264	257	1	the	the	DET
alkej-264	257	2	best	good	ADJ
alkej-264	257	3	fitness	fitness	NOUN
alkej-264	257	4	value	value	NOUN
alkej-264	257	5	for	for	ADP
alkej-264	257	6	wave	wave	NOUN
alkej-264	257	7	gait	gait	NOUN
alkej-264	257	8	when	when	SCONJ
alkej-264	257	9	the	the	DET
alkej-264	257	10	legs	leg	NOUN
alkej-264	257	11	(	(	PUNCT
alkej-264	257	12	1	1	NUM
alkej-264	257	13	,	,	PUNCT
alkej-264	257	14	2	2	NUM
alkej-264	257	15	,	,	PUNCT
alkej-264	257	16	6	6	NUM
alkej-264	257	17	,	,	PUNCT
alkej-264	257	18	5	5	NUM
alkej-264	257	19	and	and	CCONJ
alkej-264	257	20	4	4	NUM
alkej-264	257	21	)	)	PUNCT
alkej-264	257	22	on	on	ADP
alkej-264	257	23	the	the	DET
alkej-264	257	24	ground	ground	NOUN
alkej-264	257	25	and	and	CCONJ
alkej-264	257	26	lifting	lifting	NOUN
alkej-264	257	27	leg	leg	NOUN
alkej-264	257	28	(	(	PUNCT
alkej-264	257	29	3	3	NUM
alkej-264	257	30	)	)	PUNCT
alkej-264	257	31	.	.	PUNCT
alkej-264	258	1	fig	fig	NOUN
alkej-264	258	2	.	.	PUNCT
alkej-264	259	1	21	21	NUM
alkej-264	259	2	.	.	PUNCT
alkej-264	260	1	the	the	DET
alkej-264	260	2	best	good	ADJ
alkej-264	260	3	fitness	fitness	NOUN
alkej-264	260	4	value	value	NOUN
alkej-264	260	5	for	for	ADP
alkej-264	260	6	wave	wave	NOUN
alkej-264	260	7	gait	gait	NOUN
alkej-264	260	8	when	when	SCONJ
alkej-264	260	9	the	the	DET
alkej-264	260	10	legs	leg	NOUN
alkej-264	260	11	(	(	PUNCT
alkej-264	260	12	1	1	NUM
alkej-264	260	13	,	,	PUNCT
alkej-264	260	14	2	2	NUM
alkej-264	260	15	,	,	PUNCT
alkej-264	260	16	3	3	NUM
alkej-264	260	17	,	,	PUNCT
alkej-264	260	18	6	6	NUM
alkej-264	260	19	and	and	CCONJ
alkej-264	260	20	5	5	NUM
alkej-264	260	21	)	)	PUNCT
alkej-264	260	22	on	on	ADP
alkej-264	260	23	the	the	DET
alkej-264	260	24	ground	ground	NOUN
alkej-264	260	25	and	and	CCONJ
alkej-264	260	26	lifting	lifting	NOUN
alkej-264	260	27	leg	leg	NOUN
alkej-264	260	28	(	(	PUNCT
alkej-264	260	29	4	4	NUM
alkej-264	260	30	)	)	PUNCT
alkej-264	260	31	.	.	PUNCT
alkej-264	261	1	fig	fig	NOUN
alkej-264	261	2	.	.	PUNCT
alkej-264	262	1	22	22	NUM
alkej-264	262	2	.	.	PUNCT
alkej-264	263	1	the	the	DET
alkej-264	263	2	best	good	ADJ
alkej-264	263	3	fitness	fitness	NOUN
alkej-264	263	4	value	value	NOUN
alkej-264	263	5	for	for	ADP
alkej-264	263	6	wave	wave	NOUN
alkej-264	263	7	gait	gait	NOUN
alkej-264	263	8	when	when	SCONJ
alkej-264	263	9	the	the	DET
alkej-264	263	10	legs	leg	NOUN
alkej-264	263	11	(	(	PUNCT
alkej-264	263	12	1	1	NUM
alkej-264	263	13	,	,	PUNCT
alkej-264	263	14	2	2	NUM
alkej-264	263	15	,	,	PUNCT
alkej-264	263	16	3	3	NUM
alkej-264	263	17	,	,	PUNCT
alkej-264	263	18	6	6	NUM
alkej-264	263	19	and	and	CCONJ
alkej-264	263	20	4	4	NUM
alkej-264	263	21	)	)	PUNCT
alkej-264	263	22	on	on	ADP
alkej-264	263	23	the	the	DET
alkej-264	263	24	ground	ground	NOUN
alkej-264	263	25	and	and	CCONJ
alkej-264	263	26	lifting	lifting	NOUN
alkej-264	263	27	leg	leg	NOUN
alkej-264	263	28	(	(	PUNCT
alkej-264	263	29	5	5	NUM
alkej-264	263	30	)	)	PUNCT
alkej-264	263	31	.	.	PUNCT
alkej-264	264	1	fig	fig	NOUN
alkej-264	264	2	.	.	PUNCT
alkej-264	265	1	23	23	NUM
alkej-264	265	2	.	.	PUNCT
alkej-264	266	1	the	the	DET
alkej-264	266	2	best	good	ADJ
alkej-264	266	3	fitness	fitness	NOUN
alkej-264	266	4	value	value	NOUN
alkej-264	266	5	for	for	ADP
alkej-264	266	6	wave	wave	NOUN
alkej-264	266	7	gait	gait	NOUN
alkej-264	266	8	when	when	SCONJ
alkej-264	266	9	the	the	DET
alkej-264	266	10	legs	leg	NOUN
alkej-264	266	11	(	(	PUNCT
alkej-264	266	12	1	1	NUM
alkej-264	266	13	,	,	PUNCT
alkej-264	266	14	2	2	NUM
alkej-264	266	15	,	,	PUNCT
alkej-264	266	16	3	3	NUM
alkej-264	266	17	,	,	PUNCT
alkej-264	266	18	5	5	NUM
alkej-264	266	19	and	and	CCONJ
alkej-264	266	20	4	4	NUM
alkej-264	266	21	)	)	PUNCT
alkej-264	266	22	on	on	ADP
alkej-264	266	23	the	the	DET
alkej-264	266	24	ground	ground	NOUN
alkej-264	266	25	and	and	CCONJ
alkej-264	266	26	lifting	lifting	NOUN
alkej-264	266	27	leg	leg	NOUN
alkej-264	266	28	(	(	PUNCT
alkej-264	266	29	6	6	NUM
alkej-264	266	30	)	)	PUNCT
alkej-264	266	31	.	.	PUNCT
alkej-264	267	1	the	the	DET
alkej-264	267	2	above	above	ADJ
alkej-264	267	3	figures	figure	NOUN
alkej-264	267	4	(	(	PUNCT
alkej-264	267	5	12	12	NUM
alkej-264	267	6	23	23	NUM
alkej-264	267	7	)	)	PUNCT
alkej-264	267	8	show	show	VERB
alkej-264	267	9	that	that	SCONJ
alkej-264	267	10	the	the	DET
alkej-264	267	11	best	good	ADJ
alkej-264	267	12	stability	stability	NOUN
alkej-264	267	13	margins	margin	NOUN
alkej-264	267	14	for	for	ADP
alkej-264	267	15	each	each	DET
alkej-264	267	16	sequence	sequence	NOUN
alkej-264	267	17	in	in	ADP
alkej-264	267	18	each	each	DET
alkej-264	267	19	gait	gait	NOUN
alkej-264	267	20	and	and	CCONJ
alkej-264	267	21	all	all	DET
alkej-264	267	22	the	the	DET
alkej-264	267	23	stability	stability	NOUN
alkej-264	267	24	margins	margin	NOUN
alkej-264	267	25	are	be	AUX
alkej-264	267	26	within	within	ADP
alkej-264	267	27	the	the	DET
alkej-264	267	28	range	range	NOUN
alkej-264	267	29	of	of	ADP
alkej-264	267	30	constraints	constraint	NOUN
alkej-264	267	31	that	that	PRON
alkej-264	267	32	described	describe	VERB
alkej-264	267	33	in	in	ADP
alkej-264	267	34	classical	classical	ADJ
alkej-264	267	35	stability	stability	NOUN
alkej-264	267	36	margins	margin	NOUN
alkej-264	267	37	analyses	analysis	NOUN
alkej-264	267	38	method	method	NOUN
alkej-264	267	39	.	.	PUNCT
alkej-264	268	1	the	the	DET
alkej-264	268	2	analysis	analysis	NOUN
alkej-264	268	3	equations	equation	NOUN
alkej-264	268	4	of	of	ADP
alkej-264	268	5	eq	eq	PROPN
alkej-264	268	6	.	.	PROPN
alkej-264	268	7	21	21	NUM
alkej-264	268	8	used	use	VERB
alkej-264	268	9	of	of	ADP
alkej-264	268	10	find	find	VERB
alkej-264	268	11	the	the	DET
alkej-264	268	12	next	next	ADJ
alkej-264	268	13	points	point	NOUN
alkej-264	268	14	of	of	ADP
alkej-264	268	15	the	the	DET
alkej-264	268	16	hexapod	hexapod	ADJ
alkej-264	268	17	center	center	NOUN
alkej-264	268	18	body	body	NOUN
alkej-264	268	19	and	and	CCONJ
alkej-264	268	20	the	the	DET
alkej-264	268	21	errors	error	NOUN
alkej-264	268	22	center	center	NOUN
alkej-264	268	23	body	body	NOUN
alkej-264	268	24	of	of	ADP
alkej-264	268	25	the	the	DET
alkej-264	268	26	path	path	NOUN
alkej-264	268	27	planning	planning	NOUN
alkej-264	268	28	for	for	ADP
alkej-264	268	29	two	two	NUM
alkej-264	268	30	approaches	approach	NOUN
alkej-264	268	31	is	be	AUX
alkej-264	268	32	shown	show	VERB
alkej-264	268	33	in	in	ADP
alkej-264	268	34	table	table	NOUN
alkej-264	268	35	2	2	NUM
alkej-264	268	36	,	,	PUNCT
alkej-264	268	37	below	below	ADV
alkej-264	268	38	:	:	PUNCT
alkej-264	268	39	table	table	NOUN
alkej-264	268	40	2	2	NUM
alkej-264	268	41	,	,	PUNCT
alkej-264	268	42	shows	show	VERB
alkej-264	268	43	that	that	SCONJ
alkej-264	268	44	the	the	DET
alkej-264	268	45	errors	error	NOUN
alkej-264	268	46	of	of	ADP
alkej-264	268	47	two	two	NUM
alkej-264	268	48	approaches	approach	NOUN
alkej-264	268	49	modified	modify	VERB
alkej-264	268	50	classical	classical	ADJ
alkej-264	268	51	stability	stability	NOUN
alkej-264	268	52	margins	margin	NOUN
alkej-264	268	53	and	and	CCONJ
alkej-264	268	54	stability	stability	NOUN
alkej-264	268	55	margins	margin	NOUN
alkej-264	268	56	enhanement	enhanement	NOUN
alkej-264	268	57	using	use	VERB
alkej-264	268	58	ga	ga	PROPN
alkej-264	269	1	.	.	PROPN
alkej-264	269	2	errors	errors	PROPN
alkej-264	269	3	path	path	PROPN
alkej-264	269	4	planning	planning	NOUN
alkej-264	269	5	of	of	ADP
alkej-264	269	6	modified	modify	VERB
alkej-264	269	7	classical	classical	ADJ
alkej-264	269	8	stability	stability	NOUN
alkej-264	269	9	margins	margin	VERB
alkej-264	269	10	errors	error	NOUN
alkej-264	269	11	path	path	PROPN
alkej-264	269	12	planning	planning	NOUN
alkej-264	269	13	of	of	ADP
alkej-264	269	14	stability	stability	NOUN
alkej-264	269	15	margins	margin	NOUN
alkej-264	269	16	enhancement	enhancement	NOUN
alkej-264	269	17	using	use	VERB
alkej-264	269	18	ga	ga	PROPN
alkej-264	269	19	1tripod	1tripod	PROPN
alkej-264	269	20	gait	gait	NOUN
alkej-264	269	21	has	have	VERB
alkej-264	269	22	less	less	ADJ
alkej-264	269	23	error	error	NOUN
alkej-264	269	24	value	value	NOUN
alkej-264	269	25	equals	equal	VERB
alkej-264	269	26	(	(	PUNCT
alkej-264	269	27	8.3630e-004	8.3630e-004	PROPN
alkej-264	269	28	)	)	PUNCT
alkej-264	269	29	cm	cm	NOUN
alkej-264	269	30	.	.	PUNCT
alkej-264	270	1	2wave	2wave	NUM
alkej-264	270	2	gait	gait	NOUN
alkej-264	270	3	has	have	VERB
alkej-264	270	4	less	less	ADJ
alkej-264	270	5	error	error	NOUN
alkej-264	270	6	value	value	NOUN
alkej-264	270	7	equals	equal	VERB
alkej-264	270	8	(	(	PUNCT
alkej-264	270	9	0.0023	0.0023	NUM
alkej-264	270	10	)	)	PUNCT
alkej-264	270	11	cm	cm	NOUN
alkej-264	270	12	.	.	PUNCT
alkej-264	271	1	3ripple	3ripple	NUM
alkej-264	271	2	gait	gait	NOUN
alkej-264	271	3	has	have	VERB
alkej-264	271	4	great	great	ADJ
alkej-264	271	5	error	error	NOUN
alkej-264	271	6	value	value	NOUN
alkej-264	271	7	equals	equal	VERB
alkej-264	271	8	(	(	PUNCT
alkej-264	271	9	0.0520	0.0520	NUM
alkej-264	271	10	)	)	PUNCT
alkej-264	271	11	cm	cm	NOUN
alkej-264	271	12	.	.	PUNCT
alkej-264	272	1	1tripod	1tripod	NUM
alkej-264	272	2	gait	gait	NOUN
alkej-264	272	3	has	have	VERB
alkej-264	272	4	less	less	ADJ
alkej-264	272	5	error	error	NOUN
alkej-264	272	6	value	value	NOUN
alkej-264	272	7	equals	equal	VERB
alkej-264	272	8	(	(	PUNCT
alkej-264	272	9	2.3590e-004	2.3590e-004	NOUN
alkej-264	272	10	)	)	PUNCT
alkej-264	272	11	cm	cm	NOUN
alkej-264	272	12	.	.	PUNCT
alkej-264	273	1	2wave	2wave	NUM
alkej-264	273	2	gait	gait	NOUN
alkej-264	273	3	has	have	VERB
alkej-264	273	4	error	error	NOUN
alkej-264	273	5	value	value	NOUN
alkej-264	273	6	equals	equal	VERB
alkej-264	273	7	(	(	PUNCT
alkej-264	273	8	0.0012	0.0012	NUM
alkej-264	273	9	)	)	PUNCT
alkej-264	273	10	cm	cm	NOUN
alkej-264	273	11	.	.	PUNCT
alkej-264	274	1	3ripple	3ripple	NUM
alkej-264	274	2	gait	gait	NOUN
alkej-264	274	3	has	have	VERB
alkej-264	274	4	great	great	ADJ
alkej-264	274	5	error	error	NOUN
alkej-264	274	6	value	value	NOUN
alkej-264	274	7	equals	equal	VERB
alkej-264	274	8	(	(	PUNCT
alkej-264	274	9	0.0196	0.0196	NUM
alkej-264	274	10	)	)	PUNCT
alkej-264	274	11	cm	cm	NOUN
alkej-264	274	12	.	.	PUNCT
alkej-264	275	1	the	the	DET
alkej-264	275	2	genetic	genetic	ADJ
alkej-264	275	3	algorithm	algorithm	NOUN
alkej-264	275	4	here	here	ADV
alkej-264	275	5	works	work	VERB
alkej-264	275	6	as	as	ADP
alkej-264	275	7	off	off	ADP
alkej-264	275	8	-	-	PUNCT
alkej-264	275	9	line	line	NOUN
alkej-264	275	10	and	and	CCONJ
alkej-264	275	11	getting	get	VERB
alkej-264	275	12	the	the	DET
alkej-264	275	13	new	new	ADJ
alkej-264	275	14	stable	stable	ADJ
alkej-264	275	15	coordinates	coordinate	NOUN
alkej-264	275	16	of	of	ADP
alkej-264	275	17	legs	leg	NOUN
alkej-264	275	18	tips	tip	NOUN
alkej-264	275	19	of	of	ADP
alkej-264	275	20	hexapod	hexapod	NOUN
alkej-264	275	21	robot	robot	NOUN
alkej-264	275	22	(	(	PUNCT
alkej-264	275	23	new	new	ADJ
alkej-264	275	24	populations	population	NOUN
alkej-264	275	25	)	)	PUNCT
alkej-264	275	26	before	before	SCONJ
alkej-264	275	27	robot	robot	NOUN
alkej-264	275	28	start	start	VERB
alkej-264	275	29	walking	walk	VERB
alkej-264	275	30	.from	.from	ADP
alkej-264	275	31	these	these	DET
alkej-264	275	32	coordinates	coordinate	NOUN
alkej-264	275	33	are	be	AUX
alkej-264	275	34	selected	select	VERB
alkej-264	275	35	,	,	PUNCT
alkej-264	275	36	the	the	DET
alkej-264	275	37	best	good	ADJ
alkej-264	275	38	points	point	NOUN
alkej-264	275	39	of	of	ADP
alkej-264	275	40	the	the	DET
alkej-264	275	41	center	center	NOUN
alkej-264	275	42	body	body	NOUN
alkej-264	275	43	in	in	ADP
alkej-264	275	44	(	(	PUNCT
alkej-264	275	45	x	x	INTJ
alkej-264	275	46	,	,	PUNCT
alkej-264	275	47	y	y	NOUN
alkej-264	275	48	)	)	PUNCT
alkej-264	275	49	plane	plane	NOUN
alkej-264	275	50	are	be	AUX
alkej-264	275	51	calculated	calculate	VERB
alkej-264	275	52	according	accord	VERB
alkej-264	275	53	to	to	ADP
alkej-264	275	54	the	the	DET
alkej-264	275	55	best	good	ADJ
alkej-264	275	56	stability	stability	NOUN
alkej-264	275	57	margins	margin	VERB
alkej-264	275	58	values	value	NOUN
alkej-264	275	59	.	.	PUNCT
alkej-264	276	1	0	0	NUM
alkej-264	277	1	10	10	NUM
alkej-264	277	2	20	20	NUM
alkej-264	277	3	30	30	NUM
alkej-264	277	4	40	40	NUM
alkej-264	277	5	50	50	NUM
alkej-264	277	6	60	60	NUM
alkej-264	277	7	70	70	NUM
alkej-264	277	8	80	80	NUM
alkej-264	277	9	90	90	NUM
alkej-264	277	10	100	100	NUM
alkej-264	277	11	5.46	5.46	NUM
alkej-264	277	12	5.48	5.48	NUM
alkej-264	277	13	5.5	5.5	NUM
alkej-264	277	14	5.52	5.52	NUM
alkej-264	277	15	generation	generation	NOUN
alkej-264	277	16	f	f	NOUN
alkej-264	277	17	itn	itn	NOUN
alkej-264	277	18	es	es	X
alkej-264	277	19	s	s	PROPN
alkej-264	277	20	va	va	PROPN
alkej-264	277	21	lu	lu	PROPN
alkej-264	277	22	e	e	PROPN
alkej-264	277	23	best	good	ADJ
alkej-264	277	24	fitness	fitness	NOUN
alkej-264	277	25	:	:	PUNCT
alkej-264	277	26	5.4661	5.4661	NUM
alkej-264	277	27	average	average	ADJ
alkej-264	277	28	distance	distance	NOUN
alkej-264	277	29	between	between	ADP
alkej-264	277	30	individuals	individual	NOUN
alkej-264	277	31	best	good	ADJ
alkej-264	277	32	f	f	X
alkej-264	277	33	itness	itness	NOUN
alkej-264	277	34	0	0	NUM
alkej-264	278	1	10	10	NUM
alkej-264	278	2	20	20	NUM
alkej-264	278	3	30	30	NUM
alkej-264	278	4	40	40	NUM
alkej-264	278	5	50	50	NUM
alkej-264	278	6	60	60	NUM
alkej-264	278	7	70	70	NUM
alkej-264	278	8	80	80	NUM
alkej-264	278	9	90	90	NUM
alkej-264	278	10	100	100	NUM
alkej-264	278	11	12.69	12.69	NUM
alkej-264	278	12	12.695	12.695	NUM
alkej-264	278	13	12.7	12.7	NUM
alkej-264	278	14	12.705	12.705	NUM
alkej-264	278	15	12.71	12.71	NUM
alkej-264	278	16	generation	generation	NOUN
alkej-264	278	17	f	f	NOUN
alkej-264	278	18	itn	itn	NOUN
alkej-264	279	1	es	es	X
alkej-264	279	2	s	s	PROPN
alkej-264	279	3	va	va	PROPN
alkej-264	279	4	lu	lu	PROPN
alkej-264	279	5	e	e	PROPN
alkej-264	279	6	best	good	ADJ
alkej-264	279	7	fitness	fitness	NOUN
alkej-264	279	8	:	:	PUNCT
alkej-264	279	9	12.6927	12.6927	NUM
alkej-264	279	10	best	good	ADJ
alkej-264	279	11	fitness	fitness	NOUN
alkej-264	279	12	0	0	NUM
alkej-264	279	13	10	10	NUM
alkej-264	279	14	20	20	NUM
alkej-264	279	15	30	30	NUM
alkej-264	279	16	40	40	NUM
alkej-264	279	17	50	50	NUM
alkej-264	279	18	60	60	NUM
alkej-264	279	19	70	70	NUM
alkej-264	279	20	80	80	NUM
alkej-264	279	21	90	90	NUM
alkej-264	279	22	100	100	NUM
alkej-264	279	23	6.8	6.8	NUM
alkej-264	279	24	6.9	6.9	NUM
alkej-264	279	25	7	7	NUM
alkej-264	279	26	7.1	7.1	NUM
alkej-264	279	27	7.2	7.2	NUM
alkej-264	279	28	7.3	7.3	NUM
alkej-264	279	29	generation	generation	NOUN
alkej-264	280	1	f	f	NOUN
alkej-264	280	2	itn	itn	NOUN
alkej-264	280	3	es	es	X
alkej-264	280	4	s	s	PROPN
alkej-264	280	5	va	va	PROPN
alkej-264	280	6	lu	lu	PROPN
alkej-264	280	7	e	e	PROPN
alkej-264	280	8	best	good	ADJ
alkej-264	280	9	fitness	fitness	NOUN
alkej-264	280	10	:	:	PUNCT
alkej-264	280	11	6.883	6.883	NUM
alkej-264	280	12	best	good	ADJ
alkej-264	280	13	fitness	fitness	NOUN
alkej-264	280	14	0	0	NUM
alkej-264	280	15	10	10	NUM
alkej-264	280	16	20	20	NUM
alkej-264	280	17	30	30	NUM
alkej-264	280	18	40	40	NUM
alkej-264	280	19	50	50	NUM
alkej-264	280	20	60	60	NUM
alkej-264	280	21	70	70	NUM
alkej-264	280	22	80	80	NUM
alkej-264	280	23	90	90	NUM
alkej-264	280	24	100	100	NUM
alkej-264	280	25	7.5	7.5	NUM
alkej-264	280	26	7.6	7.6	NUM
alkej-264	280	27	7.7	7.7	NUM
alkej-264	280	28	7.8	7.8	NUM
alkej-264	280	29	generation	generation	NOUN
alkej-264	280	30	f	f	NOUN
alkej-264	280	31	itn	itn	NOUN
alkej-264	280	32	es	es	X
alkej-264	280	33	s	s	PROPN
alkej-264	280	34	va	va	PROPN
alkej-264	280	35	lu	lu	PROPN
alkej-264	280	36	e	e	PROPN
alkej-264	280	37	best	good	ADJ
alkej-264	280	38	fitness	fitness	NOUN
alkej-264	280	39	:	:	PUNCT
alkej-264	281	1	7.5258	7.5258	NUM
alkej-264	281	2	best	good	ADJ
alkej-264	281	3	f	f	PROPN
alkej-264	281	4	itness	itness	NOUN
alkej-264	281	5	firas	firas	PROPN
alkej-264	281	6	a.	a.	PROPN
alkej-264	281	7	raheem	raheem	PROPN
alkej-264	281	8	al	al	PROPN
alkej-264	281	9	-	-	PUNCT
alkej-264	281	10	khwarizmi	khwarizmi	PROPN
alkej-264	281	11	engineering	engineering	NOUN
alkej-264	281	12	journal	journal	PROPN
alkej-264	281	13	,	,	PUNCT
alkej-264	281	14	vol	vol	NOUN
alkej-264	281	15	.	.	PROPN
alkej-264	281	16	11	11	NUM
alkej-264	281	17	,	,	PUNCT
alkej-264	281	18	no	no	INTJ
alkej-264	281	19	.	.	NOUN
alkej-264	281	20	4	4	NUM
alkej-264	281	21	,	,	PUNCT
alkej-264	281	22	p.p	p.p	PROPN
alkej-264	281	23	.	.	NOUN
alkej-264	281	24	4459	4459	NUM
alkej-264	281	25	(	(	PUNCT
alkej-264	281	26	2015	2015	NUM
alkej-264	281	27	)	)	PUNCT
alkej-264	281	28	57	57	NUM
alkej-264	281	29	9	9	NUM
alkej-264	281	30	.	.	PUNCT
alkej-264	281	31	conclusion	conclusion	NOUN
alkej-264	281	32	in	in	ADP
alkej-264	281	33	this	this	DET
alkej-264	281	34	paper	paper	NOUN
alkej-264	281	35	the	the	DET
alkej-264	281	36	stability	stability	NOUN
alkej-264	281	37	margins	margin	NOUN
alkej-264	281	38	are	be	AUX
alkej-264	281	39	analyzed	analyze	VERB
alkej-264	281	40	for	for	ADP
alkej-264	281	41	all	all	DET
alkej-264	281	42	gaits	gait	NOUN
alkej-264	281	43	of	of	ADP
alkej-264	281	44	hexapod	hexapod	NOUN
alkej-264	281	45	robot	robot	NOUN
alkej-264	281	46	in	in	ADP
alkej-264	281	47	two	two	NUM
alkej-264	281	48	approaches	approach	NOUN
alkej-264	281	49	first	first	ADV
alkej-264	281	50	is	be	AUX
alkej-264	281	51	the	the	DET
alkej-264	281	52	modified	modify	VERB
alkej-264	281	53	classical	classical	ADJ
alkej-264	281	54	approach	approach	NOUN
alkej-264	281	55	and	and	CCONJ
alkej-264	281	56	second	second	ADJ
alkej-264	281	57	,	,	PUNCT
alkej-264	281	58	is	be	AUX
alkej-264	281	59	the	the	DET
alkej-264	281	60	stability	stability	NOUN
alkej-264	281	61	margins	margin	NOUN
alkej-264	281	62	enhancement	enhancement	NOUN
alkej-264	281	63	using	use	VERB
alkej-264	281	64	genetic	genetic	ADJ
alkej-264	281	65	algorithm	algorithm	NOUN
alkej-264	281	66	.	.	PUNCT
alkej-264	282	1	in	in	ADP
alkej-264	282	2	first	first	ADJ
alkej-264	282	3	approach	approach	NOUN
alkej-264	282	4	,	,	PUNCT
alkej-264	282	5	the	the	DET
alkej-264	282	6	range	range	NOUN
alkej-264	282	7	of	of	ADP
alkej-264	282	8	stability	stability	NOUN
alkej-264	282	9	margins	margin	NOUN
alkej-264	282	10	values	value	NOUN
alkej-264	282	11	are	be	AUX
alkej-264	282	12	evaluated	evaluate	VERB
alkej-264	282	13	for	for	ADP
alkej-264	282	14	each	each	DET
alkej-264	282	15	sequence	sequence	NOUN
alkej-264	282	16	in	in	ADP
alkej-264	282	17	every	every	DET
alkej-264	282	18	gait	gait	NOUN
alkej-264	282	19	where	where	SCONJ
alkej-264	282	20	the	the	DET
alkej-264	282	21	hexapod	hexapod	NOUN
alkej-264	282	22	walking	walk	VERB
alkej-264	282	23	from	from	ADP
alkej-264	282	24	start	start	NOUN
alkej-264	282	25	point	point	NOUN
alkej-264	282	26	(	(	PUNCT
alkej-264	282	27	0,0	0,0	NOUN
alkej-264	282	28	)	)	PUNCT
alkej-264	282	29	cm	cm	NOUN
alkej-264	282	30	to	to	ADP
alkej-264	282	31	the	the	DET
alkej-264	282	32	goal	goal	NOUN
alkej-264	282	33	point	point	NOUN
alkej-264	282	34	(	(	PUNCT
alkej-264	282	35	500,0	500,0	NOUN
alkej-264	282	36	)	)	PUNCT
alkej-264	282	37	cm	cm	NOUN
alkej-264	282	38	.	.	PUNCT
alkej-264	283	1	for	for	ADP
alkej-264	283	2	the	the	DET
alkej-264	283	3	second	second	ADJ
alkej-264	283	4	approach	approach	NOUN
alkej-264	283	5	,	,	PUNCT
alkej-264	283	6	the	the	DET
alkej-264	283	7	best	good	ADJ
alkej-264	283	8	stability	stability	NOUN
alkej-264	283	9	margins	margin	NOUN
alkej-264	283	10	for	for	ADP
alkej-264	283	11	each	each	DET
alkej-264	283	12	sequence	sequence	NOUN
alkej-264	283	13	in	in	ADP
alkej-264	283	14	every	every	DET
alkej-264	283	15	gait	gait	NOUN
alkej-264	283	16	are	be	AUX
alkej-264	283	17	calculated	calculate	VERB
alkej-264	283	18	and	and	CCONJ
alkej-264	283	19	the	the	DET
alkej-264	283	20	results	result	NOUN
alkej-264	283	21	is	be	AUX
alkej-264	283	22	useful	useful	ADJ
alkej-264	283	23	to	to	PART
alkej-264	283	24	get	get	VERB
alkej-264	283	25	best	good	ADJ
alkej-264	283	26	stable	stable	ADJ
alkej-264	283	27	path	path	NOUN
alkej-264	283	28	planning	planning	NOUN
alkej-264	283	29	with	with	ADP
alkej-264	283	30	smaller	small	ADJ
alkej-264	283	31	error	error	NOUN
alkej-264	283	32	than	than	ADP
alkej-264	283	33	the	the	DET
alkej-264	283	34	first	first	ADJ
alkej-264	283	35	approach	approach	NOUN
alkej-264	283	36	for	for	ADP
alkej-264	283	37	three	three	NUM
alkej-264	283	38	gaits	gait	NOUN
alkej-264	283	39	of	of	ADP
alkej-264	283	40	hexapod	hexapod	NOUN
alkej-264	283	41	robot	robot	NOUN
alkej-264	283	42	as	as	ADP
alkej-264	283	43	in	in	ADP
alkej-264	283	44	table	table	NOUN
alkej-264	283	45	2	2	NUM
alkej-264	283	46	,	,	PUNCT
alkej-264	283	47	above	above	ADV
alkej-264	283	48	.also	.also	ADV
alkej-264	283	49	in	in	ADP
alkej-264	283	50	the	the	DET
alkej-264	283	51	second	second	ADJ
alkej-264	283	52	approach	approach	NOUN
alkej-264	283	53	and	and	CCONJ
alkej-264	283	54	according	accord	VERB
alkej-264	283	55	to	to	ADP
alkej-264	283	56	the	the	DET
alkej-264	283	57	best	good	ADJ
alkej-264	283	58	stability	stability	NOUN
alkej-264	283	59	margins	margin	VERB
alkej-264	283	60	values	value	NOUN
alkej-264	283	61	.	.	PUNCT
alkej-264	284	1	the	the	DET
alkej-264	284	2	better	well	ADJ
alkej-264	284	3	new	new	ADJ
alkej-264	284	4	stable	stable	ADJ
alkej-264	284	5	coordinates	coordinate	NOUN
alkej-264	284	6	(	(	PUNCT
alkej-264	284	7	positions	position	NOUN
alkej-264	284	8	of	of	ADP
alkej-264	284	9	legs	leg	NOUN
alkej-264	284	10	)	)	PUNCT
alkej-264	284	11	are	be	AUX
alkej-264	284	12	gotten	get	VERB
alkej-264	284	13	than	than	ADP
alkej-264	284	14	stable	stable	ADJ
alkej-264	284	15	coordinates	coordinate	NOUN
alkej-264	284	16	of	of	ADP
alkej-264	284	17	first	first	ADJ
alkej-264	284	18	approach	approach	NOUN
alkej-264	284	19	.	.	PUNCT
alkej-264	285	1	in	in	ADP
alkej-264	285	2	addition	addition	NOUN
alkej-264	285	3	,	,	PUNCT
alkej-264	285	4	the	the	DET
alkej-264	285	5	better	well	ADJ
alkej-264	285	6	new	new	ADJ
alkej-264	285	7	stable	stable	ADJ
alkej-264	285	8	center	center	NOUN
alkej-264	285	9	body	body	NOUN
alkej-264	285	10	coordinates	coordinate	NOUN
alkej-264	285	11	are	be	AUX
alkej-264	285	12	evaluated	evaluate	VERB
alkej-264	285	13	than	than	ADP
alkej-264	285	14	center	center	ADJ
alkej-264	285	15	body	body	NOUN
alkej-264	285	16	coordinates	coordinate	NOUN
alkej-264	285	17	in	in	ADP
alkej-264	285	18	the	the	DET
alkej-264	285	19	first	first	ADJ
alkej-264	285	20	approach	approach	NOUN
alkej-264	285	21	notation	notation	NOUN
alkej-264	285	22	di	di	NOUN
alkej-264	285	23	translation	translation	NOUN
alkej-264	285	24	along	along	ADP
alkej-264	285	25	zi-1	zi-1	PUNCT
alkej-264	285	26	axis	axis	VERB
alkej-264	285	27	a	a	DET
alkej-264	285	28	�	�	PROPN
alkej-264	285	29	=	=	SYM
alkej-264	285	30	li	li	PROPN
alkej-264	285	31	link	link	PROPN
alkej-264	285	32	length	length	NOUN
alkej-264	285	33	about	about	ADP
alkej-264	285	34	xi-1	xi-1	PUNCT
alkej-264	285	35	axis	axis	PROPN
alkej-264	285	36	t	t	PROPN
alkej-264	285	37	�	�	PROPN
alkej-264	285	38	�	�	PROPN
alkej-264	285	39	�	�	PROPN
alkej-264	285	40	�	�	PROPN
alkej-264	285	41	forward	forward	ADV
alkej-264	285	42	kinematic	kinematic	ADJ
alkej-264	285	43	matrix	matrix	NOUN
alkej-264	285	44	x	x	NOUN
alkej-264	285	45	,	,	PUNCT
alkej-264	285	46	y	y	PROPN
alkej-264	285	47	,	,	PUNCT
alkej-264	285	48	z	z	NOUN
alkej-264	285	49	coordinates	coordinate	NOUN
alkej-264	285	50	of	of	ADP
alkej-264	285	51	hexapod	hexapod	NOUN
alkej-264	285	52	's	's	PART
alkej-264	285	53	leg	leg	NOUN
alkej-264	285	54	r	r	NOUN
alkej-264	285	55	�	�	PROPN
alkej-264	285	56	�	�	PROPN
alkej-264	285	57	�	�	PROPN
alkej-264	285	58	maximum	maximum	ADJ
alkej-264	285	59	length	length	NOUN
alkej-264	285	60	of	of	ADP
alkej-264	285	61	leg	leg	NOUN
alkej-264	285	62	's	's	PART
alkej-264	285	63	workspace	workspace	NOUN
alkej-264	285	64	r	r	NOUN
alkej-264	285	65	�	�	PROPN
alkej-264	285	66	�	�	NOUN
alkej-264	285	67	d	d	NOUN
alkej-264	285	68	minimum	minimum	ADJ
alkej-264	285	69	length	length	NOUN
alkej-264	285	70	of	of	ADP
alkej-264	285	71	leg	leg	NOUN
alkej-264	285	72	's	's	PART
alkej-264	285	73	workspace	workspace	NOUN
alkej-264	285	74	q	q	NOUN
alkej-264	285	75	,	,	PUNCT
alkej-264	285	76	p	p	NOUN
alkej-264	285	77	lengths	length	NOUN
alkej-264	285	78	of	of	ADP
alkej-264	285	79	rectangular	rectangular	ADJ
alkej-264	285	80	reachable	reachable	ADJ
alkej-264	285	81	area	area	NOUN
alkej-264	285	82	s	s	PART
alkej-264	285	83	�	�	NOUN
alkej-264	285	84	triple	triple	ADJ
alkej-264	285	85	equation	equation	NOUN
alkej-264	285	86	h	h	NOUN
alkej-264	285	87	�	�	PROPN
alkej-264	285	88	vertical	vertical	ADJ
alkej-264	285	89	line	line	NOUN
alkej-264	285	90	from	from	ADP
alkej-264	285	91	the	the	DET
alkej-264	285	92	center	center	ADJ
alkej-264	285	93	point	point	NOUN
alkej-264	285	94	of	of	ADP
alkej-264	285	95	the	the	DET
alkej-264	285	96	robot	robot	NOUN
alkej-264	285	97	’s	’s	PART
alkej-264	285	98	body	body	NOUN
alkej-264	285	99	to	to	ADP
alkej-264	285	100	the	the	DET
alkej-264	285	101	middle	middle	NOUN
alkej-264	285	102	of	of	ADP
alkej-264	285	103	the	the	DET
alkej-264	285	104	base	base	NOUN
alkej-264	285	105	(	(	PUNCT
alkej-264	285	106	l1	l1	PROPN
alkej-264	285	107	)	)	PUNCT
alkej-264	285	108	sm	sm	PROPN
alkej-264	285	109	stability	stability	NOUN
alkej-264	285	110	margin	margin	NOUN
alkej-264	285	111	x	x	X
alkej-264	285	112	�	�	PROPN
alkej-264	285	113	w	w	PROPN
alkej-264	285	114	�	�	PROPN
alkej-264	285	115	,	,	PUNCT
alkej-264	285	116	y	y	PROPN
alkej-264	285	117	�	�	PROPN
alkej-264	285	118	w	w	PROPN
alkej-264	285	119	�	�	PROPN
alkej-264	285	120	backward	backward	ADJ
alkej-264	285	121	smooth	smooth	ADJ
alkej-264	285	122	motion	motion	NOUN
alkej-264	285	123	x	x	X
alkej-264	285	124	�	�	PROPN
alkej-264	285	125	w	w	PROPN
alkej-264	285	126	�	�	PROPN
alkej-264	285	127	,	,	PUNCT
alkej-264	285	128	y	y	PROPN
alkej-264	285	129	�	�	PROPN
alkej-264	285	130	w	w	PROPN
alkej-264	285	131	�	�	PROPN
alkej-264	285	132	,z	,z	PUNCT
alkej-264	285	133	�	�	PROPN
alkej-264	285	134	w	w	PROPN
alkej-264	285	135	�	�	PROPN
alkej-264	285	136	forward	forward	ADV
alkej-264	285	137	smooth	smooth	ADJ
alkej-264	285	138	motion	motion	NOUN
alkej-264	285	139	ϕ	ϕ	PROPN
alkej-264	285	140	direction	direction	NOUN
alkej-264	285	141	of	of	ADP
alkej-264	285	142	motion	motion	NOUN
alkej-264	285	143	t	t	PROPN
alkej-264	285	144	period	period	NOUN
alkej-264	285	145	required	require	VERB
alkej-264	285	146	to	to	PART
alkej-264	285	147	complete	complete	VERB
alkej-264	285	148	one	one	NUM
alkej-264	285	149	cycle	cycle	NOUN
alkej-264	285	150	d	d	NOUN
alkej-264	285	151	step	step	NOUN
alkej-264	285	152	size	size	NOUN
alkej-264	285	153	xz	xz	PROPN
alkej-264	285	154	[	[	PUNCT
alkej-264	285	155	,	,	PUNCT
alkej-264	285	156	yz	yz	PROPN
alkej-264	285	157	[	[	PUNCT
alkej-264	285	158	are	be	AUX
alkej-264	285	159	the	the	DET
alkej-264	285	160	speed	speed	NOUN
alkej-264	285	161	of	of	ADP
alkej-264	285	162	the	the	DET
alkej-264	285	163	hexapod	hexapod	NOUN
alkej-264	285	164	robot	robot	NOUN
alkej-264	285	165	’s	’s	PART
alkej-264	285	166	truck	truck	NOUN
alkej-264	285	167	in	in	ADP
alkej-264	285	168	x	x	PUNCT
alkej-264	285	169	and	and	CCONJ
alkej-264	285	170	y	y	PROPN
alkej-264	285	171	directions	direction	NOUN
alkej-264	285	172	dt	dt	PROPN
alkej-264	285	173	�	�	PROPN
alkej-264	285	174	�	�	PROPN
alkej-264	285	175	\	\	PROPN
alkej-264	285	176	time	time	NOUN
alkej-264	285	177	duration	duration	NOUN
alkej-264	285	178	for	for	ADP
alkej-264	285	179	each	each	DET
alkej-264	285	180	step	step	NOUN
alkej-264	285	181	h	h	NOUN
alkej-264	285	182	height	height	NOUN
alkej-264	285	183	of	of	ADP
alkej-264	285	184	each	each	DET
alkej-264	285	185	step	step	NOUN
alkej-264	285	186	x	x	X
alkej-264	285	187	�	�	PROPN
alkej-264	285	188	�	�	PROPN
alkej-264	285	189	w	w	PROPN
alkej-264	285	190	�	�	PROPN
alkej-264	285	191	,	,	PUNCT
alkej-264	285	192	y	y	PROPN
alkej-264	285	193	�	�	PROPN
alkej-264	285	194	�	�	PROPN
alkej-264	285	195	w	w	PROPN
alkej-264	285	196	�	�	PROPN
alkej-264	285	197	new	new	ADJ
alkej-264	285	198	center	center	NOUN
alkej-264	285	199	coordinates	coordinate	NOUN
alkej-264	285	200	of	of	ADP
alkej-264	285	201	hexapod	hexapod	NOUN
alkej-264	285	202	's	's	PART
alkej-264	285	203	body	body	NOUN
alkej-264	285	204	xcbi	xcbi	VERB
alkej-264	285	205	,	,	PUNCT
alkej-264	285	206	ycbi	ycbi	PROPN
alkej-264	285	207	center	center	PROPN
alkej-264	285	208	coordinates	coordinate	NOUN
alkej-264	285	209	of	of	ADP
alkej-264	285	210	hexapod	hexapod	NOUN
alkej-264	285	211	's	's	PART
alkej-264	285	212	body	body	NOUN
alkej-264	285	213	v	v	NOUN
alkej-264	285	214	represents	represent	VERB
alkej-264	285	215	speed	speed	NOUN
alkej-264	285	216	of	of	ADP
alkej-264	285	217	how	how	SCONJ
alkej-264	285	218	centimeter	centimeter	NOUN
alkej-264	285	219	per	per	ADP
alkej-264	285	220	gait	gait	NOUN
alkej-264	285	221	cycle	cycle	NOUN
alkej-264	285	222	the	the	DET
alkej-264	285	223	robot	robot	NOUN
alkej-264	285	224	should	should	AUX
alkej-264	285	225	move	move	VERB
alkej-264	285	226	ga	ga	PROPN
alkej-264	285	227	genetic	genetic	ADJ
alkej-264	285	228	algorithm	algorithm	NOUN
alkej-264	285	229	greek	greek	PROPN
alkej-264	285	230	letters	letter	NOUN
alkej-264	285	231	θ	θ	PROPN
alkej-264	285	232	�	�	PROPN
alkej-264	285	233	rotation	rotation	NOUN
alkej-264	285	234	angle	angle	NOUN
alkej-264	285	235	about	about	ADP
alkej-264	285	236	zi-1	zi-1	PUNCT
alkej-264	285	237	axis	axis	ADJ
alkej-264	285	238	α	α	NUM
alkej-264	285	239	�	�	PROPN
alkej-264	285	240	rotation	rotation	NOUN
alkej-264	285	241	angle	angle	NOUN
alkej-264	285	242	about	about	ADP
alkej-264	285	243	xi-1	xi-1	PUNCT
alkej-264	285	244	axis	axis	PROPN
alkej-264	285	245	φ	φ	PROPN
alkej-264	285	246	�	�	PROPN
alkej-264	285	247	angle	angle	NOUN
alkej-264	285	248	between	between	ADP
alkej-264	285	249	the	the	DET
alkej-264	285	250	x	x	NOUN
alkej-264	285	251	-	-	NOUN
alkej-264	285	252	axis	axis	NOUN
alkej-264	285	253	and	and	CCONJ
alkej-264	285	254	line	line	NOUN
alkej-264	285	255	a	a	DET
alkej-264	285	256	10	10	NUM
alkej-264	285	257	.	.	PUNCT
alkej-264	286	1	references	reference	NOUN
alkej-264	286	2	[	[	X
alkej-264	286	3	1	1	NUM
alkej-264	286	4	]	]	PUNCT
alkej-264	286	5	x.	x.	NOUN
alkej-264	286	6	ding	ding	PROPN
alkej-264	286	7	,	,	PUNCT
alkej-264	286	8	z.	z.	PROPN
alkej-264	286	9	wang	wang	PROPN
alkej-264	286	10	,	,	PUNCT
alkej-264	286	11	a.	a.	NOUN
alkej-264	286	12	rovetta	rovetta	NOUN
alkej-264	286	13	and	and	CCONJ
alkej-264	286	14	j.m	j.m	PROPN
alkej-264	286	15	.	.	PROPN
alkej-264	286	16	zhu	zhu	PROPN
alkej-264	286	17	,	,	PUNCT
alkej-264	286	18	“	"	PUNCT
alkej-264	286	19	locomotion	locomotion	NOUN
alkej-264	286	20	analysis	analysis	NOUN
alkej-264	286	21	of	of	ADP
alkej-264	286	22	hexapod	hexapod	NOUN
alkej-264	286	23	robot	robot	NOUN
alkej-264	286	24	,	,	PUNCT
alkej-264	286	25	climbing	climbing	NOUN
alkej-264	286	26	and	and	CCONJ
alkej-264	286	27	walking	walking	NOUN
alkej-264	286	28	robots	robot	NOUN
alkej-264	286	29	,	,	PUNCT
alkej-264	286	30	”	"	PUNCT
alkej-264	286	31	behnam	behnam	NOUN
alkej-264	286	32	miripour	miripour	ADJ
alkej-264	286	33	(	(	PUNCT
alkej-264	286	34	ed	ed	NOUN
alkej-264	286	35	.	.	PUNCT
alkej-264	286	36	)	)	PUNCT
alkej-264	286	37	,	,	PUNCT
alkej-264	286	38	2010	2010	NUM
alkej-264	286	39	.	.	PUNCT
alkej-264	287	1	[	[	X
alkej-264	287	2	2	2	NUM
alkej-264	287	3	]	]	PUNCT
alkej-264	287	4	m.	m.	NOUN
alkej-264	287	5	i.	i.	PROPN
alkej-264	287	6	ahmad	ahmad	PROPN
alkej-264	287	7	,	,	PUNCT
alkej-264	287	8	d.	d.	PROPN
alkej-264	287	9	k.	k.	PROPN
alkej-264	287	10	biswas	biswas	PROPN
alkej-264	287	11	and	and	CCONJ
alkej-264	287	12	s.	s.	PROPN
alkej-264	287	13	s	s	PROPN
alkej-264	287	14	roy	roy	PROPN
alkej-264	287	15	,	,	PUNCT
alkej-264	287	16	“	"	PUNCT
alkej-264	287	17	gait	gait	VERB
alkej-264	287	18	analysis	analysis	NOUN
alkej-264	287	19	of	of	ADP
alkej-264	287	20	eight	eight	NUM
alkej-264	287	21	legged	legged	ADJ
alkej-264	287	22	robot	robot	NOUN
alkej-264	287	23	,	,	PUNCT
alkej-264	287	24	”	"	PUNCT
alkej-264	287	25	international	international	ADJ
alkej-264	287	26	journal	journal	NOUN
alkej-264	287	27	of	of	ADP
alkej-264	287	28	mechanical	mechanical	ADJ
alkej-264	287	29	and	and	CCONJ
alkej-264	287	30	industrial	industrial	ADJ
alkej-264	287	31	engineering	engineering	NOUN
alkej-264	287	32	(	(	PUNCT
alkej-264	287	33	ijmie	ijmie	PROPN
alkej-264	287	34	)	)	PUNCT
alkej-264	287	35	,	,	PUNCT
alkej-264	287	36	issn	issn	PROPN
alkej-264	287	37	no	no	NOUN
alkej-264	287	38	.	.	PROPN
alkej-264	287	39	2231	2231	NUM
alkej-264	287	40	–	–	PUNCT
alkej-264	287	41	6477	6477	NUM
alkej-264	287	42	,	,	PUNCT
alkej-264	287	43	vol	vol	NOUN
alkej-264	287	44	.	.	PROPN
alkej-264	287	45	2	2	NUM
alkej-264	287	46	,	,	PUNCT
alkej-264	287	47	issue-2	issue-2	PROPN
alkej-264	287	48	,	,	PUNCT
alkej-264	287	49	2012	2012	NUM
alkej-264	287	50	.	.	PUNCT
alkej-264	288	1	[	[	X
alkej-264	288	2	3	3	X
alkej-264	288	3	]	]	X
alkej-264	288	4	b.	b.	PROPN
alkej-264	288	5	j.	j.	PROPN
alkej-264	288	6	,	,	PUNCT
alkej-264	288	7	“	"	PUNCT
alkej-264	288	8	biologically	biologically	ADV
alkej-264	288	9	inspired	inspire	VERB
alkej-264	288	10	approaches	approach	NOUN
alkej-264	288	11	for	for	ADP
alkej-264	288	12	locomotion	locomotion	NOUN
alkej-264	288	13	,	,	PUNCT
alkej-264	288	14	anomaly	anomaly	NOUN
alkej-264	288	15	detection	detection	NOUN
alkej-264	288	16	and	and	CCONJ
alkej-264	288	17	reconfiguration	reconfiguration	NOUN
alkej-264	288	18	for	for	ADP
alkej-264	288	19	walking	walk	VERB
alkej-264	288	20	robots	robot	NOUN
alkej-264	288	21	,	,	PUNCT
alkej-264	288	22	”	"	PUNCT
alkej-264	288	23	springer	springer	NOUN
alkej-264	288	24	-	-	PUNCT
alkej-264	288	25	verlag	verlag	PROPN
alkej-264	288	26	berlin	berlin	PROPN
alkej-264	288	27	heidelberg	heidelberg	PROPN
alkej-264	288	28	,	,	PUNCT
alkej-264	288	29	2011	2011	NUM
alkej-264	288	30	.	.	PUNCT
alkej-264	289	1	[	[	X
alkej-264	289	2	4	4	X
alkej-264	289	3	]	]	X
alkej-264	289	4	d.	d.	PROPN
alkej-264	289	5	a.	a.	PROPN
alkej-264	289	6	bucur	bucur	PROPN
alkej-264	289	7	,	,	PUNCT
alkej-264	289	8	s.	s.	PROPN
alkej-264	289	9	a.	a.	PROPN
alkej-264	289	10	dumitru	dumitru	PROPN
alkej-264	289	11	,	,	PUNCT
alkej-264	289	12	“	"	PUNCT
alkej-264	289	13	genetic	genetic	ADJ
alkej-264	289	14	algorithm	algorithm	NOUN
alkej-264	289	15	for	for	ADP
alkej-264	289	16	walking	walk	VERB
alkej-264	289	17	robots	robot	NOUN
alkej-264	289	18	motion	motion	NOUN
alkej-264	289	19	optimization	optimization	NOUN
alkej-264	289	20	,	,	PUNCT
alkej-264	289	21	”	"	PUNCT
alkej-264	289	22	institute	institute	NOUN
alkej-264	289	23	of	of	ADP
alkej-264	289	24	solid	solid	ADJ
alkej-264	289	25	mechanics	mechanic	NOUN
alkej-264	289	26	of	of	ADP
alkej-264	289	27	the	the	DET
alkej-264	289	28	romanian	romanian	ADJ
alkej-264	289	29	academy	academy	PROPN
alkej-264	289	30	15	15	NUM
alkej-264	289	31	c	c	NOUN
alkej-264	289	32	-	-	PUNCT
alkej-264	289	33	tin	tin	NOUN
alkej-264	289	34	mille	mille	NOUN
alkej-264	289	35	,	,	PUNCT
alkej-264	289	36	sector	sector	NOUN
alkej-264	289	37	1	1	NUM
alkej-264	289	38	,	,	PUNCT
alkej-264	289	39	bucharest	buchar	ADJ
alkej-264	289	40	,	,	PUNCT
alkej-264	289	41	romania	romania	PROPN
alkej-264	289	42	,	,	PUNCT
alkej-264	289	43	2011	2011	NUM
alkej-264	289	44	.	.	PUNCT
alkej-264	290	1	[	[	X
alkej-264	290	2	5	5	X
alkej-264	290	3	]	]	PUNCT
alkej-264	290	4	j.	j.	PROPN
alkej-264	290	5	currie	currie	PROPN
alkej-264	290	6	,	,	PUNCT
alkej-264	290	7	m.	m.	PROPN
alkej-264	290	8	beckerleg	beckerleg	PROPN
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alkej-264	290	10	j.	j.	PROPN
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alkej-264	290	12	,	,	PUNCT
alkej-264	290	13	“	"	PUNCT
alkej-264	290	14	software	software	NOUN
alkej-264	290	15	evolution	evolution	NOUN
alkej-264	290	16	of	of	ADP
alkej-264	290	17	a	a	DET
alkej-264	290	18	hexapod	hexapod	NOUN
alkej-264	290	19	robot	robot	NOUN
alkej-264	290	20	walking	walking	NOUN
alkej-264	290	21	,	,	PUNCT
alkej-264	290	22	”	"	PUNCT
alkej-264	290	23	15th	15th	ADJ
alkej-264	290	24	international	international	ADJ
alkej-264	290	25	conference	conference	NOUN
alkej-264	290	26	on	on	ADP
alkej-264	290	27	mechatronics	mechatronic	NOUN
alkej-264	290	28	and	and	CCONJ
alkej-264	290	29	machine	machine	NOUN
alkej-264	290	30	vision	vision	NOUN
alkej-264	290	31	in	in	ADP
alkej-264	290	32	practice	practice	NOUN
alkej-264	290	33	(	(	PUNCT
alkej-264	290	34	m2vip08	m2vip08	PROPN
alkej-264	290	35	)	)	PUNCT
alkej-264	290	36	,	,	PUNCT
alkej-264	290	37	2008	2008	NUM
alkej-264	290	38	.	.	PUNCT
alkej-264	291	1	[	[	X
alkej-264	291	2	6	6	NUM
alkej-264	291	3	]	]	X
alkej-264	291	4	b.l	b.l	PROPN
alkej-264	291	5	.	.	PROPN
alkej-264	291	6	luk	luk	PROPN
alkej-264	291	7	,	,	PUNCT
alkej-264	291	8	s.	s.	PROPN
alkej-264	291	9	galt	galt	PROPN
alkej-264	291	10	and	and	CCONJ
alkej-264	291	11	s.	s.	PROPN
alkej-264	291	12	chen	chen	PROPN
alkej-264	291	13	,	,	PUNCT
alkej-264	291	14	“	"	PUNCT
alkej-264	291	15	using	use	VERB
alkej-264	291	16	genetic	genetic	ADJ
alkej-264	291	17	algorithms	algorithm	NOUN
alkej-264	291	18	to	to	PART
alkej-264	291	19	establish	establish	VERB
alkej-264	291	20	efficient	efficient	ADJ
alkej-264	291	21	walking	walking	NOUN
alkej-264	291	22	gaits	gait	NOUN
alkej-264	291	23	for	for	ADP
alkej-264	291	24	an	an	DET
alkej-264	291	25	eight	eight	NUM
alkej-264	291	26	-	-	PUNCT
alkej-264	291	27	legged	legged	ADJ
alkej-264	291	28	robot	robot	NOUN
alkej-264	291	29	,	,	PUNCT
alkej-264	291	30	”	"	PUNCT
alkej-264	291	31	,	,	PUNCT
alkej-264	291	32	2001	2001	NUM
alkej-264	291	33	.	.	PUNCT
alkej-264	292	1	[	[	X
alkej-264	292	2	7	7	X
alkej-264	292	3	]	]	PUNCT
alkej-264	292	4	k.	k.	PROPN
alkej-264	292	5	w.	w.	PROPN
alkej-264	292	6	,	,	PUNCT
alkej-264	292	7	d.b	d.b	PROPN
alkej-264	292	8	.	.	PROPN
alkej-264	292	9	and	and	CCONJ
alkej-264	292	10	a.	a.	PROPN
alkej-264	292	11	k.	k.	PROPN
alkej-264	292	12	,	,	PUNCT
alkej-264	292	13	“	"	PUNCT
alkej-264	292	14	control	control	NOUN
alkej-264	292	15	and	and	CCONJ
alkej-264	292	16	environment	environment	NOUN
alkej-264	292	17	sensing	sense	VERB
alkej-264	292	18	system	system	NOUN
alkej-264	292	19	for	for	ADP
alkej-264	292	20	a	a	DET
alkej-264	292	21	six	six	NUM
alkej-264	292	22	-	-	PUNCT
alkej-264	292	23	legged	legged	ADJ
alkej-264	292	24	robot	robot	NOUN
alkej-264	292	25	,	,	PUNCT
alkej-264	292	26	”	"	PUNCT
alkej-264	292	27	,	,	PUNCT
alkej-264	292	28	journal	journal	NOUN
alkej-264	292	29	of	of	ADP
alkej-264	292	30	automation	automation	NOUN
alkej-264	292	31	,	,	PUNCT
alkej-264	292	32	mobile	mobile	ADJ
alkej-264	292	33	robotics	robotic	NOUN
alkej-264	292	34	&	&	CCONJ
alkej-264	292	35	intelligent	intelligent	ADJ
alkej-264	292	36	systems	system	NOUN
alkej-264	292	37	,	,	PUNCT
alkej-264	292	38	vol	vol	NOUN
alkej-264	292	39	.	.	PROPN
alkej-264	292	40	2	2	NUM
alkej-264	292	41	,	,	PUNCT
alkej-264	292	42	no	no	INTJ
alkej-264	292	43	.	.	NOUN
alkej-264	292	44	3	3	NUM
alkej-264	292	45	,	,	PUNCT
alkej-264	292	46	2008	2008	NUM
alkej-264	292	47	.	.	PUNCT
alkej-264	293	1	[	[	X
alkej-264	293	2	8	8	X
alkej-264	293	3	]	]	PUNCT
alkej-264	293	4	j.	j.	PROPN
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alkej-264	293	6	,	,	PUNCT
alkej-264	293	7	a.	a.	NOUN
alkej-264	293	8	trigo	trigo	PROPN
alkej-264	293	9	,	,	PUNCT
alkej-264	293	10	p.	p.	PROPN
alkej-264	293	11	menezes	menezes	PROPN
alkej-264	293	12	,	,	PUNCT
alkej-264	293	13	dias	dias	PROPN
alkej-264	293	14	j.	j.	PROPN
alkej-264	293	15	,	,	PUNCT
alkej-264	293	16	“	"	PUNCT
alkej-264	293	17	kinematic	kinematic	ADJ
alkej-264	293	18	and	and	CCONJ
alkej-264	293	19	dynamic	dynamic	ADJ
alkej-264	293	20	modeling	modeling	NOUN
alkej-264	293	21	of	of	ADP
alkej-264	293	22	a	a	DET
alkej-264	293	23	six	six	NUM
alkej-264	293	24	legged	legged	ADJ
alkej-264	293	25	robot	robot	NOUN
alkej-264	293	26	,	,	PUNCT
alkej-264	293	27	”	"	PUNCT
alkej-264	293	28	citeseer	citeseer	NOUN
alkej-264	293	29	,	,	PUNCT
alkej-264	293	30	2004	2004	NUM
alkej-264	293	31	.	.	PUNCT
alkej-264	294	1	[	[	X
alkej-264	294	2	9	9	NUM
alkej-264	294	3	]	]	PUNCT
alkej-264	294	4	m.	m.	NOUN
alkej-264	294	5	o.	o.	PROPN
alkej-264	294	6	sorin	sorin	PROPN
alkej-264	294	7	,	,	PUNCT
alkej-264	294	8	n.	n.	PROPN
alkej-264	294	9	mircea	mircea	PROPN
alkej-264	294	10	,	,	PUNCT
alkej-264	294	11	“	"	PUNCT
alkej-264	294	12	matlab	matlab	PROPN
alkej-264	294	13	simulator	simulator	NOUN
alkej-264	294	14	for	for	ADP
alkej-264	294	15	gravitational	gravitational	ADJ
alkej-264	294	16	stability	stability	NOUN
alkej-264	294	17	analysis	analysis	NOUN
alkej-264	294	18	of	of	ADP
alkej-264	294	19	a	a	DET
alkej-264	294	20	hexapod	hexapod	NOUN
alkej-264	294	21	robot	robot	NOUN
alkej-264	294	22	,	,	PUNCT
alkej-264	294	23	”	"	PUNCT
alkej-264	294	24	the	the	DET
alkej-264	294	25	romanian	romanian	ADJ
alkej-264	294	26	review	review	PROPN
alkej-264	294	27	precision	precision	NOUN
alkej-264	294	28	mechanics	mechanic	NOUN
alkej-264	294	29	,	,	PUNCT
alkej-264	294	30	optics	optic	NOUN
alkej-264	294	31	&	&	CCONJ
alkej-264	294	32	mechatronics	mechatronic	NOUN
alkej-264	294	33	,	,	PUNCT
alkej-264	294	34	158	158	NUM
alkej-264	294	35	,	,	PUNCT
alkej-264	294	36	no	no	NOUN
alkej-264	294	37	.	.	NOUN
alkej-264	294	38	39	39	NUM
alkej-264	294	39	mechanics	mechanic	NOUN
alkej-264	294	40	,	,	PUNCT
alkej-264	294	41	optics	optic	NOUN
alkej-264	294	42	&	&	CCONJ
alkej-264	294	43	mechatronics	mechatronic	NOUN
alkej-264	294	44	,	,	PUNCT
alkej-264	294	45	2011	2011	NUM
alkej-264	294	46	.	.	PUNCT
alkej-264	295	1	firas	firas	PROPN
alkej-264	295	2	a.	a.	PROPN
alkej-264	295	3	raheem	raheem	PROPN
alkej-264	295	4	al	al	PROPN
alkej-264	295	5	-	-	PUNCT
alkej-264	295	6	khwarizmi	khwarizmi	PROPN
alkej-264	295	7	engineering	engineering	NOUN
alkej-264	295	8	journal	journal	PROPN
alkej-264	295	9	,	,	PUNCT
alkej-264	295	10	vol	vol	NOUN
alkej-264	295	11	.	.	PROPN
alkej-264	295	12	11	11	NUM
alkej-264	295	13	,	,	PUNCT
alkej-264	295	14	no	no	INTJ
alkej-264	295	15	.	.	NOUN
alkej-264	295	16	4	4	NUM
alkej-264	295	17	,	,	PUNCT
alkej-264	295	18	p.p	p.p	PROPN
alkej-264	295	19	.	.	NOUN
alkej-264	295	20	4459	4459	NUM
alkej-264	295	21	(	(	PUNCT
alkej-264	295	22	2015	2015	NUM
alkej-264	295	23	)	)	PUNCT
alkej-264	295	24	58	58	NUM
alkej-264	296	1	[	[	X
alkej-264	296	2	10	10	NUM
alkej-264	296	3	]	]	X
alkej-264	296	4	http://www.lynxmotion.com/c-100-bh3r.aspx	http://www.lynxmotion.com/c-100-bh3r.aspx	NOUN
alkej-264	296	5	,	,	PUNCT
alkej-264	296	6	accessed	access	VERB
alkej-264	296	7	on	on	ADP
alkej-264	296	8	17/11/2013	17/11/2013	NUM
alkej-264	296	9	.	.	PUNCT
alkej-264	297	1	[	[	X
alkej-264	297	2	11	11	NUM
alkej-264	297	3	]	]	PUNCT
alkej-264	297	4	s.	s.	PROPN
alkej-264	297	5	r.	r.	PROPN
alkej-264	297	6	j.	j.	PROPN
alkej-264	297	7	,	,	PUNCT
alkej-264	297	8	“	"	PUNCT
alkej-264	297	9	fundamentals	fundamental	NOUN
alkej-264	297	10	of	of	ADP
alkej-264	297	11	robotics	robotic	NOUN
alkej-264	297	12	:	:	PUNCT
alkej-264	297	13	analysis	analysis	NOUN
alkej-264	297	14	and	and	CCONJ
alkej-264	297	15	control	control	NOUN
alkej-264	297	16	”	"	PUNCT
alkej-264	297	17	,	,	PUNCT
alkej-264	297	18	isbn	isbn	ADJ
alkej-264	297	19	:	:	PUNCT
alkej-264	297	20	0	0	NUM
alkej-264	297	21	-	-	SYM
alkej-264	297	22	13	13	NUM
alkej-264	297	23	-	-	PUNCT
alkej-264	297	24	344433	344433	NUM
alkej-264	297	25	-	-	SYM
alkej-264	297	26	3	3	NUM
alkej-264	297	27	,	,	PUNCT
alkej-264	297	28	prentice	prentice	NOUN
alkej-264	297	29	hall	hall	NOUN
alkej-264	297	30	,	,	PUNCT
alkej-264	297	31	new	new	PROPN
alkej-264	297	32	jersey	jersey	PROPN
alkej-264	297	33	,	,	PUNCT
alkej-264	297	34	usa	usa	PROPN
alkej-264	297	35	,	,	PUNCT
alkej-264	297	36	1990	1990	NUM
alkej-264	297	37	.	.	PUNCT
alkej-264	298	1	[	[	X
alkej-264	298	2	12	12	NUM
alkej-264	298	3	]	]	PUNCT
alkej-264	298	4	r.	r.	PROPN
alkej-264	298	5	b.	b.	PROPN
alkej-264	298	6	mcghee	mcghee	PROPN
alkej-264	298	7	and	and	CCONJ
alkej-264	298	8	g.	g.	PROPN
alkej-264	298	9	i.	i.	PROPN
alkej-264	298	10	iswandhi	iswandhi	PROPN
alkej-264	298	11	,	,	PUNCT
alkej-264	298	12	“	"	PUNCT
alkej-264	298	13	adaptive	adaptive	ADJ
alkej-264	298	14	locomotion	locomotion	NOUN
alkej-264	298	15	of	of	ADP
alkej-264	298	16	a	a	DET
alkej-264	298	17	multilegged	multilegge	VERB
alkej-264	298	18	robot	robot	NOUN
alkej-264	298	19	over	over	ADP
alkej-264	298	20	rough	rough	ADJ
alkej-264	298	21	terrain	terrain	NOUN
alkej-264	298	22	,	,	PUNCT
alkej-264	298	23	”	"	PUNCT
alkej-264	298	24	ieee	ieee	NOUN
alkej-264	298	25	trans	trans	PROPN
alkej-264	298	26	.	.	PUNCT
alkej-264	299	1	syst	syst	PROPN
alkej-264	299	2	.	.	PUNCT
alkej-264	299	3	,	,	PUNCT
alkej-264	299	4	man	man	NOUN
alkej-264	299	5	,	,	PUNCT
alkej-264	299	6	cybern	cybern	PROPN
alkej-264	299	7	.	.	PUNCT
alkej-264	299	8	,	,	PUNCT
alkej-264	299	9	vol	vol	NOUN
alkej-264	299	10	.	.	PUNCT
alkej-264	299	11	smc-9	smc-9	NUM
alkej-264	299	12	,	,	PUNCT
alkej-264	299	13	no	no	INTJ
alkej-264	299	14	.	.	NOUN
alkej-264	299	15	4	4	NUM
alkej-264	299	16	,	,	PUNCT
alkej-264	299	17	pp	pp	ADJ
alkej-264	299	18	.	.	PUNCT
alkej-264	300	1	176–182	176–182	NUM
alkej-264	300	2	,	,	PUNCT
alkej-264	300	3	1979	1979	NUM
alkej-264	300	4	.	.	PUNCT
alkej-264	301	1	[	[	X
alkej-264	301	2	13	13	NUM
alkej-264	301	3	]	]	SYM
alkej-264	301	4	stanley	stanley	PROPN
alkej-264	301	5	kwok	kwok	PROPN
alkej-264	301	6	-	-	PUNCT
alkej-264	301	7	kei	kei	PROPN
alkej-264	301	8	chu	chu	PROPN
alkej-264	301	9	and	and	CCONJ
alkej-264	301	10	grantham	grantham	PROPN
alkej-264	301	11	kwok	kwok	PROPN
alkej-264	301	12	-	-	PUNCT
alkej-264	301	13	hung	hung	PROPN
alkej-264	301	14	pang	pang	NOUN
alkej-264	301	15	,	,	PUNCT
alkej-264	301	16	“	"	PUNCT
alkej-264	301	17	comparison	comparison	NOUN
alkej-264	301	18	between	between	ADP
alkej-264	301	19	different	different	ADJ
alkej-264	301	20	model	model	NOUN
alkej-264	301	21	of	of	ADP
alkej-264	301	22	hexapod	hexapod	NOUN
alkej-264	301	23	robot	robot	NOUN
alkej-264	301	24	in	in	ADP
alkej-264	301	25	faulttolerant	faulttolerant	ADJ
alkej-264	301	26	gait	gait	NOUN
alkej-264	301	27	,	,	PUNCT
alkej-264	301	28	”	"	PUNCT
alkej-264	301	29	ieee	ieee	NOUN
alkej-264	301	30	trans	trans	PROPN
alkej-264	301	31	.	.	PUNCT
alkej-264	302	1	syst	syst	PROPN
alkej-264	302	2	.	.	PUNCT
alkej-264	303	1	man	man	NOUN
alkej-264	303	2	cybern,—part	cybern,—part	PROPN
alkej-264	303	3	a	a	DET
alkej-264	303	4	:	:	PUNCT
alkej-264	303	5	system	system	NOUN
alkej-264	303	6	and	and	CCONJ
alkej-264	303	7	humans	human	NOUN
alkej-264	303	8	,	,	PUNCT
alkej-264	303	9	vol	vol	NOUN
alkej-264	303	10	.	.	PROPN
alkej-264	303	11	32	32	NUM
alkej-264	303	12	,	,	PUNCT
alkej-264	303	13	no	no	INTJ
alkej-264	303	14	.	.	NOUN
alkej-264	303	15	6	6	NUM
alkej-264	303	16	,	,	PUNCT
alkej-264	303	17	november	november	PROPN
alkej-264	303	18	,	,	PUNCT
alkej-264	303	19	2002	2002	NUM
alkej-264	303	20	.	.	PUNCT
alkej-264	304	1	[	[	X
alkej-264	304	2	14	14	NUM
alkej-264	304	3	]	]	X
alkej-264	304	4	charles	charles	PROPN
alkej-264	304	5	andrew	andrew	PROPN
alkej-264	304	6	schue	schue	PROPN
alkej-264	304	7	,	,	PUNCT
alkej-264	304	8	“	"	PUNCT
alkej-264	304	9	simulation	simulation	NOUN
alkej-264	304	10	of	of	ADP
alkej-264	304	11	tripod	tripod	NOUN
alkej-264	304	12	gaits	gait	NOUN
alkej-264	304	13	for	for	ADP
alkej-264	304	14	a	a	DET
alkej-264	304	15	hexapod	hexapod	NOUN
alkej-264	304	16	underwater	underwater	NOUN
alkej-264	304	17	walking	walking	NOUN
alkej-264	304	18	machine	machine	NOUN
alkej-264	304	19	,	,	PUNCT
alkej-264	304	20	”	"	PUNCT
alkej-264	304	21	master	master	NOUN
alkej-264	304	22	’s	’s	PART
alkej-264	304	23	thesis	thesis	NOUN
alkej-264	304	24	,	,	PUNCT
alkej-264	304	25	naval	naval	ADJ
alkej-264	304	26	postgraduate	postgraduate	NOUN
alkej-264	304	27	school	school	PROPN
alkej-264	304	28	monterey	monterey	PROPN
alkej-264	304	29	,	,	PUNCT
alkej-264	304	30	california	california	PROPN
alkej-264	304	31	,	,	PUNCT
alkej-264	304	32	june	june	PROPN
alkej-264	304	33	,	,	PUNCT
alkej-264	304	34	1993	1993	NUM
alkej-264	304	35	.	.	PUNCT
alkej-264	305	1	[	[	X
alkej-264	305	2	15	15	NUM
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alkej-264	305	4	s.	s.	PROPN
alkej-264	305	5	m.	m.	PROPN
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alkej-264	305	8	b.	b.	PROPN
alkej-264	305	9	s.	s.	PROPN
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alkej-264	305	11	,	,	PUNCT
alkej-264	305	12	“	"	PUNCT
alkej-264	305	13	the	the	DET
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alkej-264	305	17	of	of	ADP
alkej-264	305	18	2n	2n	ADJ
alkej-264	305	19	-	-	PUNCT
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alkej-264	305	21	wave	wave	NOUN
alkej-264	305	22	gaits	gait	NOUN
alkej-264	305	23	,	,	PUNCT
alkej-264	305	24	”	"	PUNCT
alkej-264	305	25	ieee	ieee	NOUN
alkej-264	305	26	trans	tran	NOUN
alkej-264	305	27	.	.	PUNCT
alkej-264	306	1	on	on	ADP
alkej-264	306	2	system	system	NOUN
alkej-264	306	3	,	,	PUNCT
alkej-264	306	4	man	man	NOUN
alkej-264	306	5	,	,	PUNCT
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alkej-264	306	8	,	,	PUNCT
alkej-264	306	9	vol	vol	NOUN
alkej-264	306	10	.	.	PROPN
alkej-264	306	11	20	20	NUM
alkej-264	306	12	,	,	PUNCT
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alkej-264	306	14	.	.	NOUN
alkej-264	306	15	4	4	NUM
alkej-264	306	16	,	,	PUNCT
alkej-264	306	17	jul./aug	jul./aug	PROPN
alkej-264	306	18	.	.	PROPN
alkej-264	306	19	,	,	PUNCT
alkej-264	306	20	1990	1990	NUM
alkej-264	306	21	.	.	PUNCT
alkej-264	307	1	[	[	X
alkej-264	307	2	16	16	NUM
alkej-264	307	3	]	]	X
alkej-264	307	4	s.	s.	PROPN
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alkej-264	307	6	,	,	PUNCT
alkej-264	307	7	“	"	PUNCT
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alkej-264	307	13	six	six	NUM
alkej-264	307	14	legged	legged	ADJ
alkej-264	307	15	mobile	mobile	ADJ
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alkej-264	307	17	,	,	PUNCT
alkej-264	307	18	”	"	PUNCT
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alkej-264	307	21	,	,	PUNCT
alkej-264	307	22	2010	2010	NUM
alkej-264	307	23	.	.	PUNCT
alkej-264	308	1	[	[	X
alkej-264	308	2	17	17	NUM
alkej-264	308	3	]	]	PUNCT
alkej-264	308	4	m.	m.	NOUN
alkej-264	308	5	a.	a.	PROPN
alkej-264	308	6	shahriari	shahriari	PROPN
alkej-264	308	7	,	,	PUNCT
alkej-264	308	8	k.	k.	PROPN
alkej-264	308	9	g.	g.	PROPN
alkej-264	308	10	osguie	osguie	PROPN
alkej-264	308	11	,	,	PUNCT
alkej-264	308	12	a.	a.	NOUN
alkej-264	308	13	a.	a.	NOUN
alkej-264	308	14	akbar	akbar	PROPN
alkej-264	308	15	khayyat	khayyat	PROPN
alkej-264	308	16	,	,	PUNCT
alkej-264	308	17	“	"	PUNCT
alkej-264	308	18	modular	modular	ADJ
alkej-264	308	19	framework	framework	NOUN
alkej-264	308	20	kinematic	kinematic	ADJ
alkej-264	308	21	and	and	CCONJ
alkej-264	308	22	fuzzy	fuzzy	ADJ
alkej-264	308	23	reward	reward	NOUN
alkej-264	308	24	reinforcement	reinforcement	NOUN
alkej-264	308	25	learning	learn	VERB
alkej-264	308	26	analysis	analysis	NOUN
alkej-264	308	27	of	of	ADP
alkej-264	308	28	a	a	DET
alkej-264	308	29	radially	radially	ADV
alkej-264	308	30	symmetric	symmetric	ADJ
alkej-264	308	31	sixlegged	sixlegge	VERB
alkej-264	308	32	robot	robot	NOUN
alkej-264	308	33	,	,	PUNCT
alkej-264	308	34	”	"	PUNCT
alkej-264	308	35	life	life	NOUN
alkej-264	308	36	science	science	NOUN
alkej-264	308	37	journal	journal	PROPN
alkej-264	308	38	,	,	PUNCT
alkej-264	308	39	2013	2013	NUM
alkej-264	308	40	.	.	PUNCT
alkej-264	309	1	radially	radially	ADV
alkej-264	309	2	symmetric	symmetric	ADJ
alkej-264	309	3	six	six	NUM
alkej-264	309	4	-	-	PUNCT
alkej-264	309	5	legged	legged	ADJ
alkej-264	309	6	robot	robot	NOUN
alkej-264	309	7	,	,	PUNCT
alkej-264	309	8	”	"	PUNCT
alkej-264	309	9	life	life	NOUN
alkej-264	309	10	science	science	NOUN
alkej-264	309	11	journal	journal	NOUN
alkej-264	309	12	,	,	PUNCT
alkej-264	309	13	2013	2013	NUM
alkej-264	309	14	.	.	PUNCT
alkej-264	309	15	)	)	PUNCT
alkej-264	309	16	2015	2015	NUM
alkej-264	309	17	(	(	PUNCT
alkej-264	309	18	4459	4459	NUM
alkej-264	309	19	،	،	NOUN
alkej-264	309	20	456	456	NUM
alkej-264	309	21	'	'	PART
alkej-264	309	22	4	4	NUM
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alkej-264	309	24	ا"2*د11*%$	ا"2*د11*%$	NOUN
alkej-264	309	25	'	'	PUNCT
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alkej-264	309	28	ارز#ا",+	ارز#ا",+	PROPN
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alkej-264	309	31	)	)	PUNCT
alkej-264	309	32	'	'	PUNCT
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alkej-264	309	35	ا"!زاق	ا"!زاق	PROPN
alkej-264	309	36	�	�	PROPN
alkej-264	309	37	راس	راس	PROPN
alkej-264	309	38	�	�	PROPN
alkej-264	309	39	�	�	PROPN
alkej-264	309	40	د	د	PROPN
alkej-264	309	41	59	59	NUM
alkej-264	309	42	�	�	PROPN
alkej-264	309	43	ار	ار	NOUN
alkej-264	309	44	�	�	PROPN
alkej-264	309	45	�	�	PROPN
alkej-264	309	46	ا	ا	SYM
alkej-264	309	47	�	�	PROPN
alkej-264	309	48	�	�	PROPN
alkej-264	309	49	�	�	PROPN
alkej-264	309	50	�	�	PROPN
alkej-264	309	51	�	�	PROPN
alkej-264	309	52	�	�	PROPN
alkej-264	309	53	�	�	PROPN
alkej-264	309	54	�	�	PROPN
alkej-264	309	55	�	�	PROPN
alkej-264	309	56	�	�	PROPN
alkej-264	309	57	�	�	PROPN
alkej-264	309	58	�	�	PROPN
alkej-264	309	59	�	�	PROPN
alkej-264	309	60	�	�	PROPN
alkej-264	309	61	د	د	PRON
alkej-264	309	62	رو	رو	PROPN
alkej-264	309	63	�	�	PROPN
alkej-264	309	64	�	�	PROPN
alkej-264	309	65	ت	ت	PROPN
alkej-264	309	66	�	�	PROPN
alkej-264	309	67	�	�	PROPN
alkej-264	309	68	�	�	PROPN
alkej-264	309	69	�	�	PROPN
alkej-264	309	70	�	�	PROPN
alkej-264	309	71	�	�	PROPN
alkej-264	309	72	ام	ام	PROPN
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alkej-264	309	74	�	�	PROPN
alkej-264	309	75	�	�	PROPN
alkej-264	309	76	�	�	PROPN
alkej-264	309	77	ارز	ارز	PROPN
alkej-264	309	78	�	�	PROPN
alkej-264	309	79	�	�	PROPN
alkej-264	309	80	�	�	PROPN
alkej-264	309	81	ا	ا	SYM
alkej-264	309	82	�	�	PROPN
alkej-264	309	83	�	�	PROPN
alkej-264	309	84	�	�	PROPN
alkej-264	309	85	�	�	PROPN
alkej-264	309	86	�	�	PROPN
alkej-264	309	87	�	�	PROPN
alkej-264	309	88	�	�	PROPN
alkej-264	309	89	�	�	PROPN
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alkej-264	309	93	�	�	PROPN
alkej-264	309	94	�	�	PROPN
alkej-264	309	95	�	�	PROPN
alkej-264	309	96	ا	ا	X
alkej-264	309	97	�	�	PROPN
alkej-264	309	98	اس	اس	PROPN
alkej-264	309	99	&	&	CCONJ
alkej-264	309	100	%	%	INTJ
alkej-264	309	101	�	�	PROPN
alkej-264	309	102	ا	ا	SYM
alkej-264	309	103	�	�	PROPN
alkej-264	309	104	�	�	NOUN
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alkej-264	309	117	�	�	PROPN
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alkej-264	309	119	�	�	PROPN
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alkej-264	309	124	ا"ab+/"/@)'ا"%?#2	ا"ab+/"/@)'ا"%?#2	NOUN
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alkej-264	309	127	<	<	X
alkej-264	309	128	>	>	X
alkej-264	309	129	7	7	NUM
alkej-264	309	130	ھ+	ھ+	X
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alkej-264	309	133	'	'	PUNCT
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alkej-264	309	137	*	*	NOUN
alkej-264	309	138	،	،	X
alkej-264	309	139	*	*	X
alkej-264	309	140	dr.firas7010@yahoo.com	dr.firas7010@yahoo.com	X
alkej-264	309	141	-cو!ba"dا	-cو!ba"dا	PROPN
alkej-264	309	142	*	*	PUNCT
alkej-264	309	143	e!f"ا	e!f"ا	NUM
alkej-264	309	144	:	:	PUNCT
alkej-264	309	145	*	*	PUNCT
alkej-264	310	1	hhindzuhair@yahoo.com	hhindzuhair@yahoo.com	X
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alkej-264	311	3	e!f"ا	e!f"ا	ADJ
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alkej-264	312	1	*	*	PUNCT
alkej-264	312	2	*	*	PUNCT
alkej-264	312	3	ا	ا	X
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alkej-264	314	15	u"v	u"v	NOUN
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alkej-264	316	19	ks	ks	PROPN
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alkej-264	316	25	xyx	xyx	PROPN
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alkej-264	317	20	r	r	NOUN
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alkej-264	317	24	،	،	X
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alkej-264	317	27	ام	ام	PROPN
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alkej-264	317	30	ا"s!4?ت	ا"s!4?ت	PROPN
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alkej-264	318	2	اn	اn	PROPN
alkej-264	318	3	-#?#d$7	-#?#d$7	X
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alkej-264	328	18	k5	k5	PROPN
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alkej-264	328	34	ا	ا	PRON
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alkej-264	329	28	'	'	PART
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alkej-264	329	32	ط!r	ط!r	PROPN
alkej-264	329	33	7h(bpe[ا"k&2	7h(bpe[ا"k&2	NUM
alkej-264	329	34	ا"&bp!ح	ا"&bp!ح	PROPN
alkej-264	329	35	h?(0b*ام	h?(0b*ام	PROPN
alkej-264	329	36	ا"0	ا"0	PROPN
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alkej-264	329	41	'	'	PART
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alkej-264	329	46	-b>+^	-b>+^	PUNCT
alkej-264	329	47	اd(pb!ارe	اd(pb!ارe	NOUN
alkej-264	329	48	'	'	PART
alkej-264	329	49	ا"stability	ا"stability	NOUN
alkej-264	329	50	margins	margin	NOUN
alkej-264	329	51	'	'	PUNCT
alkej-264	329	52	bh?aا";!pe	bh?aا";!pe	NOUN
alkej-264	329	53	'	'	PUNCT
alkej-264	329	54	ا"c?a	ا"c?a	NOUN
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alkej-264	329	56	'	'	PUNCT
alkej-264	329	57	(	(	PUNCT
alkej-264	329	58	&	&	CCONJ
alkej-264	329	59	)	)	PUNCT
alkej-264	329	60	^	^	PUNCT
alkej-264	329	61	ب	ب	X
alkej-264	329	62	.	.	PUNCT
alkej-264	330	1	"	"	PUNCT
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alkej-264	330	3	ا"s!4?ت	ا"s!4?ت	PROPN
alkej-264	330	4	)	)	PUNCT
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alkej-264	330	6	margins(<)7	margins(<)7	PROPN
alkej-264	330	7	ال	ال	NOUN
alkej-264	330	8	k	k	NOUN
alkej-264	330	9	"	"	PUNCT
alkej-264	330	10	7	7	NUM
alkej-264	330	11	(	(	PUNCT
alkej-264	330	12	>	>	X
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alkej-264	330	14	m$n	m$n	NOUN
alkej-264	330	15	?	?	PUNCT
alkej-264	330	16	,	,	PUNCT
alkej-264	330	17	"	"	PUNCT
alkej-264	330	18	/`4hstability	/`4hstability	NOUN
alkej-264	330	19	margins	margin	VERB
alkej-264	330	20	5)*ة	5)*ة	NUM
alkej-264	330	21	[	[	X
alkej-264	330	22	ا"4`/ل	ا"4`/ل	X
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alkej-264	330	24	es?b+"ه	es?b+"ه	PRON
alkej-264	330	25	اvت	اvت	NOUN
alkej-264	330	26	وھ	وھ	NOUN
alkej-264	330	27	/	/	SYM
alkej-264	330	28	hد	hد	NOUN
alkej-264	330	29	رو	رو	ADV
alkej-264	330	30	/	/	SYM
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alkej-264	330	33	h	h	NOUN
alkej-264	330	34	#	#	NOUN
alkej-264	330	35	k	k	NOUN
alkej-264	330	36	>	>	X
alkej-264	330	37	ا	ا	X
alkej-264	330	38	m;0h	m;0h	NOUN
alkej-264	330	39	'	'	PUNCT
alkej-264	330	40	s!4	s!4	ADV
alkej-264	330	41	$	$	SYM
alkej-264	330	42	"	"	PUNCT
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alkej-264	330	44	ر	ر	NOUN
alkej-264	330	45	?	?	PUNCT
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alkej-264	330	51	ا?e?,+	ا?e?,+	NOUN
alkej-264	330	52	"	"	PUNCT
alkej-264	330	53	ة*e*@	ة*e*@	NOUN
alkej-264	330	54	ة!pb	ة!pb	NOUN
alkej-264	330	55	<	<	NOUN
alkej-264	330	56	#	#	NOUN
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alkej-264	330	58	m$n	m$n	VERB
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alkej-264	330	61	*	*	PUNCT
alkej-264	330	62	>	>	X
alkej-264	330	63	و	و	PRON
alkej-264	330	64	m"وdا	m"وdا	PROPN
alkej-264	330	65	'	'	PUNCT
alkej-264	330	66	pe!;"ا	pe!;"ا	VERB
alkej-264	330	67	m"وdا	m"وdا	NOUN
alkej-264	330	68	'	'	PUNCT
alkej-264	330	69	pe!;"ا	pe!;"ا	VERB
alkej-264	330	70	h	h	NOUN
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alkej-264	330	72	ki]ا	ki]ا	VERB
alkej-264	330	73	.u"ذ	.u"ذ	PROPN
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alkej-264	332	1	'	'	PRON
alkej-264	332	2	]	]	PUNCT
alkej-264	332	3	?	?	PUNCT
alkej-264	333	1	uyh	uyh	PROPN
alkej-264	333	2	،	،	NOUN
alkej-264	333	3	^c?s	^c?s	NOUN
alkej-264	333	4	'	'	PUNCT
alkej-264	333	5	(	(	PUNCT
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alkej-264	333	7	'	'	PUNCT
alkej-264	333	8	pe!;"ا	pe!;"ا	PROPN
alkej-264	333	9	-	-	PUNCT
alkej-264	333	10	]	]	X
alkej-264	333	11	m"وdا	m"وdا	PROPN
alkej-264	333	12	'	'	PUNCT
alkej-264	333	13	pe!;"ا	pe!;"ا	VERB
alkej-264	333	14	h	h	NOUN
alkej-264	333	15	#	#	NOUN
alkej-264	333	16	ki]ت	ki]ت	NOUN
alkej-264	333	17	ا	ا	PROPN
alkej-264	333	18	/	/	SYM
alkej-264	333	19	h7	h7	PROPN
alkej-264	333	20	ا"!و<@	ا"!و<@	PROPN
alkej-264	333	21	ps	ps	PROPN
alkej-264	333	22	!	!	PROPN
alkej-264	333	23	#	#	NOUN
alkej-264	333	24	ت?(xا*tا	ت?(xا*tا	PROPN
alkej-264	333	25	.	.	PUNCT