id	sid	tid	token	lemma	pos
alkej-393	1	1	microsoft	microsoft	PROPN
alkej-393	1	2	word	word	NOUN
alkej-393	1	3	93	93	NUM
alkej-393	1	4	-	-	SYM
alkej-393	1	5	106\335\321\307\323	106\335\321\307\323	NUM
alkej-393	1	6	\346\343\321\312\326\354	\346\343\321\312\326\354	PRON
alkej-393	1	7	)	)	PUNCT
alkej-393	1	8	al	al	PROPN
alkej-393	1	9	-	-	PUNCT
alkej-393	1	10	khwarizmi	khwarizmi	PROPN
alkej-393	1	11	engineering	engineering	PROPN
alkej-393	1	12	journal	journal	PROPN
alkej-393	1	13	al	al	PROPN
alkej-393	1	14	-	-	PUNCT
alkej-393	1	15	khwarizmi	khwarizmi	PROPN
alkej-393	1	16	engineering	engineering	NOUN
alkej-393	1	17	journal	journal	PROPN
alkej-393	1	18	,	,	PUNCT
alkej-393	1	19	vol	vol	NOUN
alkej-393	1	20	.	.	PROPN
alkej-393	1	21	14	14	NUM
alkej-393	1	22	,	,	PUNCT
alkej-393	1	23	no.2	no.2	PROPN
alkej-393	1	24	,	,	PUNCT
alkej-393	1	25	june	june	PROPN
alkej-393	1	26	,	,	PUNCT
alkej-393	1	27	(	(	PUNCT
alkej-393	1	28	2018	2018	NUM
alkej-393	1	29	)	)	PUNCT
alkej-393	1	30	p.p	p.p	PROPN
alkej-393	1	31	.	.	NOUN
alkej-393	1	32	93106	93106	NUM
alkej-393	1	33	creeping	creep	VERB
alkej-393	1	34	gait	gait	ADJ
alkej-393	1	35	analysis	analysis	NOUN
alkej-393	1	36	and	and	CCONJ
alkej-393	1	37	simulation	simulation	NOUN
alkej-393	1	38	of	of	ADP
alkej-393	1	39	a	a	DET
alkej-393	1	40	quadruped	quadruped	NOUN
alkej-393	1	41	robot	robot	NOUN
alkej-393	1	42	firas	firas	PROPN
alkej-393	1	43	a.	a.	PROPN
alkej-393	1	44	raheem	raheem	PROPN
alkej-393	1	45	*	*	PROPN
alkej-393	1	46	murtadha	murtadha	PROPN
alkej-393	1	47	khudhair	khudhair	NOUN
alkej-393	1	48	flayyih	flayyih	NOUN
alkej-393	1	49	*	*	PUNCT
alkej-393	1	50	*	*	PUNCT
alkej-393	1	51	*	*	PUNCT
alkej-393	1	52	,	,	PUNCT
alkej-393	1	53	*	*	PUNCT
alkej-393	1	54	*	*	PROPN
alkej-393	1	55	department	department	PROPN
alkej-393	1	56	of	of	ADP
alkej-393	1	57	control	control	NOUN
alkej-393	1	58	and	and	CCONJ
alkej-393	1	59	system	system	NOUN
alkej-393	1	60	engineering/	engineering/	NUM
alkej-393	1	61	university	university	NOUN
alkej-393	1	62	of	of	ADP
alkej-393	1	63	technology	technology	NOUN
alkej-393	1	64	*	*	NOUN
alkej-393	1	65	email	email	NOUN
alkej-393	1	66	:	:	PUNCT
alkej-393	1	67	60124@uotechnology.edu.iq	60124@uotechnology.edu.iq	NUM
alkej-393	1	68	*	*	PUNCT
alkej-393	1	69	*	*	NOUN
alkej-393	1	70	email	email	NOUN
alkej-393	1	71	:	:	PUNCT
alkej-393	1	72	cse.60354@uotechnology.edu.iq	cse.60354@uotechnology.edu.iq	PUNCT
alkej-393	1	73	(	(	PUNCT
alkej-393	1	74	received	receive	VERB
alkej-393	1	75	22	22	NUM
alkej-393	1	76	may	may	PROPN
alkej-393	1	77	2017	2017	NUM
alkej-393	1	78	;	;	PUNCT
alkej-393	1	79	accepted	accept	VERB
alkej-393	1	80	5	5	NUM
alkej-393	1	81	december	december	PROPN
alkej-393	1	82	2017	2017	NUM
alkej-393	1	83	)	)	PUNCT
alkej-393	1	84	https://doi.org/10.22153/kej.2018.12.004	https://doi.org/10.22153/kej.2018.12.004	PROPN
alkej-393	1	85	abstract	abstract	ADJ
alkej-393	1	86	a	a	DET
alkej-393	1	87	quadruped	quadruped	NOUN
alkej-393	1	88	(	(	PUNCT
alkej-393	1	89	four	four	NUM
alkej-393	1	90	-	-	PUNCT
alkej-393	1	91	legged	legged	ADJ
alkej-393	1	92	)	)	PUNCT
alkej-393	1	93	robot	robot	NOUN
alkej-393	1	94	locomotion	locomotion	NOUN
alkej-393	1	95	has	have	VERB
alkej-393	1	96	the	the	DET
alkej-393	1	97	potential	potential	ADJ
alkej-393	1	98	ability	ability	NOUN
alkej-393	1	99	for	for	ADP
alkej-393	1	100	using	use	VERB
alkej-393	1	101	in	in	ADP
alkej-393	1	102	different	different	ADJ
alkej-393	1	103	applications	application	NOUN
alkej-393	1	104	such	such	ADJ
alkej-393	1	105	as	as	ADP
alkej-393	1	106	walking	walk	VERB
alkej-393	1	107	over	over	ADP
alkej-393	1	108	soft	soft	ADJ
alkej-393	1	109	and	and	CCONJ
alkej-393	1	110	rough	rough	ADJ
alkej-393	1	111	terrains	terrain	NOUN
alkej-393	1	112	and	and	CCONJ
alkej-393	1	113	to	to	ADP
alkej-393	1	114	grantee	grantee	VERB
alkej-393	1	115	the	the	DET
alkej-393	1	116	mobility	mobility	NOUN
alkej-393	1	117	and	and	CCONJ
alkej-393	1	118	flexibility	flexibility	NOUN
alkej-393	1	119	.	.	PUNCT
alkej-393	2	1	in	in	ADP
alkej-393	2	2	general	general	ADJ
alkej-393	2	3	,	,	PUNCT
alkej-393	2	4	quadruped	quadrupe	VERB
alkej-393	2	5	robots	robot	NOUN
alkej-393	2	6	have	have	VERB
alkej-393	2	7	three	three	NUM
alkej-393	2	8	main	main	ADJ
alkej-393	2	9	periodic	periodic	ADJ
alkej-393	2	10	gaits	gait	NOUN
alkej-393	2	11	:	:	PUNCT
alkej-393	2	12	creeping	creep	VERB
alkej-393	2	13	gait	gait	NOUN
alkej-393	2	14	,	,	PUNCT
alkej-393	2	15	running	run	VERB
alkej-393	2	16	gait	gait	NOUN
alkej-393	2	17	and	and	CCONJ
alkej-393	2	18	galloping	gallop	VERB
alkej-393	2	19	gait	gait	NOUN
alkej-393	2	20	.	.	PUNCT
alkej-393	3	1	the	the	DET
alkej-393	3	2	main	main	ADJ
alkej-393	3	3	problem	problem	NOUN
alkej-393	3	4	of	of	ADP
alkej-393	3	5	the	the	DET
alkej-393	3	6	quadruped	quadruped	NOUN
alkej-393	3	7	robot	robot	NOUN
alkej-393	3	8	during	during	ADP
alkej-393	3	9	walking	walking	NOUN
alkej-393	3	10	is	be	AUX
alkej-393	3	11	the	the	DET
alkej-393	3	12	needing	need	VERB
alkej-393	3	13	to	to	PART
alkej-393	3	14	be	be	AUX
alkej-393	3	15	statically	statically	ADV
alkej-393	3	16	stable	stable	ADJ
alkej-393	3	17	for	for	ADP
alkej-393	3	18	slow	slow	ADJ
alkej-393	3	19	gaits	gait	NOUN
alkej-393	3	20	such	such	ADJ
alkej-393	3	21	as	as	ADP
alkej-393	3	22	creeping	creep	VERB
alkej-393	3	23	gait	gait	NOUN
alkej-393	3	24	.	.	PUNCT
alkej-393	4	1	the	the	DET
alkej-393	4	2	statically	statically	ADV
alkej-393	4	3	stable	stable	ADJ
alkej-393	4	4	walking	walking	NOUN
alkej-393	4	5	as	as	ADP
alkej-393	4	6	a	a	DET
alkej-393	4	7	condition	condition	NOUN
alkej-393	4	8	depends	depend	VERB
alkej-393	4	9	on	on	ADP
alkej-393	4	10	the	the	DET
alkej-393	4	11	stability	stability	NOUN
alkej-393	4	12	margins	margin	NOUN
alkej-393	4	13	that	that	PRON
alkej-393	4	14	calculated	calculate	VERB
alkej-393	4	15	particularly	particularly	ADV
alkej-393	4	16	for	for	ADP
alkej-393	4	17	this	this	DET
alkej-393	4	18	gait	gait	NOUN
alkej-393	4	19	.	.	PUNCT
alkej-393	5	1	in	in	ADP
alkej-393	5	2	this	this	DET
alkej-393	5	3	paper	paper	NOUN
alkej-393	5	4	,	,	PUNCT
alkej-393	5	5	the	the	DET
alkej-393	5	6	creeping	creep	VERB
alkej-393	5	7	gait	gait	ADJ
alkej-393	5	8	sequence	sequence	NOUN
alkej-393	5	9	analysis	analysis	NOUN
alkej-393	5	10	of	of	ADP
alkej-393	5	11	each	each	DET
alkej-393	5	12	leg	leg	NOUN
alkej-393	5	13	step	step	NOUN
alkej-393	5	14	during	during	ADP
alkej-393	5	15	the	the	DET
alkej-393	5	16	swing	swing	NOUN
alkej-393	5	17	and	and	CCONJ
alkej-393	5	18	fixed	fix	VERB
alkej-393	5	19	phases	phase	NOUN
alkej-393	5	20	has	have	AUX
alkej-393	5	21	been	be	AUX
alkej-393	5	22	carried	carry	VERB
alkej-393	5	23	out	out	ADP
alkej-393	5	24	.	.	PUNCT
alkej-393	6	1	the	the	DET
alkej-393	6	2	calculation	calculation	NOUN
alkej-393	6	3	of	of	ADP
alkej-393	6	4	the	the	DET
alkej-393	6	5	minimum	minimum	ADJ
alkej-393	6	6	stability	stability	NOUN
alkej-393	6	7	margins	margin	NOUN
alkej-393	6	8	depends	depend	VERB
alkej-393	6	9	upon	upon	SCONJ
alkej-393	6	10	the	the	DET
alkej-393	6	11	forward	forward	ADJ
alkej-393	6	12	and	and	CCONJ
alkej-393	6	13	inverse	inverse	NOUN
alkej-393	6	14	kinematic	kinematic	NOUN
alkej-393	6	15	models	model	NOUN
alkej-393	6	16	for	for	ADP
alkej-393	6	17	each	each	DET
alkej-393	6	18	3	3	NUM
alkej-393	6	19	-	-	PUNCT
alkej-393	6	20	dof	dof	NOUN
alkej-393	6	21	leg	leg	NOUN
alkej-393	6	22	and	and	CCONJ
alkej-393	6	23	depends	depend	VERB
alkej-393	6	24	on	on	ADP
alkej-393	6	25	vertical	vertical	ADJ
alkej-393	6	26	geometrical	geometrical	ADJ
alkej-393	6	27	projection	projection	NOUN
alkej-393	6	28	during	during	ADP
alkej-393	6	29	walking	walking	NOUN
alkej-393	6	30	.	.	PUNCT
alkej-393	7	1	simulation	simulation	NOUN
alkej-393	7	2	and	and	CCONJ
alkej-393	7	3	results	result	NOUN
alkej-393	7	4	verify	verify	VERB
alkej-393	7	5	the	the	DET
alkej-393	7	6	stability	stability	NOUN
alkej-393	7	7	insurance	insurance	NOUN
alkej-393	7	8	after	after	ADP
alkej-393	7	9	calculation	calculation	NOUN
alkej-393	7	10	the	the	DET
alkej-393	7	11	minimum	minimum	ADJ
alkej-393	7	12	margins	margin	NOUN
alkej-393	7	13	which	which	PRON
alkej-393	7	14	indicate	indicate	VERB
alkej-393	7	15	clearly	clearly	ADV
alkej-393	7	16	the	the	DET
alkej-393	7	17	robot	robot	NOUN
alkej-393	7	18	cog	cog	PROPN
alkej-393	7	19	(	(	PUNCT
alkej-393	7	20	center	center	NOUN
alkej-393	7	21	of	of	ADP
alkej-393	7	22	gravity	gravity	NOUN
alkej-393	7	23	)	)	PUNCT
alkej-393	7	24	inside	inside	ADP
alkej-393	7	25	the	the	DET
alkej-393	7	26	supporting	support	VERB
alkej-393	7	27	polygon	polygon	NOUN
alkej-393	7	28	resulted	result	VERB
alkej-393	7	29	from	from	ADP
alkej-393	7	30	the	the	DET
alkej-393	7	31	leg	leg	NOUN
alkej-393	7	32	-	-	PUNCT
alkej-393	7	33	tips	tip	NOUN
alkej-393	7	34	.	.	PUNCT
alkej-393	8	1	keywords	keyword	NOUN
alkej-393	8	2	:	:	PUNCT
alkej-393	8	3	quadruped	quadruped	NOUN
alkej-393	8	4	robot	robot	NOUN
alkej-393	8	5	creeping	creep	VERB
alkej-393	8	6	gait	gait	NOUN
alkej-393	8	7	,	,	PUNCT
alkej-393	8	8	stability	stability	NOUN
alkej-393	8	9	margins	margin	NOUN
alkej-393	8	10	,	,	PUNCT
alkej-393	8	11	quadruped	quadruped	NOUN
alkej-393	8	12	robot	robot	NOUN
alkej-393	8	13	simulation	simulation	NOUN
alkej-393	8	14	.	.	PUNCT
alkej-393	9	1	1	1	X
alkej-393	9	2	.	.	X
alkej-393	9	3	introduction	introduction	NOUN
alkej-393	9	4	leg	leg	NOUN
alkej-393	9	5	-	-	PUNCT
alkej-393	9	6	based	base	VERB
alkej-393	9	7	walking	walking	NOUN
alkej-393	9	8	systems	system	NOUN
alkej-393	9	9	utilization	utilization	NOUN
alkej-393	9	10	has	have	AUX
alkej-393	9	11	turned	turn	VERB
alkej-393	9	12	out	out	ADP
alkej-393	9	13	to	to	PART
alkej-393	9	14	be	be	AUX
alkej-393	9	15	very	very	ADV
alkej-393	9	16	familiar	familiar	ADJ
alkej-393	9	17	with	with	ADP
alkej-393	9	18	the	the	DET
alkej-393	9	19	robotics	robotic	NOUN
alkej-393	9	20	field	field	NOUN
alkej-393	9	21	.	.	PUNCT
alkej-393	10	1	these	these	DET
alkej-393	10	2	systems	system	NOUN
alkej-393	10	3	present	present	VERB
alkej-393	10	4	better	well	ADJ
alkej-393	10	5	adaptability	adaptability	NOUN
alkej-393	10	6	over	over	ADP
alkej-393	10	7	wheeled	wheeled	ADJ
alkej-393	10	8	systems	system	NOUN
alkej-393	10	9	,	,	PUNCT
alkej-393	10	10	particularly	particularly	ADV
alkej-393	10	11	when	when	SCONJ
alkej-393	10	12	dealing	deal	VERB
alkej-393	10	13	with	with	ADP
alkej-393	10	14	irregular	irregular	ADJ
alkej-393	10	15	territories	territory	NOUN
alkej-393	10	16	[	[	X
alkej-393	10	17	1	1	NUM
alkej-393	10	18	]	]	PUNCT
alkej-393	10	19	.	.	PUNCT
alkej-393	11	1	the	the	DET
alkej-393	11	2	ability	ability	NOUN
alkej-393	11	3	of	of	ADP
alkej-393	11	4	legged	legged	ADJ
alkej-393	11	5	robots	robot	NOUN
alkej-393	11	6	in	in	ADP
alkej-393	11	7	dealing	deal	VERB
alkej-393	11	8	with	with	ADP
alkej-393	11	9	rough	rough	ADJ
alkej-393	11	10	territories	territory	NOUN
alkej-393	11	11	and	and	CCONJ
alkej-393	11	12	obstacles	obstacle	NOUN
alkej-393	11	13	which	which	PRON
alkej-393	11	14	also	also	ADV
alkej-393	11	15	have	have	VERB
alkej-393	11	16	the	the	DET
alkej-393	11	17	planning	planning	NOUN
alkej-393	11	18	technique	technique	NOUN
alkej-393	11	19	of	of	ADP
alkej-393	11	20	the	the	DET
alkej-393	11	21	standard	standard	ADJ
alkej-393	11	22	walking	walk	VERB
alkej-393	11	23	gaits	gait	NOUN
alkej-393	11	24	for	for	ADP
alkej-393	11	25	a	a	DET
alkej-393	11	26	quadruped	quadruped	NOUN
alkej-393	11	27	robot	robot	NOUN
alkej-393	11	28	[	[	X
alkej-393	11	29	2	2	NUM
alkej-393	11	30	,	,	PUNCT
alkej-393	11	31	3	3	NUM
alkej-393	11	32	]	]	PUNCT
alkej-393	11	33	.	.	PUNCT
alkej-393	12	1	among	among	ADP
alkej-393	12	2	legged	legged	ADJ
alkej-393	12	3	robots	robot	NOUN
alkej-393	12	4	,	,	PUNCT
alkej-393	12	5	quadrupeds	quadruped	NOUN
alkej-393	12	6	have	have	VERB
alkej-393	12	7	the	the	DET
alkej-393	12	8	preferred	prefer	VERB
alkej-393	12	9	of	of	ADP
alkej-393	12	10	having	have	VERB
alkej-393	12	11	a	a	DET
alkej-393	12	12	less	less	ADV
alkej-393	12	13	complex	complex	ADJ
alkej-393	12	14	structure	structure	NOUN
alkej-393	12	15	while	while	SCONJ
alkej-393	12	16	fulfilling	fulfil	VERB
alkej-393	12	17	the	the	DET
alkej-393	12	18	requirements	requirement	NOUN
alkej-393	12	19	for	for	ADP
alkej-393	12	20	usage	usage	NOUN
alkej-393	12	21	of	of	ADP
alkej-393	12	22	a	a	DET
alkej-393	12	23	statically	statically	ADV
alkej-393	12	24	stable	stable	ADJ
alkej-393	12	25	gait	gait	NOUN
alkej-393	12	26	during	during	ADP
alkej-393	12	27	walking	walking	NOUN
alkej-393	12	28	,	,	PUNCT
alkej-393	12	29	resulted	result	VERB
alkej-393	12	30	from	from	ADP
alkej-393	12	31	the	the	DET
alkej-393	12	32	stable	stable	ADJ
alkej-393	12	33	support	support	NOUN
alkej-393	12	34	polygons	polygon	NOUN
alkej-393	12	35	.	.	PUNCT
alkej-393	13	1	a	a	DET
alkej-393	13	2	lot	lot	NOUN
alkej-393	13	3	of	of	ADP
alkej-393	13	4	researches	research	NOUN
alkej-393	13	5	about	about	ADP
alkej-393	13	6	the	the	DET
alkej-393	13	7	quadruped	quadruped	NOUN
alkej-393	13	8	locomotion	locomotion	NOUN
alkej-393	13	9	frequently	frequently	ADV
alkej-393	13	10	have	have	VERB
alkej-393	13	11	its	its	PRON
alkej-393	13	12	origins	origin	NOUN
alkej-393	13	13	in	in	ADP
alkej-393	13	14	the	the	DET
alkej-393	13	15	investigation	investigation	NOUN
alkej-393	13	16	of	of	ADP
alkej-393	13	17	natural	natural	ADJ
alkej-393	13	18	biological	biological	ADJ
alkej-393	13	19	walking	walking	NOUN
alkej-393	13	20	gaits	gait	NOUN
alkej-393	13	21	.	.	PUNCT
alkej-393	14	1	these	these	DET
alkej-393	14	2	studies	study	NOUN
alkej-393	14	3	have	have	AUX
alkej-393	14	4	prompted	prompt	VERB
alkej-393	14	5	to	to	ADP
alkej-393	14	6	the	the	DET
alkej-393	14	7	improvement	improvement	NOUN
alkej-393	14	8	of	of	ADP
alkej-393	14	9	both	both	PRON
alkej-393	14	10	statically	statically	ADV
alkej-393	14	11	stable	stable	ADJ
alkej-393	14	12	walking	walking	NOUN
alkej-393	14	13	gait	gait	NOUN
alkej-393	14	14	and	and	CCONJ
alkej-393	14	15	dynamic	dynamic	ADJ
alkej-393	14	16	running	running	NOUN
alkej-393	14	17	gaits	gait	NOUN
alkej-393	14	18	for	for	ADP
alkej-393	14	19	legged	legged	ADJ
alkej-393	14	20	robots	robot	NOUN
alkej-393	14	21	[	[	X
alkej-393	14	22	4	4	NUM
alkej-393	14	23	]	]	PUNCT
alkej-393	14	24	.	.	PUNCT
alkej-393	15	1	the	the	DET
alkej-393	15	2	main	main	ADJ
alkej-393	15	3	point	point	NOUN
alkej-393	15	4	is	be	AUX
alkej-393	15	5	the	the	DET
alkej-393	15	6	need	need	NOUN
alkej-393	15	7	to	to	PART
alkej-393	15	8	design	design	VERB
alkej-393	15	9	and	and	CCONJ
alkej-393	15	10	implement	implement	VERB
alkej-393	15	11	a	a	DET
alkej-393	15	12	robust	robust	ADJ
alkej-393	15	13	and	and	CCONJ
alkej-393	15	14	statically	statically	ADV
alkej-393	15	15	stable	stable	ADJ
alkej-393	15	16	gait	gait	NOUN
alkej-393	15	17	during	during	ADP
alkej-393	15	18	the	the	DET
alkej-393	15	19	quadruped	quadruped	NOUN
alkej-393	15	20	robot	robot	NOUN
alkej-393	15	21	walking	walking	NOUN
alkej-393	15	22	.	.	PUNCT
alkej-393	16	1	the	the	DET
alkej-393	16	2	property	property	NOUN
alkej-393	16	3	of	of	ADP
alkej-393	16	4	their	their	PRON
alkej-393	16	5	gaits	gait	NOUN
alkej-393	16	6	would	would	AUX
alkej-393	16	7	be	be	AUX
alkej-393	16	8	repeating	repeat	VERB
alkej-393	16	9	the	the	DET
alkej-393	16	10	ability	ability	NOUN
alkej-393	16	11	of	of	ADP
alkej-393	16	12	step	step	NOUN
alkej-393	16	13	sequence	sequence	NOUN
alkej-393	16	14	and	and	CCONJ
alkej-393	16	15	stability	stability	NOUN
alkej-393	16	16	over	over	ADP
alkej-393	16	17	irregular	irregular	ADJ
alkej-393	16	18	territories	territory	NOUN
alkej-393	16	19	[	[	X
alkej-393	16	20	5	5	NUM
alkej-393	16	21	]	]	PUNCT
alkej-393	16	22	.	.	PUNCT
alkej-393	17	1	step	step	NOUN
alkej-393	17	2	sequences	sequence	NOUN
alkej-393	17	3	for	for	ADP
alkej-393	17	4	quadrupeds	quadruped	NOUN
alkej-393	17	5	,	,	PUNCT
alkej-393	17	6	and	and	CCONJ
alkej-393	17	7	the	the	DET
alkej-393	17	8	criteria	criterion	NOUN
alkej-393	17	9	for	for	ADP
alkej-393	17	10	stability	stability	NOUN
alkej-393	17	11	verification	verification	NOUN
alkej-393	17	12	on	on	ADP
alkej-393	17	13	an	an	DET
alkej-393	17	14	inclined	inclined	ADJ
alkej-393	17	15	terrain	terrain	NOUN
alkej-393	17	16	,	,	PUNCT
alkej-393	17	17	as	as	ADV
alkej-393	17	18	well	well	ADV
alkej-393	17	19	as	as	ADP
alkej-393	17	20	the	the	DET
alkej-393	17	21	talking	talk	VERB
alkej-393	17	22	about	about	ADP
alkej-393	17	23	moving	move	VERB
alkej-393	17	24	between	between	ADP
alkej-393	17	25	varieties	variety	NOUN
alkej-393	17	26	in	in	ADP
alkej-393	17	27	gait	gait	NOUN
alkej-393	17	28	and	and	CCONJ
alkej-393	17	29	omnidirectional	omnidirectional	ADJ
alkej-393	17	30	statically	statically	ADV
alkej-393	17	31	stable	stable	ADJ
alkej-393	17	32	walking	walking	NOUN
alkej-393	18	1	[	[	X
alkej-393	18	2	6	6	NUM
alkej-393	18	3	]	]	PUNCT
alkej-393	18	4	.	.	PUNCT
alkej-393	19	1	stability	stability	NOUN
alkej-393	19	2	criteria	criterion	NOUN
alkej-393	19	3	have	have	VERB
alkej-393	19	4	some	some	DET
alkej-393	19	5	elements	element	NOUN
alkej-393	19	6	such	such	ADJ
alkej-393	19	7	as	as	ADP
alkej-393	19	8	cog	cog	PROPN
alkej-393	19	9	(	(	PUNCT
alkej-393	19	10	centre	centre	NOUN
alkej-393	19	11	of	of	ADP
alkej-393	19	12	gravity	gravity	NOUN
alkej-393	19	13	)	)	PUNCT
alkej-393	19	14	,	,	PUNCT
alkej-393	19	15	support	support	NOUN
alkej-393	19	16	polygon	polygon	NOUN
alkej-393	19	17	and	and	CCONJ
alkej-393	19	18	stability	stability	NOUN
alkej-393	19	19	margin	margin	NOUN
alkej-393	19	20	which	which	PRON
alkej-393	19	21	is	be	AUX
alkej-393	19	22	also	also	ADV
alkej-393	19	23	talked	talk	VERB
alkej-393	19	24	about	about	ADP
alkej-393	19	25	the	the	DET
alkej-393	19	26	gait	gait	ADJ
alkej-393	19	27	transitions	transition	NOUN
alkej-393	19	28	performed	perform	VERB
alkej-393	19	29	by	by	ADP
alkej-393	19	30	the	the	DET
alkej-393	19	31	creeping	creep	VERB
alkej-393	19	32	gaits	gait	NOUN
alkej-393	19	33	[	[	X
alkej-393	19	34	7	7	NUM
alkej-393	19	35	,	,	PUNCT
alkej-393	19	36	8	8	NUM
alkej-393	19	37	]	]	PUNCT
alkej-393	19	38	.	.	PUNCT
alkej-393	20	1	the	the	DET
alkej-393	20	2	generation	generation	NOUN
alkej-393	20	3	and	and	CCONJ
alkej-393	20	4	the	the	DET
alkej-393	20	5	sequence	sequence	NOUN
alkej-393	20	6	of	of	ADP
alkej-393	20	7	such	such	ADJ
alkej-393	20	8	leg	leg	NOUN
alkej-393	20	9	motion	motion	NOUN
alkej-393	20	10	in	in	ADP
alkej-393	20	11	the	the	DET
alkej-393	20	12	quadruped	quadruped	NOUN
alkej-393	20	13	robot	robot	NOUN
alkej-393	20	14	is	be	AUX
alkej-393	20	15	called	call	VERB
alkej-393	20	16	gait	gait	NOUN
alkej-393	21	1	[	[	X
alkej-393	21	2	9	9	NUM
alkej-393	21	3	]	]	PUNCT
alkej-393	21	4	.	.	PUNCT
alkej-393	22	1	there	there	PRON
alkej-393	22	2	are	be	VERB
alkej-393	22	3	many	many	ADJ
alkej-393	22	4	motions	motion	NOUN
alkej-393	22	5	that	that	PRON
alkej-393	22	6	quadruped	quadrupe	VERB
alkej-393	22	7	robots	robot	NOUN
alkej-393	22	8	doing	do	VERB
alkej-393	22	9	,	,	PUNCT
alkej-393	22	10	such	such	ADJ
alkej-393	22	11	as	as	ADP
alkej-393	22	12	stair	stair	NOUN
alkej-393	22	13	climbing	climb	VERB
alkej-393	22	14	with	with	ADP
alkej-393	22	15	many	many	ADJ
alkej-393	22	16	performances	performance	NOUN
alkej-393	22	17	[	[	X
alkej-393	22	18	17	17	NUM
alkej-393	22	19	]	]	PUNCT
alkej-393	22	20	,	,	PUNCT
alkej-393	22	21	flying	fly	VERB
alkej-393	22	22	trotting	trot	VERB
alkej-393	22	23	[	[	X
alkej-393	22	24	19	19	NUM
alkej-393	22	25	]	]	PUNCT
alkej-393	22	26	,	,	PUNCT
alkej-393	22	27	jumping	jump	VERB
alkej-393	22	28	[	[	X
alkej-393	22	29	20	20	NUM
alkej-393	22	30	]	]	PUNCT
alkej-393	22	31	,	,	PUNCT
alkej-393	22	32	and	and	CCONJ
alkej-393	22	33	walking	walk	VERB
alkej-393	22	34	/	/	SYM
alkej-393	22	35	trotting	trot	VERB
alkej-393	22	36	over	over	ADP
alkej-393	22	37	obstacles	obstacle	NOUN
alkej-393	22	38	[	[	X
alkej-393	22	39	18	18	NUM
alkej-393	22	40	]	]	PUNCT
alkej-393	22	41	.	.	PUNCT
alkej-393	23	1	generally	generally	ADV
alkej-393	23	2	,	,	PUNCT
alkej-393	23	3	the	the	DET
alkej-393	23	4	gait	gait	NOUN
alkej-393	23	5	of	of	ADP
alkej-393	23	6	quadruped	quadrupe	VERB
alkej-393	23	7	robots	robot	NOUN
alkej-393	23	8	can	can	AUX
alkej-393	23	9	be	be	AUX
alkej-393	23	10	separated	separate	VERB
alkej-393	23	11	for	for	ADP
alkej-393	23	12	two	two	NUM
alkej-393	23	13	groups	group	NOUN
alkej-393	23	14	:	:	PUNCT
alkej-393	23	15	the	the	DET
alkej-393	23	16	first	first	ADJ
alkej-393	23	17	one	one	NOUN
alkej-393	23	18	is	be	AUX
alkej-393	23	19	the	the	DET
alkej-393	23	20	statically	statically	ADV
alkej-393	23	21	stable	stable	ADJ
alkej-393	23	22	gait	gait	NOUN
alkej-393	23	23	and	and	CCONJ
alkej-393	23	24	the	the	DET
alkej-393	23	25	second	second	ADJ
alkej-393	23	26	one	one	NOUN
alkej-393	23	27	is	be	AUX
alkej-393	23	28	the	the	DET
alkej-393	23	29	firas	firas	PROPN
alkej-393	23	30	a.	a.	PROPN
alkej-393	23	31	raheem	raheem	PROPN
alkej-393	23	32	al	al	PROPN
alkej-393	23	33	-	-	PUNCT
alkej-393	23	34	khwarizmi	khwarizmi	PROPN
alkej-393	23	35	engineering	engineering	NOUN
alkej-393	23	36	journal	journal	PROPN
alkej-393	23	37	,	,	PUNCT
alkej-393	23	38	vol	vol	NOUN
alkej-393	23	39	.	.	PROPN
alkej-393	23	40	14	14	NUM
alkej-393	23	41	,	,	PUNCT
alkej-393	23	42	no	no	INTJ
alkej-393	23	43	.	.	NOUN
alkej-393	23	44	2	2	NUM
alkej-393	23	45	,	,	PUNCT
alkej-393	23	46	p.p	p.p	PROPN
alkej-393	23	47	.	.	NOUN
alkej-393	23	48	93106	93106	NUM
alkej-393	23	49	(	(	PUNCT
alkej-393	23	50	2018	2018	NUM
alkej-393	23	51	)	)	PUNCT
alkej-393	23	52	94	94	NUM
alkej-393	23	53	dynamic	dynamic	ADJ
alkej-393	23	54	running	running	NOUN
alkej-393	23	55	gaits	gait	NOUN
alkej-393	23	56	,	,	PUNCT
alkej-393	23	57	depending	depend	VERB
alkej-393	23	58	on	on	ADP
alkej-393	23	59	the	the	DET
alkej-393	23	60	gait	gait	ADJ
alkej-393	23	61	type	type	NOUN
alkej-393	24	1	[	[	X
alkej-393	24	2	10	10	NUM
alkej-393	24	3	]	]	PUNCT
alkej-393	24	4	.	.	PUNCT
alkej-393	25	1	quadruped	quadrupe	VERB
alkej-393	25	2	body	body	NOUN
alkej-393	25	3	must	must	AUX
alkej-393	25	4	be	be	AUX
alkej-393	25	5	stable	stable	ADJ
alkej-393	25	6	and	and	CCONJ
alkej-393	25	7	have	have	VERB
alkej-393	25	8	the	the	DET
alkej-393	25	9	ability	ability	NOUN
alkej-393	25	10	during	during	ADP
alkej-393	25	11	any	any	DET
alkej-393	25	12	transition	transition	NOUN
alkej-393	25	13	gait	gait	NOUN
alkej-393	25	14	for	for	ADP
alkej-393	25	15	moving	move	VERB
alkej-393	25	16	from	from	ADP
alkej-393	25	17	one	one	NUM
alkej-393	25	18	position	position	NOUN
alkej-393	25	19	to	to	ADP
alkej-393	25	20	another	another	PRON
alkej-393	25	21	.	.	PUNCT
alkej-393	26	1	the	the	DET
alkej-393	26	2	statically	statically	ADV
alkej-393	26	3	stable	stable	ADJ
alkej-393	26	4	gait	gait	NOUN
alkej-393	26	5	is	be	AUX
alkej-393	26	6	simpler	simple	ADJ
alkej-393	26	7	and	and	CCONJ
alkej-393	26	8	slower	slow	ADV
alkej-393	26	9	contrasted	contrast	VERB
alkej-393	26	10	with	with	ADP
alkej-393	26	11	dynamic	dynamic	ADJ
alkej-393	26	12	gaits	gait	NOUN
alkej-393	26	13	.	.	PUNCT
alkej-393	27	1	it	it	PRON
alkej-393	27	2	indicates	indicate	VERB
alkej-393	27	3	that	that	SCONJ
alkej-393	27	4	the	the	DET
alkej-393	27	5	cog	cog	PROPN
alkej-393	27	6	projection	projection	NOUN
alkej-393	27	7	of	of	ADP
alkej-393	27	8	quadruped	quadruped	NOUN
alkej-393	27	9	robot	robot	NOUN
alkej-393	27	10	is	be	AUX
alkej-393	27	11	on	on	ADP
alkej-393	27	12	the	the	DET
alkej-393	27	13	ground	ground	NOUN
alkej-393	27	14	at	at	ADP
alkej-393	27	15	instance	instance	NOUN
alkej-393	27	16	time	time	NOUN
alkej-393	27	17	is	be	AUX
alkej-393	27	18	inside	inside	ADP
alkej-393	27	19	support	support	NOUN
alkej-393	27	20	polygon	polygon	NOUN
alkej-393	27	21	during	during	ADP
alkej-393	27	22	the	the	DET
alkej-393	27	23	walking	walking	NOUN
alkej-393	27	24	.	.	PUNCT
alkej-393	28	1	among	among	ADP
alkej-393	28	2	these	these	DET
alkej-393	28	3	properties	property	NOUN
alkej-393	28	4	,	,	PUNCT
alkej-393	28	5	the	the	DET
alkej-393	28	6	quadruped	quadruped	NOUN
alkej-393	28	7	robot	robot	NOUN
alkej-393	28	8	meets	meet	VERB
alkej-393	28	9	the	the	DET
alkej-393	28	10	necessity	necessity	NOUN
alkej-393	28	11	of	of	ADP
alkej-393	28	12	both	both	DET
alkej-393	28	13	force	force	NOUN
alkej-393	28	14	and	and	CCONJ
alkej-393	28	15	moment	moment	VERB
alkej-393	28	16	adjustment	adjustment	NOUN
alkej-393	28	17	during	during	ADP
alkej-393	28	18	the	the	DET
alkej-393	28	19	walking	walk	VERB
alkej-393	28	20	gait	gait	NOUN
alkej-393	28	21	and	and	CCONJ
alkej-393	28	22	here	here	ADV
alkej-393	28	23	the	the	DET
alkej-393	28	24	quadruped	quadruped	NOUN
alkej-393	28	25	robot	robot	NOUN
alkej-393	28	26	is	be	AUX
alkej-393	28	27	said	say	VERB
alkej-393	28	28	to	to	PART
alkej-393	28	29	be	be	AUX
alkej-393	28	30	statically	statically	ADV
alkej-393	28	31	stable	stable	ADJ
alkej-393	28	32	.	.	PUNCT
alkej-393	29	1	dynamic	dynamic	ADJ
alkej-393	29	2	gaits	gait	NOUN
alkej-393	29	3	such	such	ADJ
alkej-393	29	4	as	as	ADP
alkej-393	29	5	the	the	DET
alkej-393	29	6	trotting	trotting	NOUN
alkej-393	29	7	gait	gait	NOUN
alkej-393	29	8	[	[	X
alkej-393	29	9	11	11	NUM
alkej-393	29	10	]	]	PUNCT
alkej-393	29	11	aim	aim	NOUN
alkej-393	29	12	to	to	ADP
alkej-393	29	13	the	the	DET
alkej-393	29	14	reality	reality	NOUN
alkej-393	29	15	that	that	SCONJ
alkej-393	29	16	if	if	SCONJ
alkej-393	29	17	the	the	DET
alkej-393	29	18	cog	cog	PROPN
alkej-393	29	19	projection	projection	NOUN
alkej-393	29	20	of	of	ADP
alkej-393	29	21	the	the	DET
alkej-393	29	22	quadruped	quadruped	NOUN
alkej-393	29	23	robot	robot	NOUN
alkej-393	29	24	on	on	ADP
alkej-393	29	25	the	the	DET
alkej-393	29	26	ground	ground	NOUN
alkej-393	29	27	is	be	AUX
alkej-393	29	28	not	not	PART
alkej-393	29	29	inside	inside	ADP
alkej-393	29	30	the	the	DET
alkej-393	29	31	support	support	NOUN
alkej-393	29	32	polygon	polygon	NOUN
alkej-393	29	33	framed	frame	VERB
alkej-393	29	34	by	by	ADP
alkej-393	29	35	the	the	DET
alkej-393	29	36	leg	leg	NOUN
alkej-393	29	37	tips	tip	NOUN
alkej-393	29	38	.	.	PUNCT
alkej-393	30	1	in	in	ADP
alkej-393	30	2	this	this	DET
alkej-393	30	3	case	case	NOUN
alkej-393	30	4	,	,	PUNCT
alkej-393	30	5	the	the	DET
alkej-393	30	6	quadruped	quadruped	NOUN
alkej-393	30	7	robot	robot	NOUN
alkej-393	30	8	is	be	AUX
alkej-393	30	9	in	in	ADP
alkej-393	30	10	the	the	DET
alkej-393	30	11	unbalanced	unbalanced	ADJ
alkej-393	30	12	period	period	NOUN
alkej-393	30	13	and	and	CCONJ
alkej-393	30	14	has	have	VERB
alkej-393	30	15	a	a	DET
alkej-393	30	16	tendency	tendency	NOUN
alkej-393	30	17	of	of	ADP
alkej-393	30	18	dumping	dumping	NOUN
alkej-393	30	19	.	.	PUNCT
alkej-393	31	1	then	then	ADV
alkej-393	31	2	the	the	DET
alkej-393	31	3	quadruped	quadruped	NOUN
alkej-393	31	4	robot	robot	NOUN
alkej-393	31	5	in	in	ADP
alkej-393	31	6	case	case	NOUN
alkej-393	31	7	of	of	ADP
alkej-393	31	8	the	the	DET
alkej-393	31	9	dynamic	dynamic	ADJ
alkej-393	31	10	running	running	NOUN
alkej-393	31	11	gaits	gait	NOUN
alkej-393	31	12	needs	need	VERB
alkej-393	31	13	to	to	PART
alkej-393	31	14	satisfy	satisfy	VERB
alkej-393	31	15	the	the	DET
alkej-393	31	16	dynamically	dynamically	ADV
alkej-393	31	17	stable	stable	ADJ
alkej-393	31	18	requirement	requirement	NOUN
alkej-393	31	19	rather	rather	ADV
alkej-393	31	20	than	than	ADP
alkej-393	31	21	static	static	ADJ
alkej-393	31	22	stability	stability	NOUN
alkej-393	31	23	analysis	analysis	NOUN
alkej-393	31	24	.	.	PUNCT
alkej-393	32	1	most	most	ADJ
alkej-393	32	2	of	of	ADP
alkej-393	32	3	the	the	DET
alkej-393	32	4	quadruped	quadruped	NOUN
alkej-393	32	5	robots	robot	NOUN
alkej-393	32	6	can	can	AUX
alkej-393	32	7	be	be	AUX
alkej-393	32	8	considered	consider	VERB
alkej-393	32	9	as	as	ADP
alkej-393	32	10	statically	statically	ADV
alkej-393	32	11	stable	stable	ADJ
alkej-393	32	12	,	,	PUNCT
alkej-393	32	13	when	when	SCONJ
alkej-393	32	14	there	there	PRON
alkej-393	32	15	are	be	VERB
alkej-393	32	16	three	three	NUM
alkej-393	32	17	legs	leg	NOUN
alkej-393	32	18	at	at	ADP
alkej-393	32	19	least	least	ADJ
alkej-393	32	20	should	should	AUX
alkej-393	32	21	be	be	AUX
alkej-393	32	22	stayed	stay	VERB
alkej-393	32	23	in	in	ADP
alkej-393	32	24	contact	contact	NOUN
alkej-393	32	25	with	with	ADP
alkej-393	32	26	the	the	DET
alkej-393	32	27	ground	ground	NOUN
alkej-393	32	28	at	at	ADP
alkej-393	32	29	the	the	DET
alkej-393	32	30	same	same	ADJ
alkej-393	32	31	instant	instant	ADJ
alkej-393	32	32	time	time	NOUN
alkej-393	32	33	while	while	SCONJ
alkej-393	32	34	another	another	DET
alkej-393	32	35	leg	leg	NOUN
alkej-393	32	36	is	be	AUX
alkej-393	32	37	swinging	swinge	VERB
alkej-393	32	38	in	in	ADP
alkej-393	32	39	the	the	DET
alkej-393	32	40	air	air	NOUN
alkej-393	32	41	.	.	PUNCT
alkej-393	33	1	the	the	DET
alkej-393	33	2	most	most	ADV
alkej-393	33	3	biological	biological	ADJ
alkej-393	33	4	statically	statically	ADV
alkej-393	33	5	stable	stable	ADJ
alkej-393	33	6	gait	gait	NOUN
alkej-393	33	7	that	that	PRON
alkej-393	33	8	matches	match	VERB
alkej-393	33	9	the	the	DET
alkej-393	33	10	animals	animal	NOUN
alkej-393	33	11	or	or	CCONJ
alkej-393	33	12	insects	insect	NOUN
alkej-393	33	13	is	be	AUX
alkej-393	33	14	the	the	DET
alkej-393	33	15	creeping	creep	VERB
alkej-393	33	16	gait	gait	NOUN
alkej-393	33	17	.	.	PUNCT
alkej-393	34	1	in	in	ADP
alkej-393	34	2	this	this	DET
alkej-393	34	3	paper	paper	NOUN
alkej-393	34	4	,	,	PUNCT
alkej-393	34	5	the	the	DET
alkej-393	34	6	problem	problem	NOUN
alkej-393	34	7	of	of	ADP
alkej-393	34	8	static	static	ADJ
alkej-393	34	9	stability	stability	NOUN
alkej-393	34	10	analysis	analysis	NOUN
alkej-393	34	11	is	be	AUX
alkej-393	34	12	achieved	achieve	VERB
alkej-393	34	13	.	.	PUNCT
alkej-393	35	1	this	this	PRON
alkej-393	35	2	is	be	AUX
alkej-393	35	3	sufficient	sufficient	ADJ
alkej-393	35	4	for	for	ADP
alkej-393	35	5	ensuring	ensure	VERB
alkej-393	35	6	safety	safety	NOUN
alkej-393	35	7	walking	walk	VERB
alkej-393	35	8	.	.	PUNCT
alkej-393	36	1	during	during	ADP
alkej-393	36	2	the	the	DET
alkej-393	36	3	movement	movement	NOUN
alkej-393	36	4	of	of	ADP
alkej-393	36	5	the	the	DET
alkej-393	36	6	quadruped	quadruped	NOUN
alkej-393	36	7	robot	robot	NOUN
alkej-393	36	8	,	,	PUNCT
alkej-393	36	9	the	the	DET
alkej-393	36	10	motion	motion	NOUN
alkej-393	36	11	will	will	AUX
alkej-393	36	12	be	be	AUX
alkej-393	36	13	stable	stable	ADJ
alkej-393	36	14	if	if	SCONJ
alkej-393	37	1	and	and	CCONJ
alkej-393	37	2	only	only	ADV
alkej-393	37	3	if	if	SCONJ
alkej-393	37	4	the	the	DET
alkej-393	37	5	body	body	NOUN
alkej-393	37	6	center	center	NOUN
alkej-393	37	7	of	of	ADP
alkej-393	37	8	gravity	gravity	NOUN
alkej-393	37	9	cog	cog	NOUN
alkej-393	37	10	is	be	AUX
alkej-393	37	11	either	either	CCONJ
alkej-393	37	12	inside	inside	ADP
alkej-393	37	13	the	the	DET
alkej-393	37	14	supporting	support	VERB
alkej-393	37	15	triangle	triangle	NOUN
alkej-393	37	16	in	in	ADP
alkej-393	37	17	case	case	NOUN
alkej-393	37	18	of	of	ADP
alkej-393	37	19	one	one	NUM
alkej-393	37	20	leg	leg	NOUN
alkej-393	37	21	in	in	ADP
alkej-393	37	22	a	a	DET
alkej-393	37	23	transition	transition	NOUN
alkej-393	37	24	phase	phase	NOUN
alkej-393	37	25	or	or	CCONJ
alkej-393	37	26	inside	inside	ADP
alkej-393	37	27	the	the	DET
alkej-393	37	28	supporting	support	VERB
alkej-393	37	29	polygon	polygon	NOUN
alkej-393	37	30	in	in	ADP
alkej-393	37	31	case	case	NOUN
alkej-393	37	32	all	all	DET
alkej-393	37	33	legs	leg	NOUN
alkej-393	37	34	are	be	AUX
alkej-393	37	35	on	on	ADP
alkej-393	37	36	the	the	DET
alkej-393	37	37	ground	ground	NOUN
alkej-393	37	38	.	.	PUNCT
alkej-393	38	1	at	at	ADP
alkej-393	38	2	the	the	DET
alkej-393	38	3	time	time	NOUN
alkej-393	38	4	period	period	NOUN
alkej-393	38	5	of	of	ADP
alkej-393	38	6	the	the	DET
alkej-393	38	7	quadruped	quadruped	NOUN
alkej-393	38	8	robot	robot	NOUN
alkej-393	38	9	is	be	AUX
alkej-393	38	10	walking	walk	VERB
alkej-393	38	11	the	the	DET
alkej-393	38	12	problem	problem	NOUN
alkej-393	38	13	is	be	AUX
alkej-393	38	14	how	how	SCONJ
alkej-393	38	15	to	to	PART
alkej-393	38	16	produce	produce	VERB
alkej-393	38	17	and	and	CCONJ
alkej-393	38	18	control	control	VERB
alkej-393	38	19	sequence	sequence	NOUN
alkej-393	38	20	of	of	ADP
alkej-393	38	21	putting	put	VERB
alkej-393	38	22	and	and	CCONJ
alkej-393	38	23	lifting	lift	VERB
alkej-393	38	24	all	all	DET
alkej-393	38	25	the	the	DET
alkej-393	38	26	legs	leg	NOUN
alkej-393	38	27	extend	extend	VERB
alkej-393	38	28	at	at	ADP
alkej-393	38	29	any	any	DET
alkej-393	38	30	time	time	NOUN
alkej-393	38	31	moment	moment	NOUN
alkej-393	38	32	.	.	PUNCT
alkej-393	39	1	the	the	DET
alkej-393	39	2	quadruped	quadruped	NOUN
alkej-393	39	3	robot	robot	NOUN
alkej-393	39	4	walks	walk	VERB
alkej-393	39	5	with	with	ADP
alkej-393	39	6	stable	stable	ADJ
alkej-393	39	7	steps	step	NOUN
alkej-393	39	8	if	if	SCONJ
alkej-393	39	9	the	the	DET
alkej-393	39	10	stability	stability	NOUN
alkej-393	39	11	margins	margin	NOUN
alkej-393	39	12	have	have	VERB
alkej-393	39	13	positive	positive	ADJ
alkej-393	39	14	values	value	NOUN
alkej-393	39	15	,	,	PUNCT
alkej-393	39	16	another	another	DET
alkej-393	39	17	case	case	NOUN
alkej-393	39	18	the	the	DET
alkej-393	39	19	robot	robot	NOUN
alkej-393	39	20	will	will	AUX
alkej-393	39	21	be	be	AUX
alkej-393	39	22	unstable	unstable	ADJ
alkej-393	39	23	and	and	CCONJ
alkej-393	39	24	the	the	DET
alkej-393	39	25	walking	walk	VERB
alkej-393	39	26	gait	gait	NOUN
alkej-393	39	27	will	will	AUX
alkej-393	39	28	fail	fail	VERB
alkej-393	39	29	.	.	PUNCT
alkej-393	40	1	2	2	X
alkej-393	40	2	.	.	NUM
alkej-393	40	3	quadruped	quadrupe	VERB
alkej-393	40	4	robot	robot	NOUN
alkej-393	40	5	description	description	NOUN
alkej-393	40	6	to	to	PART
alkej-393	40	7	concentrate	concentrate	VERB
alkej-393	40	8	on	on	ADP
alkej-393	40	9	the	the	DET
alkej-393	40	10	general	general	ADJ
alkej-393	40	11	guidelines	guideline	NOUN
alkej-393	40	12	of	of	ADP
alkej-393	40	13	quadruped	quadruped	NOUN
alkej-393	40	14	robot	robot	NOUN
alkej-393	40	15	motion	motion	NOUN
alkej-393	40	16	gaits	gait	NOUN
alkej-393	40	17	,	,	PUNCT
alkej-393	40	18	though	though	ADV
alkej-393	40	19	,	,	PUNCT
alkej-393	40	20	different	different	ADJ
alkej-393	40	21	models	model	NOUN
alkej-393	40	22	with	with	ADP
alkej-393	40	23	some	some	DET
alkej-393	40	24	acknowledgment	acknowledgment	NOUN
alkej-393	40	25	attributes	attribute	NOUN
alkej-393	40	26	is	be	AUX
alkej-393	40	27	embraced	embrace	VERB
alkej-393	40	28	.	.	PUNCT
alkej-393	41	1	these	these	DET
alkej-393	41	2	attributes	attribute	NOUN
alkej-393	41	3	have	have	VERB
alkej-393	41	4	three	three	NUM
alkej-393	41	5	criteria	criterion	NOUN
alkej-393	41	6	[	[	X
alkej-393	41	7	13	13	NUM
alkej-393	41	8	]	]	SYM
alkej-393	41	9	1	1	NUM
alkej-393	41	10	.	.	PUNCT
alkej-393	42	1	the	the	DET
alkej-393	42	2	standard	standard	ADJ
alkej-393	42	3	quadruped	quadruped	NOUN
alkej-393	42	4	walking	walk	VERB
alkej-393	42	5	at	at	ADP
alkej-393	42	6	constant	constant	ADJ
alkej-393	42	7	speeds	speed	NOUN
alkej-393	42	8	,	,	PUNCT
alkej-393	42	9	at	at	ADP
alkej-393	42	10	steady	steady	ADJ
alkej-393	42	11	state	state	NOUN
alkej-393	42	12	movement	movement	NOUN
alkej-393	42	13	,	,	PUNCT
alkej-393	42	14	over	over	ADP
alkej-393	42	15	an	an	DET
alkej-393	42	16	even	even	ADV
alkej-393	42	17	supporting	support	VERB
alkej-393	42	18	surface	surface	NOUN
alkej-393	42	19	.	.	PUNCT
alkej-393	43	1	in	in	ADP
alkej-393	43	2	this	this	DET
alkej-393	43	3	case	case	NOUN
alkej-393	43	4	,	,	PUNCT
alkej-393	43	5	the	the	DET
alkej-393	43	6	legs	leg	NOUN
alkej-393	43	7	of	of	ADP
alkej-393	43	8	the	the	DET
alkej-393	43	9	quadruped	quadruped	NOUN
alkej-393	43	10	robot	robot	NOUN
alkej-393	43	11	are	be	AUX
alkej-393	43	12	repeated	repeat	VERB
alkej-393	43	13	periodically	periodically	ADV
alkej-393	43	14	during	during	ADP
alkej-393	43	15	the	the	DET
alkej-393	43	16	locomotion	locomotion	NOUN
alkej-393	43	17	.	.	PUNCT
alkej-393	44	1	2	2	X
alkej-393	44	2	.	.	X
alkej-393	44	3	the	the	DET
alkej-393	44	4	standard	standard	ADJ
alkej-393	44	5	quadruped	quadruped	NOUN
alkej-393	44	6	robots	robot	NOUN
alkej-393	44	7	are	be	AUX
alkej-393	44	8	symmetrical	symmetrical	ADJ
alkej-393	44	9	in	in	ADP
alkej-393	44	10	both	both	CCONJ
alkej-393	44	11	longitudinal	longitudinal	ADJ
alkej-393	44	12	and	and	CCONJ
alkej-393	44	13	lateral	lateral	ADJ
alkej-393	44	14	directions	direction	NOUN
alkej-393	44	15	.	.	PUNCT
alkej-393	45	1	this	this	DET
alkej-393	45	2	property	property	NOUN
alkej-393	45	3	leads	lead	VERB
alkej-393	45	4	to	to	ADP
alkej-393	45	5	the	the	DET
alkej-393	45	6	facts	fact	NOUN
alkej-393	45	7	that	that	SCONJ
alkej-393	45	8	the	the	DET
alkej-393	45	9	design	design	NOUN
alkej-393	45	10	is	be	AUX
alkej-393	45	11	adapted	adapt	VERB
alkej-393	45	12	to	to	PART
alkej-393	45	13	have	have	VERB
alkej-393	45	14	a	a	DET
alkej-393	45	15	similar	similar	ADJ
alkej-393	45	16	structure	structure	NOUN
alkej-393	45	17	for	for	ADP
alkej-393	45	18	every	every	DET
alkej-393	45	19	leg	leg	NOUN
alkej-393	45	20	with	with	ADP
alkej-393	45	21	less	less	ADJ
alkej-393	45	22	the	the	DET
alkej-393	45	23	mechanical	mechanical	ADJ
alkej-393	45	24	complexity	complexity	NOUN
alkej-393	45	25	of	of	ADP
alkej-393	45	26	the	the	DET
alkej-393	45	27	system	system	NOUN
alkej-393	45	28	and	and	CCONJ
alkej-393	45	29	then	then	ADV
alkej-393	45	30	less	less	ADV
alkej-393	45	31	in	in	ADP
alkej-393	45	32	cost	cost	NOUN
alkej-393	45	33	.	.	PUNCT
alkej-393	46	1	3	3	X
alkej-393	46	2	.	.	X
alkej-393	46	3	in	in	ADP
alkej-393	46	4	case	case	NOUN
alkej-393	46	5	of	of	ADP
alkej-393	46	6	a	a	DET
alkej-393	46	7	regular	regular	ADJ
alkej-393	46	8	shape	shape	NOUN
alkej-393	46	9	quadruped	quadruped	NOUN
alkej-393	46	10	robot	robot	NOUN
alkej-393	46	11	,	,	PUNCT
alkej-393	46	12	cog	cog	PROPN
alkej-393	46	13	located	locate	VERB
alkej-393	46	14	at	at	ADP
alkej-393	46	15	the	the	DET
alkej-393	46	16	robot	robot	NOUN
alkej-393	46	17	geometrical	geometrical	ADJ
alkej-393	46	18	center	center	NOUN
alkej-393	46	19	of	of	ADP
alkej-393	46	20	the	the	DET
alkej-393	46	21	quadruped	quadruped	NOUN
alkej-393	46	22	robot	robot	NOUN
alkej-393	46	23	body	body	NOUN
alkej-393	46	24	,	,	PUNCT
alkej-393	46	25	which	which	PRON
alkej-393	46	26	is	be	AUX
alkej-393	46	27	known	know	VERB
alkej-393	46	28	as	as	ADP
alkej-393	46	29	cog	cog	PROPN
alkej-393	46	30	the	the	DET
alkej-393	46	31	center	center	NOUN
alkej-393	46	32	of	of	ADP
alkej-393	46	33	gravity	gravity	NOUN
alkej-393	46	34	.	.	PUNCT
alkej-393	47	1	the	the	DET
alkej-393	47	2	quadruped	quadruped	NOUN
alkej-393	47	3	robot	robot	NOUN
alkej-393	47	4	is	be	AUX
alkej-393	47	5	shown	show	VERB
alkej-393	47	6	in	in	ADP
alkej-393	47	7	figure	figure	NOUN
alkej-393	47	8	(	(	PUNCT
alkej-393	47	9	1	1	NUM
alkej-393	47	10	)	)	PUNCT
alkej-393	47	11	demonstrates	demonstrate	VERB
alkej-393	47	12	the	the	DET
alkej-393	47	13	typical	typical	ADJ
alkej-393	47	14	model	model	NOUN
alkej-393	47	15	of	of	ADP
alkej-393	47	16	a	a	DET
alkej-393	47	17	quadruped	quadruped	NOUN
alkej-393	47	18	robot	robot	NOUN
alkej-393	47	19	which	which	PRON
alkej-393	47	20	represented	represent	VERB
alkej-393	47	21	the	the	DET
alkej-393	47	22	above	above	ADJ
alkej-393	47	23	three	three	NUM
alkej-393	47	24	criteria	criterion	NOUN
alkej-393	47	25	.	.	PUNCT
alkej-393	48	1	in	in	ADP
alkej-393	48	2	this	this	DET
alkej-393	48	3	research	research	NOUN
alkej-393	48	4	,	,	PUNCT
alkej-393	48	5	the	the	DET
alkej-393	48	6	motion	motion	NOUN
alkej-393	48	7	task	task	NOUN
alkej-393	48	8	assumption	assumption	NOUN
alkej-393	48	9	includes	include	VERB
alkej-393	48	10	that	that	SCONJ
alkej-393	48	11	the	the	DET
alkej-393	48	12	quadruped	quadruped	NOUN
alkej-393	48	13	robot	robot	NOUN
alkej-393	48	14	walks	walk	VERB
alkej-393	48	15	towards	towards	ADP
alkej-393	48	16	the	the	DET
alkej-393	48	17	x	x	NOUN
alkej-393	48	18	-	-	NOUN
alkej-393	48	19	axis	axis	NOUN
alkej-393	48	20	only	only	ADV
alkej-393	48	21	.	.	PUNCT
alkej-393	49	1	this	this	PRON
alkej-393	49	2	means	mean	VERB
alkej-393	49	3	that	that	SCONJ
alkej-393	49	4	there	there	PRON
alkej-393	49	5	is	be	VERB
alkej-393	49	6	no	no	DET
alkej-393	49	7	change	change	NOUN
alkej-393	49	8	in	in	ADP
alkej-393	49	9	the	the	DET
alkej-393	49	10	y	y	ADJ
alkej-393	49	11	-	-	PUNCT
alkej-393	49	12	axis	axis	NOUN
alkej-393	49	13	stride	stride	NOUN
alkej-393	49	14	.	.	PUNCT
alkej-393	50	1	so	so	ADV
alkej-393	50	2	the	the	DET
alkej-393	50	3	vertical	vertical	ADJ
alkej-393	50	4	projection	projection	NOUN
alkej-393	50	5	of	of	ADP
alkej-393	50	6	the	the	DET
alkej-393	50	7	stride	stride	NOUN
alkej-393	50	8	for	for	ADP
alkej-393	50	9	all	all	DET
alkej-393	50	10	legs	leg	NOUN
alkej-393	50	11	is	be	AUX
alkej-393	50	12	a	a	DET
alkej-393	50	13	line	line	NOUN
alkej-393	50	14	.	.	PUNCT
alkej-393	51	1	these	these	DET
alkej-393	51	2	stride	stride	ADJ
alkej-393	51	3	lines	line	NOUN
alkej-393	51	4	are	be	AUX
alkej-393	51	5	situated	situate	VERB
alkej-393	51	6	in	in	ADP
alkej-393	51	7	the	the	DET
alkej-393	51	8	longitudinal	longitudinal	ADJ
alkej-393	51	9	direction	direction	NOUN
alkej-393	51	10	to	to	PART
alkej-393	51	11	fulfill	fulfill	VERB
alkej-393	51	12	the	the	DET
alkej-393	51	13	condition	condition	NOUN
alkej-393	51	14	of	of	ADP
alkej-393	51	15	forwarding	forward	VERB
alkej-393	51	16	walk	walk	NOUN
alkej-393	51	17	.	.	PUNCT
alkej-393	52	1	fig	fig	NOUN
alkej-393	52	2	.	.	PUNCT
alkej-393	53	1	1	1	NUM
alkej-393	53	2	.	.	X
alkej-393	53	3	quadruped	quadrupe	VERB
alkej-393	53	4	robot	robot	NOUN
alkej-393	53	5	(	(	PUNCT
alkej-393	53	6	top	top	ADJ
alkej-393	53	7	view	view	NOUN
alkej-393	53	8	)	)	PUNCT
alkej-393	53	9	illustrate	illustrate	VERB
alkej-393	53	10	the	the	DET
alkej-393	53	11	length	length	NOUN
alkej-393	53	12	(	(	PUNCT
alkej-393	53	13	2b	2b	NUM
alkej-393	53	14	)	)	PUNCT
alkej-393	53	15	and	and	CCONJ
alkej-393	53	16	the	the	DET
alkej-393	53	17	width	width	ADJ
alkej-393	53	18	(	(	PUNCT
alkej-393	53	19	2c	2c	NOUN
alkej-393	53	20	)	)	PUNCT
alkej-393	53	21	and	and	CCONJ
alkej-393	53	22	the	the	DET
alkej-393	53	23	cog	cog	PROPN
alkej-393	53	24	point	point	NOUN
alkej-393	53	25	from	from	ADP
alkej-393	53	26	figure	figure	NOUN
alkej-393	53	27	(	(	PUNCT
alkej-393	53	28	1	1	NUM
alkej-393	53	29	)	)	PUNCT
alkej-393	53	30	,	,	PUNCT
alkej-393	53	31	the	the	DET
alkej-393	53	32	distance	distance	NOUN
alkej-393	53	33	for	for	ADP
alkej-393	53	34	all	all	DET
alkej-393	53	35	legs	leg	NOUN
alkej-393	53	36	from	from	ADP
alkej-393	53	37	the	the	DET
alkej-393	53	38	closest	close	ADJ
alkej-393	53	39	point	point	NOUN
alkej-393	53	40	of	of	ADP
alkej-393	53	41	the	the	DET
alkej-393	53	42	stride	stride	ADJ
alkej-393	53	43	line	line	NOUN
alkej-393	53	44	to	to	ADP
alkej-393	53	45	the	the	DET
alkej-393	53	46	cog	cog	PROPN
alkej-393	53	47	projection	projection	NOUN
alkej-393	53	48	is	be	AUX
alkej-393	53	49	(	(	PUNCT
alkej-393	53	50	a	a	NOUN
alkej-393	53	51	)	)	PUNCT
alkej-393	53	52	,	,	PUNCT
alkej-393	53	53	the	the	DET
alkej-393	53	54	distance	distance	NOUN
alkej-393	53	55	for	for	ADP
alkej-393	53	56	all	all	DET
alkej-393	53	57	legs	leg	NOUN
alkej-393	53	58	from	from	ADP
alkej-393	53	59	the	the	DET
alkej-393	53	60	farthest	farth	ADJ
alkej-393	53	61	point	point	NOUN
alkej-393	53	62	of	of	ADP
alkej-393	53	63	the	the	DET
alkej-393	53	64	stride	stride	ADJ
alkej-393	53	65	line	line	NOUN
alkej-393	53	66	to	to	ADP
alkej-393	53	67	the	the	DET
alkej-393	53	68	cog	cog	PROPN
alkej-393	53	69	projection	projection	NOUN
alkej-393	53	70	is	be	AUX
alkej-393	53	71	(	(	PUNCT
alkej-393	53	72	b)and	b)and	PROPN
alkej-393	53	73	(	(	PUNCT
alkej-393	53	74	c	c	NOUN
alkej-393	53	75	)	)	PUNCT
alkej-393	53	76	is	be	AUX
alkej-393	53	77	the	the	DET
alkej-393	53	78	distance	distance	NOUN
alkej-393	53	79	between	between	ADP
alkej-393	53	80	two	two	NUM
alkej-393	53	81	front	front	ADJ
alkej-393	53	82	stride	stride	NOUN
alkej-393	53	83	line	line	NOUN
alkej-393	53	84	or	or	CCONJ
alkej-393	53	85	two	two	NUM
alkej-393	53	86	back	back	ADJ
alkej-393	53	87	stride	stride	ADJ
alkej-393	53	88	line	line	NOUN
alkej-393	53	89	.	.	PUNCT
alkej-393	54	1	the	the	DET
alkej-393	54	2	definition	definition	NOUN
alkej-393	54	3	of	of	ADP
alkej-393	54	4	stride	stride	ADJ
alkej-393	54	5	line	line	NOUN
alkej-393	54	6	for	for	ADP
alkej-393	54	7	every	every	DET
alkej-393	54	8	leg	leg	NOUN
alkej-393	54	9	in	in	ADP
alkej-393	54	10	x	x	ADJ
alkej-393	54	11	-	-	ADJ
alkej-393	54	12	axis	axis	NOUN
alkej-393	54	13	is	be	AUX
alkej-393	54	14	[	[	X
alkej-393	54	15	13	13	NUM
alkej-393	54	16	]	]	SYM
alkej-393	54	17	stride	stride	ADJ
alkej-393	54	18	line	line	NOUN
alkej-393	54	19	(	(	PUNCT
alkej-393	54	20	λ	λ	NOUN
alkej-393	54	21	)	)	PUNCT
alkej-393	54	22	=	=	SYM
alkej-393	54	23	b	b	PROPN
alkej-393	54	24	–	–	PUNCT
alkej-393	54	25	a	a	PRON
alkej-393	54	26	…	…	PUNCT
alkej-393	54	27	(	(	PUNCT
alkej-393	54	28	1	1	NUM
alkej-393	54	29	)	)	PUNCT
alkej-393	54	30	when	when	SCONJ
alkej-393	54	31	the	the	DET
alkej-393	54	32	quadruped	quadruped	NOUN
alkej-393	54	33	robot	robot	NOUN
alkej-393	54	34	body	body	NOUN
alkej-393	54	35	is	be	AUX
alkej-393	54	36	moved	move	VERB
alkej-393	54	37	the	the	DET
alkej-393	54	38	cog	cog	NOUN
alkej-393	54	39	is	be	AUX
alkej-393	54	40	moved	move	VERB
alkej-393	54	41	,	,	PUNCT
alkej-393	54	42	correspondingly	correspondingly	ADV
alkej-393	54	43	followed	follow	VERB
alkej-393	54	44	by	by	ADP
alkej-393	54	45	the	the	DET
alkej-393	54	46	firas	firas	PROPN
alkej-393	54	47	a.	a.	PROPN
alkej-393	54	48	raheem	raheem	PROPN
alkej-393	54	49	al	al	PROPN
alkej-393	54	50	-	-	PUNCT
alkej-393	54	51	khwarizmi	khwarizmi	PROPN
alkej-393	54	52	engineering	engineering	NOUN
alkej-393	54	53	journal	journal	PROPN
alkej-393	54	54	,	,	PUNCT
alkej-393	54	55	vol	vol	NOUN
alkej-393	54	56	.	.	PROPN
alkej-393	54	57	14	14	NUM
alkej-393	54	58	,	,	PUNCT
alkej-393	54	59	no	no	INTJ
alkej-393	54	60	.	.	NOUN
alkej-393	54	61	2	2	NUM
alkej-393	54	62	,	,	PUNCT
alkej-393	54	63	p.p	p.p	PROPN
alkej-393	54	64	.	.	NOUN
alkej-393	54	65	93106	93106	NUM
alkej-393	54	66	(	(	PUNCT
alkej-393	54	67	2018	2018	NUM
alkej-393	54	68	)	)	PUNCT
alkej-393	54	69	95	95	NUM
alkej-393	54	70	four	four	NUM
alkej-393	54	71	legs	leg	NOUN
alkej-393	54	72	moving	move	VERB
alkej-393	54	73	.	.	PUNCT
alkej-393	55	1	according	accord	VERB
alkej-393	55	2	to	to	ADP
alkej-393	55	3	the	the	DET
alkej-393	55	4	gait	gait	ADJ
alkej-393	55	5	sequence	sequence	NOUN
alkej-393	55	6	of	of	ADP
alkej-393	55	7	quadruped	quadruped	NOUN
alkej-393	55	8	robot	robot	NOUN
alkej-393	55	9	creeping	creep	VERB
alkej-393	55	10	gait	gait	NOUN
alkej-393	55	11	,	,	PUNCT
alkej-393	55	12	there	there	PRON
alkej-393	55	13	is	be	VERB
alkej-393	55	14	no	no	DET
alkej-393	55	15	necessity	necessity	NOUN
alkej-393	55	16	to	to	PART
alkej-393	55	17	move	move	VERB
alkej-393	55	18	the	the	DET
alkej-393	55	19	robot	robot	NOUN
alkej-393	55	20	body	body	NOUN
alkej-393	55	21	and	and	CCONJ
alkej-393	55	22	legs	leg	NOUN
alkej-393	55	23	at	at	ADP
alkej-393	55	24	the	the	DET
alkej-393	55	25	same	same	ADJ
alkej-393	55	26	time	time	NOUN
alkej-393	55	27	[	[	X
alkej-393	55	28	14	14	NUM
alkej-393	55	29	]	]	PUNCT
alkej-393	55	30	.	.	PUNCT
alkej-393	56	1	the	the	DET
alkej-393	56	2	forward	forward	ADV
alkej-393	56	3	walking	walking	NOUN
alkej-393	56	4	is	be	AUX
alkej-393	56	5	towards	towards	ADP
alkej-393	56	6	the	the	DET
alkej-393	56	7	x	x	NOUN
alkej-393	56	8	-	-	NOUN
alkej-393	56	9	axis	axis	ADJ
alkej-393	56	10	.	.	PUNCT
alkej-393	57	1	in	in	ADP
alkej-393	57	2	the	the	DET
alkej-393	57	3	first	first	ADJ
alkej-393	57	4	origin	origin	NOUN
alkej-393	57	5	support	support	NOUN
alkej-393	57	6	pattern	pattern	NOUN
alkej-393	57	7	,	,	PUNCT
alkej-393	57	8	the	the	DET
alkej-393	57	9	positions	position	NOUN
alkej-393	57	10	of	of	ADP
alkej-393	57	11	the	the	DET
alkej-393	57	12	four	four	NUM
alkej-393	57	13	legs	leg	NOUN
alkej-393	57	14	at	at	ADP
alkej-393	57	15	(	(	PUNCT
alkej-393	57	16	x1	x1	PROPN
alkej-393	57	17	,	,	PUNCT
alkej-393	57	18	c	c	NOUN
alkej-393	57	19	)	)	PUNCT
alkej-393	57	20	(	(	PUNCT
alkej-393	57	21	x2,-c	x2,-c	PROPN
alkej-393	57	22	)	)	PUNCT
alkej-393	57	23	(	(	PUNCT
alkej-393	57	24	x3	x3	ADJ
alkej-393	57	25	,	,	PUNCT
alkej-393	57	26	c	c	NOUN
alkej-393	57	27	)	)	PUNCT
alkej-393	57	28	(	(	PUNCT
alkej-393	57	29	x4,-c	x4,-c	NOUN
alkej-393	57	30	)	)	PUNCT
alkej-393	57	31	,	,	PUNCT
alkej-393	57	32	and	and	CCONJ
alkej-393	57	33	the	the	DET
alkej-393	57	34	length	length	NOUN
alkej-393	57	35	of	of	ADP
alkej-393	57	36	stride	stride	NOUN
alkej-393	57	37	is	be	AUX
alkej-393	57	38	λ	λ	X
alkej-393	57	39	.	.	PUNCT
alkej-393	57	40	by	by	ADP
alkej-393	57	41	this	this	DET
alkej-393	57	42	manner	manner	NOUN
alkej-393	57	43	,	,	PUNCT
alkej-393	57	44	the	the	DET
alkej-393	57	45	positions	position	NOUN
alkej-393	57	46	of	of	ADP
alkej-393	57	47	every	every	DET
alkej-393	57	48	leg	leg	NOUN
alkej-393	57	49	after	after	ADP
alkej-393	57	50	one	one	NUM
alkej-393	57	51	step	step	NOUN
alkej-393	57	52	movement	movement	NOUN
alkej-393	57	53	are	be	AUX
alkej-393	57	54	located	locate	VERB
alkej-393	57	55	at	at	ADP
alkej-393	57	56	(	(	PUNCT
alkej-393	57	57	x1	x1	PROPN
alkej-393	57	58	+	+	PROPN
alkej-393	57	59	λ	λ	PROPN
alkej-393	57	60	,	,	PUNCT
alkej-393	57	61	c	c	NOUN
alkej-393	57	62	)	)	PUNCT
alkej-393	57	63	(	(	PUNCT
alkej-393	57	64	x2	x2	PROPN
alkej-393	57	65	+	+	SYM
alkej-393	57	66	λ	λ	PROPN
alkej-393	57	67	,	,	PUNCT
alkej-393	57	68	-c	-c	PUNCT
alkej-393	57	69	)	)	PUNCT
alkej-393	57	70	(	(	PUNCT
alkej-393	57	71	x3	x3	VERB
alkej-393	57	72	+	+	SYM
alkej-393	57	73	λ	λ	PROPN
alkej-393	57	74	,	,	PUNCT
alkej-393	57	75	c	c	NOUN
alkej-393	57	76	)	)	PUNCT
alkej-393	57	77	(	(	PUNCT
alkej-393	57	78	x4	x4	PROPN
alkej-393	57	79	+	+	PROPN
alkej-393	57	80	λ,-c	λ,-c	NOUN
alkej-393	57	81	)	)	PUNCT
alkej-393	57	82	.	.	PUNCT
alkej-393	58	1	these	these	DET
alkej-393	58	2	locations	location	NOUN
alkej-393	58	3	should	should	AUX
alkej-393	58	4	be	be	AUX
alkej-393	58	5	matching	match	VERB
alkej-393	58	6	the	the	DET
alkej-393	58	7	stride	stride	NOUN
alkej-393	58	8	constraint	constraint	NOUN
alkej-393	58	9	as	as	SCONJ
alkej-393	58	10	follows	follow	VERB
alkej-393	58	11	:	:	PUNCT
alkej-393	58	12	�	�	PROPN
alkej-393	58	13	�	�	PROPN
alkej-393	58	14	�	�	PROPN
alkej-393	58	15	�	�	PROPN
alkej-393	58	16	�	�	PROPN
alkej-393	58	17	�	�	PROPN
alkej-393	58	18	�	�	PROPN
alkej-393	58	19	�	�	PROPN
alkej-393	58	20	�	�	PROPN
alkej-393	58	21	�	�	PROPN
alkej-393	58	22	�	�	PROPN
alkej-393	58	23	�	�	PROPN
alkej-393	58	24	�	�	PROPN
alkej-393	58	25	�	�	PROPN
alkej-393	58	26	�	�	PROPN
alkej-393	58	27	�	�	PROPN
alkej-393	58	28	�	�	PROPN
alkej-393	58	29	�	�	PROPN
alkej-393	58	30	�	�	PROPN
alkej-393	58	31	�	�	PROPN
alkej-393	58	32	�	�	PROPN
alkej-393	58	33	�	�	PROPN
alkej-393	58	34	�	�	PROPN
alkej-393	58	35	�	�	PROPN
alkej-393	58	36	�	�	PROPN
alkej-393	58	37	�	�	PROPN
alkej-393	58	38	�	�	PROPN
alkej-393	58	39	�	�	PROPN
alkej-393	58	40	�	�	PROPN
alkej-393	58	41	�	�	PROPN
alkej-393	58	42	�	�	PROPN
alkej-393	58	43	λ	λ	PROPN
alkej-393	58	44	�	�	PROPN
alkej-393	58	45	�	�	PROPN
alkej-393	58	46	�	�	PROPN
alkej-393	58	47	�	�	PROPN
alkej-393	58	48	�	�	PROPN
alkej-393	58	49	�	�	PROPN
alkej-393	58	50	�	�	PROPN
alkej-393	58	51	λ	λ	PROPN
alkej-393	58	52	�	�	PROPN
alkej-393	58	53	�	�	PROPN
alkej-393	58	54	�	�	PROPN
alkej-393	58	55	�	�	PROPN
alkej-393	58	56	�	�	PROPN
alkej-393	58	57	�	�	PROPN
alkej-393	58	58	�	�	PROPN
alkej-393	58	59	λ	λ	PROPN
alkej-393	58	60	�	�	PROPN
alkej-393	58	61	�	�	PROPN
alkej-393	58	62	�	�	PROPN
alkej-393	58	63	�	�	PROPN
alkej-393	58	64	�	�	PROPN
alkej-393	58	65	�	�	PROPN
alkej-393	58	66	�	�	PROPN
alkej-393	58	67	�	�	PROPN
alkej-393	58	68	λ	λ	PROPN
alkej-393	58	69	�	�	PROPN
alkej-393	58	70	�	�	PROPN
alkej-393	58	71	�	�	PROPN
alkej-393	58	72	along	along	ADP
alkej-393	58	73	these	these	DET
alkej-393	58	74	considerations	consideration	NOUN
alkej-393	58	75	,	,	PUNCT
alkej-393	58	76	the	the	DET
alkej-393	58	77	largest	large	ADJ
alkej-393	58	78	stride	stride	NOUN
alkej-393	58	79	of	of	ADP
alkej-393	58	80	the	the	DET
alkej-393	58	81	reachable	reachable	ADJ
alkej-393	58	82	area	area	NOUN
alkej-393	58	83	for	for	ADP
alkej-393	58	84	a	a	DET
alkej-393	58	85	quadruped	quadruped	NOUN
alkej-393	58	86	robot	robot	NOUN
alkej-393	58	87	can	can	AUX
alkej-393	58	88	be	be	AUX
alkej-393	58	89	calculated	calculate	VERB
alkej-393	58	90	from	from	ADP
alkej-393	58	91	equation	equation	NOUN
alkej-393	58	92	(	(	PUNCT
alkej-393	58	93	1	1	NUM
alkej-393	58	94	)	)	PUNCT
alkej-393	58	95	.	.	PUNCT
alkej-393	59	1	most	most	ADJ
alkej-393	59	2	of	of	ADP
alkej-393	59	3	the	the	DET
alkej-393	59	4	quadruped	quadruped	NOUN
alkej-393	59	5	robots	robot	NOUN
alkej-393	59	6	have	have	AUX
alkej-393	59	7	the	the	DET
alkej-393	59	8	value	value	NOUN
alkej-393	59	9	of	of	ADP
alkej-393	59	10	length	length	NOUN
alkej-393	59	11	equals	equal	VERB
alkej-393	59	12	to	to	ADP
alkej-393	59	13	2	2	NUM
alkej-393	59	14	b	b	NOUN
alkej-393	59	15	and	and	CCONJ
alkej-393	59	16	the	the	DET
alkej-393	59	17	value	value	NOUN
alkej-393	59	18	of	of	ADP
alkej-393	59	19	width	width	NOUN
alkej-393	59	20	equals	equal	VERB
alkej-393	59	21	to	to	ADP
alkej-393	59	22	2	2	NUM
alkej-393	59	23	c.	c.	NOUN
alkej-393	59	24	henceforth	henceforth	ADV
alkej-393	59	25	,	,	PUNCT
alkej-393	59	26	the	the	DET
alkej-393	59	27	ratio	ratio	NOUN
alkej-393	59	28	between	between	ADP
alkej-393	59	29	the	the	DET
alkej-393	59	30	length	length	NOUN
alkej-393	59	31	and	and	CCONJ
alkej-393	59	32	width	width	NOUN
alkej-393	59	33	is	be	AUX
alkej-393	59	34	equal	equal	ADJ
alkej-393	59	35	to	to	ADP
alkej-393	59	36	c	c	PROPN
alkej-393	59	37	/	/	SYM
alkej-393	59	38	b.	b.	PROPN
alkej-393	59	39	in	in	ADP
alkej-393	59	40	this	this	DET
alkej-393	59	41	paper	paper	NOUN
alkej-393	59	42	,	,	PUNCT
alkej-393	59	43	each	each	DET
alkej-393	59	44	leg	leg	NOUN
alkej-393	59	45	contains	contain	VERB
alkej-393	59	46	three	three	NUM
alkej-393	59	47	joints	joint	NOUN
alkej-393	59	48	3	3	NUM
alkej-393	59	49	-	-	PUNCT
alkej-393	59	50	dof	dof	NOUN
alkej-393	59	51	called	call	VERB
alkej-393	59	52	(	(	PUNCT
alkej-393	59	53	coxa	coxa	NOUN
alkej-393	59	54	-	-	PUNCT
alkej-393	59	55	joint	joint	ADJ
alkej-393	59	56	,	,	PUNCT
alkej-393	59	57	femur	femur	NOUN
alkej-393	59	58	-	-	PUNCT
alkej-393	59	59	joint	joint	NOUN
alkej-393	59	60	,	,	PUNCT
alkej-393	59	61	and	and	CCONJ
alkej-393	59	62	tibiajoint	tibiajoint	NOUN
alkej-393	59	63	)	)	PUNCT
alkej-393	59	64	.	.	PUNCT
alkej-393	60	1	so	so	ADV
alkej-393	60	2	the	the	DET
alkej-393	60	3	total	total	ADJ
alkej-393	60	4	number	number	NOUN
alkej-393	60	5	of	of	ADP
alkej-393	60	6	dofs	dof	NOUN
alkej-393	60	7	is	be	AUX
alkej-393	60	8	equal	equal	ADJ
alkej-393	60	9	to	to	ADP
alkej-393	60	10	12	12	NUM
alkej-393	60	11	.	.	PUNCT
alkej-393	61	1	the	the	DET
alkej-393	61	2	overall	overall	ADJ
alkej-393	61	3	the	the	DET
alkej-393	61	4	quadruped	quadruped	NOUN
alkej-393	61	5	robot	robot	NOUN
alkej-393	61	6	is	be	AUX
alkej-393	61	7	showing	show	VERB
alkej-393	61	8	in	in	ADP
alkej-393	61	9	figure	figure	NOUN
alkej-393	61	10	(	(	PUNCT
alkej-393	61	11	2	2	NUM
alkej-393	61	12	)	)	PUNCT
alkej-393	61	13	.	.	PUNCT
alkej-393	62	1	where	where	SCONJ
alkej-393	62	2	in	in	ADP
alkej-393	62	3	figure	figure	NOUN
alkej-393	62	4	(	(	PUNCT
alkej-393	62	5	2	2	NUM
alkej-393	62	6	-	-	PUNCT
alkej-393	62	7	a	a	PRON
alkej-393	62	8	)	)	PUNCT
alkej-393	62	9	shows	show	VERB
alkej-393	62	10	the	the	DET
alkej-393	62	11	main	main	ADJ
alkej-393	62	12	part	part	NOUN
alkej-393	62	13	in	in	ADP
alkej-393	62	14	the	the	DET
alkej-393	62	15	quadruped	quadruped	NOUN
alkej-393	62	16	robot	robot	NOUN
alkej-393	62	17	is	be	AUX
alkej-393	62	18	represent	represent	VERB
alkej-393	62	19	a	a	DET
alkej-393	62	20	mimic	mimic	NOUN
alkej-393	62	21	of	of	ADP
alkej-393	62	22	the	the	DET
alkej-393	62	23	natural	natural	ADJ
alkej-393	62	24	anatomy	anatomy	NOUN
alkej-393	62	25	of	of	ADP
alkej-393	62	26	legged	legged	ADJ
alkej-393	62	27	animals	animal	NOUN
alkej-393	62	28	.	.	PUNCT
alkej-393	63	1	from	from	ADP
alkej-393	63	2	figure	figure	NOUN
alkej-393	63	3	(	(	PUNCT
alkej-393	63	4	2	2	NUM
alkej-393	63	5	-	-	PUNCT
alkej-393	63	6	a	a	PRON
alkej-393	63	7	)	)	PUNCT
alkej-393	63	8	,	,	PUNCT
alkej-393	63	9	leg1	leg1	NOUN
alkej-393	63	10	is	be	AUX
alkej-393	63	11	the	the	DET
alkej-393	63	12	right	right	ADJ
alkej-393	63	13	front	front	NOUN
alkej-393	63	14	(	(	PUNCT
alkej-393	63	15	rf	rf	NOUN
alkej-393	63	16	)	)	PUNCT
alkej-393	63	17	side	side	NOUN
alkej-393	63	18	and	and	CCONJ
alkej-393	63	19	leg3	leg3	ADJ
alkej-393	63	20	is	be	AUX
alkej-393	63	21	the	the	DET
alkej-393	63	22	right	right	ADJ
alkej-393	63	23	rear	rear	NOUN
alkej-393	63	24	(	(	PUNCT
alkej-393	63	25	rr	rr	NOUN
alkej-393	63	26	)	)	PUNCT
alkej-393	63	27	side	side	NOUN
alkej-393	63	28	and	and	CCONJ
alkej-393	63	29	leg2	leg2	NOUN
alkej-393	63	30	is	be	AUX
alkej-393	63	31	the	the	DET
alkej-393	63	32	left	left	ADJ
alkej-393	63	33	front	front	NOUN
alkej-393	63	34	(	(	PUNCT
alkej-393	63	35	lf	lf	NOUN
alkej-393	63	36	)	)	PUNCT
alkej-393	63	37	side	side	NOUN
alkej-393	63	38	and	and	CCONJ
alkej-393	63	39	leg4	leg4	NOUN
alkej-393	63	40	is	be	AUX
alkej-393	63	41	the	the	DET
alkej-393	63	42	left	left	ADJ
alkej-393	63	43	rear	rear	NOUN
alkej-393	63	44	(	(	PUNCT
alkej-393	63	45	lr	lr	NOUN
alkej-393	63	46	)	)	PUNCT
alkej-393	63	47	side	side	NOUN
alkej-393	63	48	.	.	PUNCT
alkej-393	64	1	in	in	ADP
alkej-393	64	2	this	this	DET
alkej-393	64	3	figure	figure	NOUN
alkej-393	64	4	,	,	PUNCT
alkej-393	64	5	it	it	PRON
alkej-393	64	6	is	be	AUX
alkej-393	64	7	illustrated	illustrate	VERB
alkej-393	64	8	and	and	CCONJ
alkej-393	64	9	guaranteed	guarantee	VERB
alkej-393	64	10	to	to	PART
alkej-393	64	11	be	be	AUX
alkej-393	64	12	inside	inside	ADP
alkej-393	64	13	the	the	DET
alkej-393	64	14	supporting	support	VERB
alkej-393	64	15	polygon	polygon	NOUN
alkej-393	64	16	.	.	PUNCT
alkej-393	65	1	the	the	DET
alkej-393	65	2	forward	forward	ADJ
alkej-393	65	3	direction	direction	NOUN
alkej-393	65	4	of	of	ADP
alkej-393	65	5	motion	motion	NOUN
alkej-393	65	6	of	of	ADP
alkej-393	65	7	the	the	DET
alkej-393	65	8	quadruped	quadruped	NOUN
alkej-393	65	9	robot	robot	NOUN
alkej-393	65	10	,	,	PUNCT
alkej-393	65	11	in	in	ADP
alkej-393	65	12	case	case	NOUN
alkej-393	65	13	of	of	ADP
alkej-393	65	14	the	the	DET
alkej-393	65	15	forward	forward	ADJ
alkej-393	65	16	direction	direction	NOUN
alkej-393	65	17	of	of	ADP
alkej-393	65	18	motion	motion	NOUN
alkej-393	65	19	,	,	PUNCT
alkej-393	65	20	is	be	AUX
alkej-393	65	21	set	set	VERB
alkej-393	65	22	to	to	PART
alkej-393	65	23	be	be	AUX
alkej-393	65	24	with	with	ADP
alkej-393	65	25	the	the	DET
alkej-393	65	26	x	x	ADJ
alkej-393	65	27	-	-	ADJ
alkej-393	65	28	axis	axis	ADJ
alkej-393	65	29	direction	direction	NOUN
alkej-393	65	30	and	and	CCONJ
alkej-393	65	31	the	the	DET
alkej-393	65	32	lateral	lateral	ADJ
alkej-393	65	33	motion	motion	NOUN
alkej-393	65	34	of	of	ADP
alkej-393	65	35	the	the	DET
alkej-393	65	36	quadruped	quadruped	NOUN
alkej-393	65	37	robot	robot	NOUN
alkej-393	65	38	will	will	AUX
alkej-393	65	39	be	be	AUX
alkej-393	65	40	in	in	ADP
alkej-393	65	41	y	y	NOUN
alkej-393	65	42	-	-	PUNCT
alkej-393	65	43	axis	axis	NOUN
alkej-393	65	44	.	.	PUNCT
alkej-393	66	1	the	the	DET
alkej-393	66	2	quadruped	quadruped	NOUN
alkej-393	66	3	body	body	NOUN
alkej-393	66	4	has	have	VERB
alkej-393	66	5	a	a	DET
alkej-393	66	6	symmetrical	symmetrical	ADJ
alkej-393	66	7	dimension	dimension	NOUN
alkej-393	66	8	in	in	ADP
alkej-393	66	9	x	x	PROPN
alkej-393	66	10	and	and	CCONJ
alkej-393	66	11	y	y	PROPN
alkej-393	66	12	axes	axis	NOUN
alkej-393	66	13	.	.	PUNCT
alkej-393	67	1	this	this	PRON
alkej-393	67	2	gave	give	VERB
alkej-393	67	3	the	the	DET
alkej-393	67	4	robot	robot	NOUN
alkej-393	67	5	better	well	ADJ
alkej-393	67	6	stability	stability	NOUN
alkej-393	67	7	during	during	ADP
alkej-393	67	8	the	the	DET
alkej-393	67	9	walking	walking	NOUN
alkej-393	67	10	and	and	CCONJ
alkej-393	67	11	making	make	VERB
alkej-393	67	12	it	it	PRON
alkej-393	67	13	statically	statically	ADV
alkej-393	67	14	stable	stable	ADJ
alkej-393	67	15	.	.	PUNCT
alkej-393	68	1	in	in	ADP
alkej-393	68	2	figure	figure	NOUN
alkej-393	68	3	(	(	PUNCT
alkej-393	68	4	2	2	NUM
alkej-393	68	5	-	-	PUNCT
alkej-393	68	6	b	b	NOUN
alkej-393	68	7	)	)	PUNCT
alkej-393	68	8	shows	show	VERB
alkej-393	68	9	each	each	DET
alkej-393	68	10	leg	leg	NOUN
alkej-393	68	11	has	have	VERB
alkej-393	68	12	three	three	NUM
alkej-393	68	13	links	link	NOUN
alkej-393	68	14	and	and	CCONJ
alkej-393	68	15	joints	joint	NOUN
alkej-393	68	16	(	(	PUNCT
alkej-393	68	17	coxa	coxa	ADJ
alkej-393	68	18	,	,	PUNCT
alkej-393	68	19	femur	femur	ADJ
alkej-393	68	20	,	,	PUNCT
alkej-393	68	21	and	and	CCONJ
alkej-393	68	22	tibia	tibia	NOUN
alkej-393	68	23	)	)	PUNCT
alkej-393	68	24	.	.	PUNCT
alkej-393	69	1	(	(	PUNCT
alkej-393	69	2	a	a	X
alkej-393	69	3	)	)	PUNCT
alkej-393	69	4	(	(	PUNCT
alkej-393	69	5	b	b	X
alkej-393	69	6	)	)	PUNCT
alkej-393	69	7	fig	fig	NOUN
alkej-393	69	8	.	.	PUNCT
alkej-393	70	1	2	2	X
alkej-393	70	2	.	.	X
alkej-393	70	3	quadruped	quadrupe	VERB
alkej-393	70	4	robot	robot	NOUN
alkej-393	70	5	simulation	simulation	NOUN
alkej-393	70	6	using	use	VERB
alkej-393	70	7	matlab	matlab	PROPN
alkej-393	70	8	(	(	PUNCT
alkej-393	70	9	a	a	NOUN
alkej-393	70	10	)	)	PUNCT
alkej-393	70	11	quadruped	quadruped	NOUN
alkej-393	70	12	robot	robot	NOUN
alkej-393	70	13	with	with	ADP
alkej-393	70	14	four	four	NUM
alkej-393	70	15	legs	leg	NOUN
alkej-393	70	16	labeling	labeling	NOUN
alkej-393	70	17	(	(	PUNCT
alkej-393	70	18	b	b	NOUN
alkej-393	70	19	)	)	PUNCT
alkej-393	70	20	showing	show	VERB
alkej-393	70	21	the	the	DET
alkej-393	70	22	three	three	NUM
alkej-393	70	23	joints	joint	NOUN
alkej-393	70	24	(	(	PUNCT
alkej-393	70	25	coxa	coxa	ADJ
alkej-393	70	26	,	,	PUNCT
alkej-393	70	27	femur	femur	NOUN
alkej-393	70	28	,	,	PUNCT
alkej-393	70	29	tibia	tibia	NOUN
alkej-393	70	30	)	)	PUNCT
alkej-393	70	31	in	in	ADP
alkej-393	70	32	each	each	DET
alkej-393	70	33	leg	leg	NOUN
alkej-393	70	34	.	.	PUNCT
alkej-393	71	1	to	to	ADP
alkej-393	71	2	grantee	grantee	PROPN
alkej-393	71	3	that	that	SCONJ
alkej-393	71	4	the	the	DET
alkej-393	71	5	quadruped	quadruped	NOUN
alkej-393	71	6	robot	robot	NOUN
alkej-393	71	7	is	be	AUX
alkej-393	71	8	at	at	ADP
alkej-393	71	9	stable	stable	ADJ
alkej-393	71	10	situation	situation	NOUN
alkej-393	71	11	during	during	ADP
alkej-393	71	12	its	its	PRON
alkej-393	71	13	movement	movement	NOUN
alkej-393	71	14	,	,	PUNCT
alkej-393	71	15	the	the	DET
alkej-393	71	16	position	position	NOUN
alkej-393	71	17	of	of	ADP
alkej-393	71	18	each	each	DET
alkej-393	71	19	leg	leg	NOUN
alkej-393	71	20	plays	play	VERB
alkej-393	71	21	a	a	DET
alkej-393	71	22	very	very	ADV
alkej-393	71	23	important	important	ADJ
alkej-393	71	24	rule	rule	NOUN
alkej-393	71	25	of	of	ADP
alkej-393	71	26	the	the	DET
alkej-393	71	27	stability	stability	NOUN
alkej-393	71	28	calculations	calculation	NOUN
alkej-393	71	29	.	.	PUNCT
alkej-393	72	1	in	in	ADP
alkej-393	72	2	order	order	NOUN
alkej-393	72	3	to	to	PART
alkej-393	72	4	ensure	ensure	VERB
alkej-393	72	5	the	the	DET
alkej-393	72	6	static	static	ADJ
alkej-393	72	7	stability	stability	NOUN
alkej-393	72	8	condition	condition	NOUN
alkej-393	72	9	of	of	ADP
alkej-393	72	10	the	the	DET
alkej-393	72	11	quadruped	quadruped	NOUN
alkej-393	72	12	robot	robot	NOUN
alkej-393	72	13	,	,	PUNCT
alkej-393	72	14	the	the	DET
alkej-393	72	15	forward	forward	ADJ
alkej-393	72	16	kinematics	kinematic	NOUN
alkej-393	72	17	and	and	CCONJ
alkej-393	72	18	inverse	inverse	NOUN
alkej-393	72	19	kinematics	kinematic	NOUN
alkej-393	72	20	is	be	AUX
alkej-393	72	21	needed	need	VERB
alkej-393	72	22	priory	priory	NOUN
alkej-393	72	23	before	before	ADP
alkej-393	72	24	analysis	analysis	NOUN
alkej-393	72	25	.	.	PUNCT
alkej-393	73	1	3	3	X
alkej-393	73	2	.	.	X
alkej-393	73	3	creeping	creep	VERB
alkej-393	73	4	gait	gait	ADJ
alkej-393	73	5	analysis	analysis	NOUN
alkej-393	73	6	and	and	CCONJ
alkej-393	73	7	sequence	sequence	NOUN
alkej-393	73	8	description	description	NOUN
alkej-393	73	9	the	the	DET
alkej-393	73	10	quadruped	quadruped	NOUN
alkej-393	73	11	robot	robot	NOUN
alkej-393	73	12	gaits	gait	NOUN
alkej-393	73	13	can	can	AUX
alkej-393	73	14	be	be	AUX
alkej-393	73	15	classified	classify	VERB
alkej-393	73	16	into	into	ADP
alkej-393	73	17	three	three	NUM
alkej-393	73	18	types	type	NOUN
alkej-393	73	19	of	of	ADP
alkej-393	73	20	main	main	ADJ
alkej-393	73	21	gaits	gait	NOUN
alkej-393	73	22	depending	depend	VERB
alkej-393	73	23	also	also	ADV
alkej-393	73	24	on	on	ADP
alkej-393	73	25	the	the	DET
alkej-393	73	26	value	value	NOUN
alkej-393	73	27	of	of	ADP
alkej-393	73	28	the	the	DET
alkej-393	73	29	duty	duty	NOUN
alkej-393	73	30	factor	factor	NOUN
alkej-393	73	31	(	(	PUNCT
alkej-393	73	32	�	�	PROPN
alkej-393	73	33	)	)	PUNCT
alkej-393	73	34	,	,	PUNCT
alkej-393	73	35	where	where	SCONJ
alkej-393	73	36	i=1,	i=1,	NOUN
alkej-393	73	37	..	..	PROPN
alkej-393	73	38	4	4	NUM
alkej-393	73	39	,	,	PUNCT
alkej-393	73	40	like	like	ADP
alkej-393	73	41	:	:	PUNCT
alkej-393	73	42	crawl	crawl	NOUN
alkej-393	73	43	gait	gait	NOUN
alkej-393	73	44	,	,	PUNCT
alkej-393	73	45	running	run	VERB
alkej-393	73	46	gait	gait	NOUN
alkej-393	73	47	,	,	PUNCT
alkej-393	73	48	and	and	CCONJ
alkej-393	73	49	the	the	DET
alkej-393	73	50	galloping	gallop	VERB
alkej-393	73	51	gait	gait	NOUN
alkej-393	73	52	.	.	PUNCT
alkej-393	74	1	the	the	DET
alkej-393	74	2	duty	duty	NOUN
alkej-393	74	3	factor	factor	NOUN
alkej-393	74	4	(	(	PUNCT
alkej-393	74	5	�	�	PROPN
alkej-393	74	6	)	)	PUNCT
alkej-393	74	7	is	be	AUX
alkej-393	74	8	the	the	DET
alkej-393	74	9	ratio	ratio	NOUN
alkej-393	74	10	between	between	ADP
alkej-393	74	11	the	the	DET
alkej-393	74	12	time	time	NOUN
alkej-393	74	13	period	period	NOUN
alkej-393	74	14	of	of	ADP
alkej-393	74	15	one	one	NUM
alkej-393	74	16	leg	leg	NOUN
alkej-393	74	17	spend	spend	NOUN
alkej-393	74	18	in	in	ADP
alkej-393	74	19	the	the	DET
alkej-393	74	20	air	air	NOUN
alkej-393	74	21	to	to	ADP
alkej-393	74	22	the	the	DET
alkej-393	74	23	time	time	NOUN
alkej-393	74	24	period	period	NOUN
alkej-393	74	25	spend	spend	VERB
alkej-393	74	26	on	on	ADP
alkej-393	74	27	the	the	DET
alkej-393	74	28	ground	ground	NOUN
alkej-393	74	29	,	,	PUNCT
alkej-393	74	30	according	accord	VERB
alkej-393	74	31	to	to	ADP
alkej-393	74	32	the	the	DET
alkej-393	74	33	creeping	creep	VERB
alkej-393	74	34	gait	gait	NOUN
alkej-393	74	35	sequence	sequence	NOUN
alkej-393	74	36	,	,	PUNCT
alkej-393	74	37	creeping	creep	VERB
alkej-393	74	38	gait	gait	NOUN
alkej-393	74	39	has	have	VERB
alkej-393	74	40	duty	duty	NOUN
alkej-393	74	41	factor	factor	NOUN
alkej-393	74	42	equal	equal	ADJ
alkej-393	74	43	to	to	ADP
alkej-393	74	44	0.75	0.75	NUM
alkej-393	74	45	.	.	PUNCT
alkej-393	75	1	the	the	DET
alkej-393	75	2	running	run	VERB
alkej-393	75	3	gait	gait	NOUN
alkej-393	75	4	has	have	VERB
alkej-393	75	5	duty	duty	NOUN
alkej-393	75	6	factor	factor	NOUN
alkej-393	75	7	ranging	range	VERB
alkej-393	75	8	between	between	ADP
alkej-393	75	9	0.5	0.5	NUM
alkej-393	75	10	-	-	PUNCT
alkej-393	75	11	0.75	0.75	NUM
alkej-393	75	12	,	,	PUNCT
alkej-393	75	13	and	and	CCONJ
alkej-393	75	14	the	the	DET
alkej-393	75	15	galloping	gallop	VERB
alkej-393	75	16	firas	firas	PROPN
alkej-393	75	17	a.	a.	PROPN
alkej-393	75	18	raheem	raheem	PROPN
alkej-393	75	19	al	al	PROPN
alkej-393	75	20	-	-	PUNCT
alkej-393	75	21	khwarizmi	khwarizmi	PROPN
alkej-393	75	22	engineering	engineering	NOUN
alkej-393	75	23	journal	journal	PROPN
alkej-393	75	24	,	,	PUNCT
alkej-393	75	25	vol	vol	NOUN
alkej-393	75	26	.	.	PROPN
alkej-393	75	27	14	14	NUM
alkej-393	75	28	,	,	PUNCT
alkej-393	75	29	no	no	INTJ
alkej-393	75	30	.	.	NOUN
alkej-393	75	31	2	2	NUM
alkej-393	75	32	,	,	PUNCT
alkej-393	75	33	p.p	p.p	PROPN
alkej-393	75	34	.	.	NOUN
alkej-393	75	35	93106	93106	NUM
alkej-393	75	36	(	(	PUNCT
alkej-393	75	37	2018	2018	NUM
alkej-393	75	38	)	)	PUNCT
alkej-393	75	39	96	96	NUM
alkej-393	75	40	gait	gait	NOUN
alkej-393	75	41	has	have	VERB
alkej-393	75	42	a	a	DET
alkej-393	75	43	duty	duty	NOUN
alkej-393	75	44	factor	factor	NOUN
alkej-393	75	45	less	less	ADJ
alkej-393	75	46	than	than	ADP
alkej-393	75	47	0.5	0.5	NUM
alkej-393	75	48	.	.	PUNCT
alkej-393	76	1	these	these	DET
alkej-393	76	2	gaits	gait	NOUN
alkej-393	76	3	that	that	PRON
alkej-393	76	4	are	be	AUX
alkej-393	76	5	utilized	utilize	VERB
alkej-393	76	6	by	by	ADP
alkej-393	76	7	quadruped	quadrupe	VERB
alkej-393	76	8	animals	animal	NOUN
alkej-393	76	9	have	have	AUX
alkej-393	76	10	regularly	regularly	ADV
alkej-393	76	11	been	be	AUX
alkej-393	76	12	given	give	VERB
alkej-393	76	13	names	name	NOUN
alkej-393	76	14	,	,	PUNCT
alkej-393	76	15	which	which	PRON
alkej-393	76	16	generally	generally	ADV
alkej-393	76	17	known	know	VERB
alkej-393	76	18	as	as	ADP
alkej-393	76	19	creeping	creep	VERB
alkej-393	76	20	gait	gait	NOUN
alkej-393	76	21	,	,	PUNCT
alkej-393	76	22	trotting	trotting	NOUN
alkej-393	76	23	gait	gait	NOUN
alkej-393	76	24	and	and	CCONJ
alkej-393	76	25	bounding	bound	VERB
alkej-393	76	26	gait	gait	NOUN
alkej-393	77	1	[	[	X
alkej-393	77	2	١6	١6	NUM
alkej-393	77	3	]	]	PUNCT
alkej-393	77	4	.	.	PUNCT
alkej-393	78	1	some	some	PRON
alkej-393	78	2	of	of	ADP
alkej-393	78	3	these	these	DET
alkej-393	78	4	gaits	gait	NOUN
alkej-393	78	5	are	be	AUX
alkej-393	78	6	utilized	utilize	VERB
alkej-393	78	7	by	by	ADP
alkej-393	78	8	some	some	DET
alkej-393	78	9	mammals	mammal	NOUN
alkej-393	78	10	.	.	PUNCT
alkej-393	79	1	for	for	ADP
alkej-393	79	2	a	a	DET
alkej-393	79	3	very	very	ADV
alkej-393	79	4	slow	slow	ADJ
alkej-393	79	5	walking	walking	NOUN
alkej-393	79	6	,	,	PUNCT
alkej-393	79	7	animals	animal	NOUN
alkej-393	79	8	such	such	ADJ
alkej-393	79	9	as	as	ADP
alkej-393	79	10	elephants	elephant	NOUN
alkej-393	79	11	are	be	AUX
alkej-393	79	12	using	use	VERB
alkej-393	79	13	the	the	DET
alkej-393	79	14	creeping	creep	VERB
alkej-393	79	15	gait	gait	NOUN
alkej-393	79	16	.	.	PUNCT
alkej-393	80	1	the	the	DET
alkej-393	80	2	advantage	advantage	NOUN
alkej-393	80	3	of	of	ADP
alkej-393	80	4	this	this	DET
alkej-393	80	5	gait	gait	NOUN
alkej-393	80	6	,	,	PUNCT
alkej-393	80	7	that	that	SCONJ
alkej-393	80	8	it	it	PRON
alkej-393	80	9	can	can	AUX
alkej-393	80	10	be	be	AUX
alkej-393	80	11	generally	generally	ADV
alkej-393	80	12	statically	statically	ADV
alkej-393	80	13	stable	stable	ADJ
alkej-393	80	14	movement	movement	NOUN
alkej-393	80	15	and	and	CCONJ
alkej-393	80	16	it	it	PRON
alkej-393	80	17	can	can	AUX
alkej-393	80	18	be	be	AUX
alkej-393	80	19	used	use	VERB
alkej-393	80	20	at	at	ADP
alkej-393	80	21	the	the	DET
alkej-393	80	22	range	range	NOUN
alkej-393	80	23	of	of	ADP
alkej-393	80	24	low	low	ADJ
alkej-393	80	25	-	-	PUNCT
alkej-393	80	26	speed	speed	NOUN
alkej-393	80	27	motions	motion	NOUN
alkej-393	80	28	.	.	PUNCT
alkej-393	81	1	the	the	DET
alkej-393	81	2	creeping	creep	VERB
alkej-393	81	3	gait	gait	NOUN
alkej-393	81	4	needs	need	VERB
alkej-393	81	5	at	at	ADV
alkej-393	81	6	least	least	ADV
alkej-393	81	7	three	three	NUM
alkej-393	81	8	legs	leg	NOUN
alkej-393	81	9	on	on	ADP
alkej-393	81	10	the	the	DET
alkej-393	81	11	ground	ground	NOUN
alkej-393	81	12	at	at	ADP
alkej-393	81	13	the	the	DET
alkej-393	81	14	translation	translation	NOUN
alkej-393	81	15	phase	phase	NOUN
alkej-393	81	16	of	of	ADP
alkej-393	81	17	the	the	DET
alkej-393	81	18	other	other	ADJ
alkej-393	81	19	leg	leg	NOUN
alkej-393	81	20	in	in	ADP
alkej-393	81	21	the	the	DET
alkej-393	81	22	air	air	NOUN
alkej-393	81	23	.	.	PUNCT
alkej-393	82	1	this	this	DET
alkej-393	82	2	condition	condition	NOUN
alkej-393	82	3	is	be	AUX
alkej-393	82	4	important	important	ADJ
alkej-393	82	5	for	for	AUX
alkej-393	82	6	achieve	achieve	VERB
alkej-393	82	7	a	a	DET
alkej-393	82	8	statically	statically	ADV
alkej-393	82	9	stable	stable	ADJ
alkej-393	82	10	gait	gait	NOUN
alkej-393	82	11	.	.	PUNCT
alkej-393	83	1	the	the	DET
alkej-393	83	2	creeping	creep	VERB
alkej-393	83	3	gait	gait	NOUN
alkej-393	83	4	used	use	VERB
alkej-393	83	5	the	the	DET
alkej-393	83	6	mechanism	mechanism	NOUN
alkej-393	83	7	that	that	PRON
alkej-393	83	8	the	the	DET
alkej-393	83	9	back	back	ADJ
alkej-393	83	10	leg	leg	NOUN
alkej-393	83	11	is	be	AUX
alkej-393	83	12	touching	touch	VERB
alkej-393	83	13	-	-	PUNCT
alkej-393	83	14	down	down	ADP
alkej-393	83	15	the	the	DET
alkej-393	83	16	ground	ground	NOUN
alkej-393	83	17	followed	follow	VERB
alkej-393	83	18	by	by	ADP
alkej-393	83	19	the	the	DET
alkej-393	83	20	front	front	ADJ
alkej-393	83	21	leg	leg	NOUN
alkej-393	83	22	in	in	ADP
alkej-393	83	23	the	the	DET
alkej-393	83	24	same	same	ADJ
alkej-393	83	25	side	side	NOUN
alkej-393	83	26	leaving	leave	VERB
alkej-393	83	27	the	the	DET
alkej-393	83	28	ground	ground	NOUN
alkej-393	83	29	.	.	PUNCT
alkej-393	84	1	after	after	SCONJ
alkej-393	84	2	the	the	DET
alkej-393	84	3	front	front	ADJ
alkej-393	84	4	leg	leg	NOUN
alkej-393	84	5	is	be	AUX
alkej-393	84	6	touching	touch	VERB
alkej-393	84	7	-	-	PUNCT
alkej-393	84	8	down	down	ADP
alkej-393	84	9	the	the	DET
alkej-393	84	10	ground	ground	NOUN
alkej-393	84	11	,	,	PUNCT
alkej-393	84	12	the	the	DET
alkej-393	84	13	back	back	ADJ
alkej-393	84	14	leg	leg	NOUN
alkej-393	84	15	in	in	ADP
alkej-393	84	16	the	the	DET
alkej-393	84	17	other	other	ADJ
alkej-393	84	18	side	side	NOUN
alkej-393	84	19	of	of	ADP
alkej-393	84	20	the	the	DET
alkej-393	84	21	body	body	NOUN
alkej-393	84	22	will	will	AUX
alkej-393	84	23	begin	begin	VERB
alkej-393	84	24	to	to	PART
alkej-393	84	25	leave	leave	VERB
alkej-393	84	26	the	the	DET
alkej-393	84	27	ground	ground	NOUN
alkej-393	84	28	,	,	PUNCT
alkej-393	84	29	and	and	CCONJ
alkej-393	84	30	so	so	ADV
alkej-393	84	31	on	on	ADV
alkej-393	84	32	,	,	PUNCT
alkej-393	84	33	this	this	DET
alkej-393	84	34	sequence	sequence	NOUN
alkej-393	84	35	is	be	AUX
alkej-393	84	36	repeated	repeat	VERB
alkej-393	84	37	continuously	continuously	ADV
alkej-393	84	38	during	during	ADP
alkej-393	84	39	the	the	DET
alkej-393	84	40	locomotion	locomotion	NOUN
alkej-393	84	41	of	of	ADP
alkej-393	84	42	the	the	DET
alkej-393	84	43	quadruped	quadruped	NOUN
alkej-393	84	44	robot	robot	NOUN
alkej-393	84	45	.	.	PUNCT
alkej-393	85	1	there	there	PRON
alkej-393	85	2	are	be	VERB
alkej-393	85	3	six	six	NUM
alkej-393	85	4	types	type	NOUN
alkej-393	85	5	of	of	ADP
alkej-393	85	6	legs	leg	NOUN
alkej-393	85	7	sequences	sequence	NOUN
alkej-393	85	8	for	for	ADP
alkej-393	85	9	quadruped	quadruped	NOUN
alkej-393	85	10	robot	robot	NOUN
alkej-393	85	11	.	.	PUNCT
alkej-393	86	1	in	in	ADP
alkej-393	86	2	this	this	DET
alkej-393	86	3	paper	paper	NOUN
alkej-393	86	4	,	,	PUNCT
alkej-393	86	5	the	the	DET
alkej-393	86	6	leg	leg	NOUN
alkej-393	86	7	swinging	swinge	VERB
alkej-393	86	8	sequence	sequence	NOUN
alkej-393	86	9	is	be	AUX
alkej-393	86	10	(	(	PUNCT
alkej-393	86	11	rr→rf→	rr→rf→	PROPN
alkej-393	86	12	lr→lf	lr→lf	PROPN
alkej-393	86	13	)	)	PUNCT
alkej-393	86	14	where	where	SCONJ
alkej-393	86	15	(	(	PUNCT
alkej-393	86	16	r	r	NOUN
alkej-393	86	17	:	:	PUNCT
alkej-393	86	18	right	right	ADJ
alkej-393	86	19	,	,	PUNCT
alkej-393	86	20	l	l	NOUN
alkej-393	86	21	:	:	PUNCT
alkej-393	86	22	left	leave	VERB
alkej-393	86	23	,	,	PUNCT
alkej-393	86	24	r	r	NOUN
alkej-393	86	25	:	:	PUNCT
alkej-393	86	26	rear	rear	ADJ
alkej-393	86	27	,	,	PUNCT
alkej-393	86	28	f	f	X
alkej-393	86	29	:	:	PUNCT
alkej-393	86	30	front	front	ADJ
alkej-393	86	31	)	)	PUNCT
alkej-393	86	32	.	.	PUNCT
alkej-393	87	1	where	where	SCONJ
alkej-393	87	2	rr	rr	PROPN
alkej-393	87	3	is	be	AUX
alkej-393	87	4	leg4	leg4	NOUN
alkej-393	87	5	,	,	PUNCT
alkej-393	87	6	rf	rf	NOUN
alkej-393	87	7	is	be	AUX
alkej-393	87	8	leg2	leg2	PROPN
alkej-393	87	9	,	,	PUNCT
alkej-393	87	10	lr	lr	PROPN
alkej-393	87	11	is	be	AUX
alkej-393	87	12	leg3	leg3	ADJ
alkej-393	87	13	,	,	PUNCT
alkej-393	87	14	and	and	CCONJ
alkej-393	87	15	lf	lf	PROPN
alkej-393	87	16	is	be	AUX
alkej-393	87	17	leg1	leg1	VERB
alkej-393	87	18	.	.	PUNCT
alkej-393	88	1	the	the	DET
alkej-393	88	2	main	main	ADJ
alkej-393	88	3	feature	feature	NOUN
alkej-393	88	4	of	of	ADP
alkej-393	88	5	this	this	DET
alkej-393	88	6	specific	specific	ADJ
alkej-393	88	7	sequence	sequence	NOUN
alkej-393	88	8	is	be	AUX
alkej-393	88	9	to	to	PART
alkej-393	88	10	have	have	VERB
alkej-393	88	11	a	a	DET
alkej-393	88	12	safe	safe	ADJ
alkej-393	88	13	walking	walking	NOUN
alkej-393	88	14	that	that	PRON
alkej-393	88	15	ensures	ensure	VERB
alkej-393	88	16	the	the	DET
alkej-393	88	17	body	body	NOUN
alkej-393	88	18	robot	robot	NOUN
alkej-393	88	19	of	of	ADP
alkej-393	88	20	moving	move	VERB
alkej-393	88	21	forward	forward	ADV
alkej-393	88	22	at	at	ADP
alkej-393	88	23	the	the	DET
alkej-393	88	24	instance	instance	NOUN
alkej-393	88	25	time	time	NOUN
alkej-393	88	26	[	[	X
alkej-393	88	27	12	12	NUM
alkej-393	88	28	]	]	PUNCT
alkej-393	88	29	.	.	PUNCT
alkej-393	89	1	there	there	PRON
alkej-393	89	2	are	be	VERB
alkej-393	89	3	two	two	NUM
alkej-393	89	4	cartesian	cartesian	ADJ
alkej-393	89	5	coordinate	coordinate	NOUN
alkej-393	89	6	reference	reference	NOUN
alkej-393	89	7	frames	frame	NOUN
alkej-393	89	8	in	in	ADP
alkej-393	89	9	the	the	DET
alkej-393	89	10	quadruped	quadruped	NOUN
alkej-393	89	11	robot	robot	NOUN
alkej-393	89	12	locomotion	locomotion	NOUN
alkej-393	89	13	:	:	PUNCT
alkej-393	89	14	the	the	DET
alkej-393	89	15	first	first	ADJ
alkej-393	89	16	one	one	NOUN
alkej-393	89	17	is	be	AUX
alkej-393	89	18	the	the	DET
alkej-393	89	19	ground	ground	NOUN
alkej-393	89	20	frame	frame	NOUN
alkej-393	89	21	,	,	PUNCT
alkej-393	89	22	the	the	DET
alkej-393	89	23	second	second	ADJ
alkej-393	89	24	one	one	NOUN
alkej-393	89	25	is	be	AUX
alkej-393	89	26	the	the	DET
alkej-393	89	27	coxa	coxa	ADJ
alkej-393	89	28	joint	joint	ADJ
alkej-393	89	29	frame	frame	NOUN
alkej-393	89	30	related	relate	VERB
alkej-393	89	31	to	to	ADP
alkej-393	89	32	the	the	DET
alkej-393	89	33	robot	robot	NOUN
alkej-393	89	34	body	body	NOUN
alkej-393	89	35	.	.	PUNCT
alkej-393	90	1	in	in	ADP
alkej-393	90	2	these	these	DET
alkej-393	90	3	coordinate	coordinate	NOUN
alkej-393	90	4	frames	frame	NOUN
alkej-393	90	5	,	,	PUNCT
alkej-393	90	6	the	the	DET
alkej-393	90	7	front	front	ADJ
alkej-393	90	8	side	side	NOUN
alkej-393	90	9	of	of	ADP
alkej-393	90	10	the	the	DET
alkej-393	90	11	body	body	NOUN
alkej-393	90	12	is	be	AUX
alkej-393	90	13	set	set	VERB
alkej-393	90	14	towards	towards	ADP
alkej-393	90	15	the	the	DET
alkej-393	90	16	x	x	NOUN
alkej-393	90	17	-	-	NOUN
alkej-393	90	18	axis	axis	ADJ
alkej-393	90	19	,	,	PUNCT
alkej-393	90	20	while	while	SCONJ
alkej-393	90	21	the	the	DET
alkej-393	90	22	body	body	NOUN
alkej-393	90	23	left	leave	VERB
alkej-393	90	24	side	side	NOUN
alkej-393	90	25	direction	direction	NOUN
alkej-393	90	26	is	be	AUX
alkej-393	90	27	set	set	VERB
alkej-393	90	28	towards	towards	ADP
alkej-393	90	29	the	the	DET
alkej-393	90	30	y	y	NOUN
alkej-393	90	31	-	-	PUNCT
alkej-393	90	32	axis	axis	NOUN
alkej-393	90	33	.	.	PUNCT
alkej-393	91	1	in	in	ADP
alkej-393	91	2	this	this	DET
alkej-393	91	3	way	way	NOUN
alkej-393	91	4	,	,	PUNCT
alkej-393	91	5	these	these	DET
alkej-393	91	6	two	two	NUM
alkej-393	91	7	frames	frame	NOUN
alkej-393	91	8	are	be	AUX
alkej-393	91	9	important	important	ADJ
alkej-393	91	10	for	for	ADP
alkej-393	91	11	the	the	DET
alkej-393	91	12	computations	computation	NOUN
alkej-393	91	13	that	that	PRON
alkej-393	91	14	ensure	ensure	VERB
alkej-393	91	15	the	the	DET
alkej-393	91	16	cog	cog	NOUN
alkej-393	91	17	location	location	NOUN
alkej-393	91	18	is	be	AUX
alkej-393	91	19	inside	inside	ADP
alkej-393	91	20	the	the	DET
alkej-393	91	21	robot	robot	NOUN
alkej-393	91	22	body	body	NOUN
alkej-393	91	23	projection	projection	NOUN
alkej-393	91	24	during	during	ADP
alkej-393	91	25	leg	leg	NOUN
alkej-393	91	26	placing	placing	NOUN
alkej-393	91	27	and	and	CCONJ
alkej-393	91	28	lifting	lifting	NOUN
alkej-393	91	29	.	.	PUNCT
alkej-393	92	1	[	[	X
alkej-393	92	2	13	13	NUM
alkej-393	92	3	]	]	SYM
alkej-393	92	4	4	4	NUM
alkej-393	92	5	.	.	PUNCT
alkej-393	92	6	kinematics	kinematic	NOUN
alkej-393	92	7	modeling	modeling	NOUN
alkej-393	92	8	of	of	ADP
alkej-393	92	9	a	a	DET
alkej-393	92	10	quadruped	quadruped	NOUN
alkej-393	92	11	robot	robot	NOUN
alkej-393	92	12	4.1	4.1	NUM
alkej-393	92	13	forward	forward	ADJ
alkej-393	92	14	kinematics	kinematic	NOUN
alkej-393	92	15	depends	depend	VERB
alkej-393	92	16	on	on	ADP
alkej-393	92	17	the	the	DET
alkej-393	92	18	leg	leg	NOUN
alkej-393	92	19	design	design	NOUN
alkej-393	92	20	,	,	PUNCT
alkej-393	92	21	a	a	DET
alkej-393	92	22	quadruped	quadruped	NOUN
alkej-393	92	23	robot	robot	NOUN
alkej-393	92	24	relies	rely	VERB
alkej-393	92	25	on	on	ADP
alkej-393	92	26	the	the	DET
alkej-393	92	27	configuration	configuration	NOUN
alkej-393	92	28	of	of	ADP
alkej-393	92	29	each	each	DET
alkej-393	92	30	leg	leg	NOUN
alkej-393	92	31	.	.	PUNCT
alkej-393	93	1	since	since	SCONJ
alkej-393	93	2	all	all	DET
alkej-393	93	3	parts	part	NOUN
alkej-393	93	4	of	of	ADP
alkej-393	93	5	walking	walking	NOUN
alkej-393	93	6	are	be	AUX
alkej-393	93	7	represented	represent	VERB
alkej-393	93	8	by	by	ADP
alkej-393	93	9	the	the	DET
alkej-393	93	10	physical	physical	ADJ
alkej-393	93	11	constraints	constraint	NOUN
alkej-393	93	12	of	of	ADP
alkej-393	93	13	the	the	DET
alkej-393	93	14	leg	leg	NOUN
alkej-393	93	15	.	.	PUNCT
alkej-393	94	1	each	each	DET
alkej-393	94	2	leg	leg	NOUN
alkej-393	94	3	has	have	VERB
alkej-393	94	4	three	three	NUM
alkej-393	94	5	-	-	PUNCT
alkej-393	94	6	revolute	revolute	NOUN
alkej-393	94	7	joints	joint	NOUN
alkej-393	94	8	named	name	VERB
alkej-393	94	9	in	in	ADP
alkej-393	94	10	the	the	DET
alkej-393	94	11	kinematical	kinematical	ADJ
alkej-393	94	12	chain	chain	NOUN
alkej-393	94	13	(	(	PUNCT
alkej-393	94	14	r1	r1	PROPN
alkej-393	94	15	,	,	PUNCT
alkej-393	94	16	r2	r2	PROPN
alkej-393	94	17	,	,	PUNCT
alkej-393	94	18	r3	r3	PROPN
alkej-393	94	19	)	)	PUNCT
alkej-393	94	20	.	.	PUNCT
alkej-393	95	1	these	these	DET
alkej-393	95	2	joints	joint	NOUN
alkej-393	95	3	have	have	AUX
alkej-393	95	4	been	be	AUX
alkej-393	95	5	chosen	choose	VERB
alkej-393	95	6	for	for	ADP
alkej-393	95	7	every	every	DET
alkej-393	95	8	leg	leg	NOUN
alkej-393	95	9	mechanism	mechanism	NOUN
alkej-393	95	10	.	.	PUNCT
alkej-393	96	1	the	the	DET
alkej-393	96	2	basic	basic	ADJ
alkej-393	96	3	idea	idea	NOUN
alkej-393	96	4	is	be	AUX
alkej-393	96	5	to	to	PART
alkej-393	96	6	model	model	VERB
alkej-393	96	7	the	the	DET
alkej-393	96	8	robot	robot	NOUN
alkej-393	96	9	leg	leg	NOUN
alkej-393	96	10	structure	structure	NOUN
alkej-393	96	11	as	as	ADP
alkej-393	96	12	the	the	DET
alkej-393	96	13	biological	biological	ADJ
alkej-393	96	14	leg	leg	NOUN
alkej-393	96	15	structure	structure	NOUN
alkej-393	96	16	for	for	ADP
alkej-393	96	17	animals	animal	NOUN
alkej-393	96	18	or	or	CCONJ
alkej-393	96	19	insects	insect	NOUN
alkej-393	96	20	.	.	PUNCT
alkej-393	97	1	the	the	DET
alkej-393	97	2	forward	forward	ADJ
alkej-393	97	3	kinematics	kinematic	NOUN
alkej-393	97	4	is	be	AUX
alkej-393	97	5	applied	apply	VERB
alkej-393	97	6	to	to	PART
alkej-393	97	7	drive	drive	VERB
alkej-393	97	8	the	the	DET
alkej-393	97	9	geometrical	geometrical	ADJ
alkej-393	97	10	model	model	NOUN
alkej-393	97	11	for	for	ADP
alkej-393	97	12	every	every	DET
alkej-393	97	13	leg	leg	NOUN
alkej-393	97	14	related	relate	VERB
alkej-393	97	15	to	to	ADP
alkej-393	97	16	the	the	DET
alkej-393	97	17	center	center	NOUN
alkej-393	97	18	of	of	ADP
alkej-393	97	19	the	the	DET
alkej-393	97	20	robot	robot	NOUN
alkej-393	97	21	body	body	NOUN
alkej-393	97	22	,	,	PUNCT
alkej-393	97	23	and	and	CCONJ
alkej-393	97	24	then	then	ADV
alkej-393	97	25	find	find	VERB
alkej-393	97	26	the	the	DET
alkej-393	97	27	position	position	NOUN
alkej-393	97	28	and	and	CCONJ
alkej-393	97	29	orientation	orientation	NOUN
alkej-393	97	30	of	of	ADP
alkej-393	97	31	the	the	DET
alkej-393	97	32	endtip	endtip	NOUN
alkej-393	97	33	(	(	PUNCT
alkej-393	97	34	xi	xi	PROPN
alkej-393	97	35	,	,	PUNCT
alkej-393	97	36	yi	yi	PROPN
alkej-393	97	37	,	,	PUNCT
alkej-393	97	38	zi	zi	NOUN
alkej-393	97	39	)	)	PUNCT
alkej-393	97	40	where	where	SCONJ
alkej-393	97	41	i=1,2,3	i=1,2,3	NUM
alkej-393	97	42	,	,	PUNCT
alkej-393	97	43	and	and	CCONJ
alkej-393	97	44	4	4	NUM
alkej-393	97	45	,	,	PUNCT
alkej-393	97	46	for	for	ADP
alkej-393	97	47	each	each	DET
alkej-393	97	48	leg	leg	NOUN
alkej-393	97	49	,	,	PUNCT
alkej-393	97	50	the	the	DET
alkej-393	97	51	leg	leg	NOUN
alkej-393	97	52	structure	structure	NOUN
alkej-393	97	53	appeared	appear	VERB
alkej-393	97	54	in	in	ADP
alkej-393	97	55	figure	figure	NOUN
alkej-393	97	56	(	(	PUNCT
alkej-393	97	57	3	3	NUM
alkej-393	97	58	)	)	PUNCT
alkej-393	97	59	fig	fig	NOUN
alkej-393	97	60	.	.	PUNCT
alkej-393	98	1	3	3	X
alkej-393	98	2	.	.	X
alkej-393	98	3	coordinate	coordinate	NOUN
alkej-393	98	4	frames	frame	NOUN
alkej-393	98	5	for	for	ADP
alkej-393	98	6	one	one	NUM
alkej-393	98	7	leg	leg	NOUN
alkej-393	98	8	of	of	ADP
alkej-393	98	9	a	a	DET
alkej-393	98	10	quadruped	quadruped	NOUN
alkej-393	98	11	robot	robot	NOUN
alkej-393	98	12	.	.	PUNCT
alkej-393	99	1	[	[	X
alkej-393	99	2	9	9	NUM
alkej-393	99	3	]	]	PUNCT
alkej-393	99	4	the	the	DET
alkej-393	99	5	d	d	PROPN
alkej-393	99	6	-	-	PUNCT
alkej-393	99	7	h	h	ADJ
alkej-393	99	8	(	(	PUNCT
alkej-393	99	9	denavit	denavit	PROPN
alkej-393	99	10	-	-	PUNCT
alkej-393	99	11	hartenberg	hartenberg	PROPN
alkej-393	99	12	)	)	PUNCT
alkej-393	99	13	parameters	parameter	NOUN
alkej-393	99	14	of	of	ADP
alkej-393	99	15	the	the	DET
alkej-393	99	16	leg	leg	NOUN
alkej-393	99	17	are	be	AUX
alkej-393	99	18	shown	show	VERB
alkej-393	99	19	in	in	ADP
alkej-393	99	20	table	table	NOUN
alkej-393	99	21	(	(	PUNCT
alkej-393	99	22	1	1	NUM
alkej-393	99	23	)	)	PUNCT
alkej-393	99	24	.	.	PUNCT
alkej-393	100	1	the	the	DET
alkej-393	100	2	leg	leg	NOUN
alkej-393	100	3	's	's	PART
alkej-393	100	4	frame	frame	NOUN
alkej-393	100	5	of	of	ADP
alkej-393	100	6	this	this	DET
alkej-393	100	7	robot	robot	NOUN
alkej-393	100	8	begins	begin	VERB
alkej-393	100	9	with	with	ADP
alkej-393	100	10	the	the	DET
alkej-393	100	11	link	link	NOUN
alkej-393	100	12	zero	zero	NUM
alkej-393	100	13	which	which	PRON
alkej-393	100	14	is	be	AUX
alkej-393	100	15	the	the	DET
alkej-393	100	16	point	point	NOUN
alkej-393	100	17	on	on	ADP
alkej-393	100	18	the	the	DET
alkej-393	100	19	robot	robot	NOUN
alkej-393	100	20	body	body	NOUN
alkej-393	100	21	.	.	PUNCT
alkej-393	101	1	the	the	DET
alkej-393	101	2	leg	leg	NOUN
alkej-393	101	3	is	be	AUX
alkej-393	101	4	jointed	joint	VERB
alkej-393	101	5	as	as	ADP
alkej-393	101	6	link	link	NOUN
alkej-393	101	7	one	one	NUM
alkej-393	101	8	is	be	AUX
alkej-393	101	9	the	the	DET
alkej-393	101	10	coxa	coxa	PROPN
alkej-393	101	11	link	link	PROPN
alkej-393	101	12	,	,	PUNCT
alkej-393	101	13	link	link	VERB
alkej-393	101	14	two	two	NUM
alkej-393	101	15	is	be	AUX
alkej-393	101	16	the	the	DET
alkej-393	101	17	femur	femur	ADJ
alkej-393	101	18	link	link	NOUN
alkej-393	101	19	and	and	CCONJ
alkej-393	101	20	link	link	VERB
alkej-393	101	21	three	three	NUM
alkej-393	101	22	is	be	AUX
alkej-393	101	23	the	the	DET
alkej-393	101	24	tibia	tibia	NOUN
alkej-393	101	25	link	link	NOUN
alkej-393	101	26	.	.	PUNCT
alkej-393	102	1	legs	leg	NOUN
alkej-393	102	2	are	be	AUX
alkej-393	102	3	set	set	VERB
alkej-393	102	4	to	to	PART
alkej-393	102	5	be	be	AUX
alkej-393	102	6	symmetrically	symmetrically	ADV
alkej-393	102	7	around	around	ADP
alkej-393	102	8	the	the	DET
alkej-393	102	9	coordinate	coordinate	NOUN
alkej-393	102	10	axis	axis	NOUN
alkej-393	102	11	in	in	ADP
alkej-393	102	12	the	the	DET
alkej-393	102	13	direction	direction	NOUN
alkej-393	102	14	of	of	ADP
alkej-393	102	15	movement	movement	NOUN
alkej-393	102	16	.	.	PUNCT
alkej-393	103	1	in	in	ADP
alkej-393	103	2	our	our	PRON
alkej-393	103	3	case	case	NOUN
alkej-393	103	4	,	,	PUNCT
alkej-393	103	5	the	the	DET
alkej-393	103	6	direction	direction	NOUN
alkej-393	103	7	of	of	ADP
alkej-393	103	8	motion	motion	NOUN
alkej-393	103	9	is	be	AUX
alkej-393	103	10	the	the	DET
alkej-393	103	11	x	x	NOUN
alkej-393	103	12	-	-	NOUN
alkej-393	103	13	axis	axis	NOUN
alkej-393	103	14	.	.	PUNCT
alkej-393	104	1	the	the	DET
alkej-393	104	2	general	general	ADJ
alkej-393	104	3	frame	frame	NOUN
alkej-393	104	4	for	for	ADP
alkej-393	104	5	the	the	DET
alkej-393	104	6	transformation	transformation	NOUN
alkej-393	104	7	matrix	matrix	NOUN
alkej-393	104	8	from	from	ADP
alkej-393	104	9	a	a	DET
alkej-393	104	10	link	link	NOUN
alkej-393	104	11	i	i	PRON
alkej-393	104	12	to	to	ADP
alkej-393	104	13	a	a	DET
alkej-393	104	14	link	link	NOUN
alkej-393	104	15	(	(	PUNCT
alkej-393	104	16	i-1	i-1	NUM
alkej-393	104	17	)	)	PUNCT
alkej-393	104	18	utilizing	utilize	VERB
alkej-393	104	19	the	the	DET
alkej-393	104	20	d	d	ADJ
alkej-393	104	21	-	-	ADJ
alkej-393	104	22	h	h	ADJ
alkej-393	104	23	parameters	parameter	NOUN
alkej-393	104	24	is	be	AUX
alkej-393	104	25	given	give	VERB
alkej-393	104	26	in	in	ADP
alkej-393	104	27	equation	equation	NOUN
alkej-393	104	28	(	(	PUNCT
alkej-393	104	29	2.1	2.1	NUM
alkej-393	104	30	)	)	PUNCT
alkej-393	105	1	[	[	X
alkej-393	105	2	9	9	NUM
alkej-393	105	3	]	]	PUNCT
alkej-393	105	4	:	:	PUNCT
alkej-393	105	5	the	the	DET
alkej-393	105	6	definition	definition	NOUN
alkej-393	105	7	of	of	ADP
alkej-393	105	8	the	the	DET
alkej-393	105	9	transformation	transformation	NOUN
alkej-393	105	10	matrix	matrix	NOUN
alkej-393	105	11	is	be	AUX
alkej-393	105	12	a	a	DET
alkej-393	105	13	multiple	multiple	ADJ
alkej-393	105	14	series	series	NOUN
alkej-393	105	15	of	of	ADP
alkej-393	105	16	transformation	transformation	NOUN
alkej-393	105	17	along	along	ADP
alkej-393	105	18	:	:	PUNCT
alkej-393	105	19	1	1	X
alkej-393	105	20	.	.	X
alkej-393	105	21	translate	translate	VERB
alkej-393	105	22	d	d	X
alkej-393	105	23	�	�	PROPN
alkej-393	105	24	along	along	ADP
alkej-393	105	25	�	�	PROPN
alkej-393	105	26	�	�	PROPN
alkej-393	105	27	�	�	PROPN
alkej-393	105	28	�	�	PROPN
alkej-393	105	29	axis	axis	NOUN
alkej-393	105	30	.	.	PUNCT
alkej-393	106	1	2	2	X
alkej-393	106	2	.	.	X
alkej-393	106	3	rotate	rotate	VERB
alkej-393	106	4	�	�	PROPN
alkej-393	106	5	�	�	PROPN
alkej-393	106	6	about	about	ADP
alkej-393	106	7	�	�	PROPN
alkej-393	106	8	�	�	PROPN
alkej-393	106	9	�	�	PROPN
alkej-393	106	10	�	�	PROPN
alkej-393	106	11	axis	axis	NOUN
alkej-393	106	12	.	.	PUNCT
alkej-393	107	1	3	3	X
alkej-393	107	2	.	.	X
alkej-393	107	3	translate	translate	PROPN
alkej-393	107	4	�	�	PROPN
alkej-393	107	5	�	�	PROPN
alkej-393	107	6	along	along	ADP
alkej-393	107	7	�	�	PROPN
alkej-393	107	8	�	�	PROPN
alkej-393	107	9	�	�	PROPN
alkej-393	107	10	�	�	PROPN
alkej-393	107	11	axis	axis	NOUN
alkej-393	107	12	.	.	PUNCT
alkej-393	108	1	4	4	X
alkej-393	108	2	.	.	X
alkej-393	108	3	rotate	rotate	VERB
alkej-393	108	4	�	�	PROPN
alkej-393	108	5	�	�	PROPN
alkej-393	108	6	about	about	ADP
alkej-393	108	7	�	�	PROPN
alkej-393	108	8	�	�	PROPN
alkej-393	108	9	�	�	PROPN
alkej-393	108	10	�	�	PROPN
alkej-393	108	11	axis	axis	NOUN
alkej-393	108	12	.	.	PUNCT
alkej-393	109	1	so	so	ADV
alkej-393	109	2	,	,	PUNCT
alkej-393	109	3	for	for	ADP
alkej-393	109	4	one	one	NUM
alkej-393	109	5	link	link	NOUN
alkej-393	109	6	and	and	CCONJ
alkej-393	109	7	joint	joint	VERB
alkej-393	109	8	the	the	DET
alkej-393	109	9	translations	translation	NOUN
alkej-393	109	10	and	and	CCONJ
alkej-393	109	11	rotations	rotation	NOUN
alkej-393	109	12	are	be	AUX
alkej-393	109	13	illustrated	illustrate	VERB
alkej-393	109	14	in	in	ADP
alkej-393	109	15	the	the	DET
alkej-393	109	16	transformation	transformation	NOUN
alkej-393	109	17	matrix	matrix	NOUN
alkej-393	109	18	as	as	ADP
alkej-393	109	19	[	[	X
alkej-393	109	20	21	21	NUM
alkej-393	109	21	]	]	X
alkej-393	109	22	:	:	PUNCT
alkej-393	109	23	�	�	PROPN
alkej-393	109	24	�	�	PROPN
alkej-393	109	25	�	�	PROPN
alkej-393	109	26	�	�	PROPN
alkej-393	109	27	�	�	PROPN
alkej-393	109	28	=	=	SYM
alkej-393	109	29	�	�	PROPN
alkej-393	109	30	�	�	PROPN
alkej-393	109	31	�	�	PROPN
alkej-393	109	32	�	�	PROPN
alkej-393	109	33	�	�	PROPN
alkej-393	109	34	�	�	PROPN
alkej-393	109	35	�	�	PROPN
alkej-393	109	36	�	�	PROPN
alkej-393	109	37	�	�	PROPN
alkej-393	109	38	�	�	PROPN
alkej-393	109	39	�	�	PROPN
alkej-393	109	40	�	�	PROPN
alkej-393	109	41	�	�	PROPN
alkej-393	109	42	�	�	PROPN
alkej-393	109	43	�	�	PROPN
alkej-393	109	44	�	�	PROPN
alkej-393	109	45	�	�	PROPN
alkej-393	109	46	�	�	PROPN
alkej-393	109	47	�	�	PROPN
alkej-393	109	48	�	�	PROPN
alkej-393	109	49	�	�	PROPN
alkej-393	109	50	�	�	PROPN
alkej-393	109	51	�	�	PROPN
alkej-393	109	52	�	�	PROPN
alkej-393	109	53	�	�	PROPN
alkej-393	109	54	�	�	PROPN
alkej-393	109	55	�	�	PROPN
alkej-393	109	56	�	�	PROPN
alkej-393	109	57	�	�	PROPN
alkej-393	109	58	�	�	PROPN
alkej-393	109	59	�	�	PROPN
alkej-393	109	60	�	�	PROPN
alkej-393	109	61	�	�	PROPN
alkej-393	109	62	�	�	PROPN
alkej-393	109	63	�	�	PROPN
alkej-393	109	64	�	�	PROPN
alkej-393	109	65	�	�	PROPN
alkej-393	109	66	�	�	PROPN
alkej-393	109	67	�	�	PROPN
alkej-393	109	68	�	�	PROPN
alkej-393	109	69	�	�	PROPN
alkej-393	109	70	�	�	PROPN
alkej-393	109	71	�	�	PROPN
alkej-393	109	72	�	�	PROPN
alkej-393	109	73	�	�	PROPN
alkej-393	109	74	�	�	PROPN
alkej-393	109	75	�	�	PROPN
alkej-393	109	76	�	�	PROPN
alkej-393	109	77	�	�	PROPN
alkej-393	109	78	�	�	PROPN
alkej-393	109	79	�	�	PROPN
alkej-393	109	80	�	�	PROPN
alkej-393	109	81	�	�	PROPN
alkej-393	109	82	�	�	PROPN
alkej-393	109	83	�	�	PROPN
alkej-393	109	84	�	�	PROPN
alkej-393	109	85	�	�	PROPN
alkej-393	109	86	�	�	PROPN
alkej-393	109	87	�	�	PROPN
alkej-393	109	88	�	�	PROPN
alkej-393	109	89	�	�	PROPN
alkej-393	109	90	�	�	PROPN
alkej-393	109	91	�	�	PROPN
alkej-393	109	92	�	�	PROPN
alkej-393	109	93	�	�	PROPN
alkej-393	109	94	�	�	PROPN
alkej-393	109	95	�	�	PROPN
alkej-393	109	96	00	00	NUM
alkej-393	109	97	�	�	PROPN
alkej-393	109	98	�	�	PROPN
alkej-393	109	99	�	�	PROPN
alkej-393	109	100	�	�	PROPN
alkej-393	109	101	�	�	PROPN
alkej-393	109	102	0	0	NUM
alkej-393	109	103	�	�	PROPN
alkej-393	109	104	�	�	PROPN
alkej-393	109	105	�	�	PROPN
alkej-393	109	106	�	�	PROPN
alkej-393	109	107	�	�	PROPN
alkej-393	109	108	�	�	PROPN
alkej-393	109	109	�	�	PROPN
alkej-393	109	110	0	0	NUM
alkej-393	109	111	1	1	NUM
alkej-393	109	112	…	…	PUNCT
alkej-393	109	113	(	(	PUNCT
alkej-393	109	114	2	2	NUM
alkej-393	109	115	)	)	PUNCT
alkej-393	109	116	the	the	DET
alkej-393	109	117	link	link	NOUN
alkej-393	109	118	parameter	parameter	NOUN
alkej-393	109	119	table	table	NOUN
alkej-393	109	120	of	of	ADP
alkej-393	109	121	one	one	NUM
alkej-393	109	122	leg	leg	NOUN
alkej-393	109	123	in	in	ADP
alkej-393	109	124	the	the	DET
alkej-393	109	125	quadruped	quadruped	NOUN
alkej-393	109	126	robot	robot	NOUN
alkej-393	109	127	is	be	AUX
alkej-393	109	128	firas	firas	PROPN
alkej-393	109	129	a.	a.	PROPN
alkej-393	109	130	raheem	raheem	PROPN
alkej-393	109	131	al	al	PROPN
alkej-393	109	132	-	-	PUNCT
alkej-393	109	133	khwarizmi	khwarizmi	PROPN
alkej-393	109	134	engineering	engineering	NOUN
alkej-393	109	135	journal	journal	PROPN
alkej-393	109	136	,	,	PUNCT
alkej-393	109	137	vol	vol	NOUN
alkej-393	109	138	.	.	PROPN
alkej-393	109	139	14	14	NUM
alkej-393	109	140	,	,	PUNCT
alkej-393	109	141	no	no	INTJ
alkej-393	109	142	.	.	NOUN
alkej-393	109	143	2	2	NUM
alkej-393	109	144	,	,	PUNCT
alkej-393	109	145	p.p	p.p	PROPN
alkej-393	109	146	.	.	NOUN
alkej-393	109	147	93106	93106	NUM
alkej-393	109	148	(	(	PUNCT
alkej-393	109	149	2018	2018	NUM
alkej-393	109	150	)	)	PUNCT
alkej-393	109	151	97	97	NUM
alkej-393	109	152	table	table	NOUN
alkej-393	109	153	1	1	NUM
alkej-393	109	154	,	,	PUNCT
alkej-393	109	155	the	the	DET
alkej-393	109	156	denavit	denavit	PROPN
alkej-393	109	157	-	-	PUNCT
alkej-393	109	158	hartenberg	hartenberg	PROPN
alkej-393	109	159	parameters	parameter	NOUN
alkej-393	109	160	table	table	VERB
alkej-393	109	161	for	for	ADP
alkej-393	109	162	one	one	NUM
alkej-393	109	163	leg	leg	NOUN
alkej-393	109	164	in	in	ADP
alkej-393	109	165	our	our	PRON
alkej-393	109	166	quadruped	quadruped	NOUN
alkej-393	109	167	robot	robot	NOUN
alkej-393	109	168	link	link	NOUN
alkej-393	110	1	no	no	INTJ
alkej-393	110	2	.	.	PUNCT
alkej-393	111	1	link	link	NOUN
alkej-393	111	2	name	name	NOUN
alkej-393	111	3	!	!	PUNCT
alkej-393	111	4	"	"	PUNCT
alkej-393	112	1	(	(	PUNCT
alkej-393	112	2	deg	deg	NOUN
alkej-393	112	3	)	)	PUNCT
alkej-393	112	4	#	#	NOUN
alkej-393	112	5	"	"	PUNCT
alkej-393	112	6	(	(	PUNCT
alkej-393	112	7	cm	cm	NOUN
alkej-393	112	8	)	)	PUNCT
alkej-393	112	9	$	$	SYM
alkej-393	112	10	"	"	PUNCT
alkej-393	112	11	(	(	PUNCT
alkej-393	112	12	cm	cm	NOUN
alkej-393	112	13	)	)	PUNCT
alkej-393	112	14	%	%	NOUN
alkej-393	112	15	"	"	PUNCT
alkej-393	112	16	(	(	PUNCT
alkej-393	112	17	deg	deg	PROPN
alkej-393	112	18	)	)	PUNCT
alkej-393	112	19	1	1	NUM
alkej-393	112	20	coxa	coxa	VERB
alkej-393	112	21	90	90	NUM
alkej-393	112	22	�	�	PROPN
alkej-393	112	23	�	�	PROPN
alkej-393	112	24	�	�	PROPN
alkej-393	112	25	�	�	PROPN
alkej-393	112	26	�	�	PROPN
alkej-393	112	27	�	�	PROPN
alkej-393	112	28	2	2	NUM
alkej-393	112	29	femur	femur	NOUN
alkej-393	112	30	180	180	NUM
alkej-393	112	31	�	�	PROPN
alkej-393	112	32	�	�	PROPN
alkej-393	112	33	0	0	NUM
alkej-393	112	34	�	�	PROPN
alkej-393	112	35	�	�	PROPN
alkej-393	112	36	3	3	NUM
alkej-393	112	37	tibia	tibia	NOUN
alkej-393	112	38	0	0	NUM
alkej-393	112	39	�	�	PROPN
alkej-393	112	40	0	0	NUM
alkej-393	112	41	�	�	PROPN
alkej-393	112	42	where	where	SCONJ
alkej-393	112	43	�	�	X
alkej-393	112	44	�	�	X
alkej-393	112	45	=	=	PUNCT
alkej-393	112	46	(	(	PUNCT
alkej-393	112	47	9	9	NUM
alkej-393	112	48	cm	cm	NOUN
alkej-393	112	49	)	)	PUNCT
alkej-393	112	50	,	,	PUNCT
alkej-393	112	51	�	�	PROPN
alkej-393	112	52	�	�	PROPN
alkej-393	112	53	=	=	SYM
alkej-393	112	54	2.5	2.5	NUM
alkej-393	112	55	cm	cm	NUM
alkej-393	112	56	�	�	PROPN
alkej-393	112	57	�	�	PROPN
alkej-393	112	58	=	=	SYM
alkej-393	112	59	5	5	NUM
alkej-393	112	60	cm	cm	NOUN
alkej-393	112	61	,	,	PUNCT
alkej-393	112	62	and	and	CCONJ
alkej-393	112	63	�	�	NOUN
alkej-393	112	64	=	=	NOUN
alkej-393	112	65	9	9	NUM
alkej-393	112	66	cm	cm	NOUN
alkej-393	112	67	.	.	PUNCT
alkej-393	113	1	�	�	PROPN
alkej-393	113	2	�	�	PROPN
alkej-393	113	3	is	be	AUX
alkej-393	113	4	the	the	DET
alkej-393	113	5	distance	distance	NOUN
alkej-393	113	6	from	from	ADP
alkej-393	113	7	coxa	coxa	ADJ
alkej-393	113	8	joint	joint	NOUN
alkej-393	113	9	to	to	ADP
alkej-393	113	10	the	the	DET
alkej-393	113	11	ground	ground	NOUN
alkej-393	113	12	.	.	PUNCT
alkej-393	114	1	�	�	PROPN
alkej-393	114	2	�	�	PROPN
alkej-393	114	3	are	be	AUX
alkej-393	114	4	the	the	DET
alkej-393	114	5	lengths	length	NOUN
alkej-393	114	6	of	of	ADP
alkej-393	114	7	the	the	DET
alkej-393	114	8	leg	leg	NOUN
alkej-393	114	9	links	link	NOUN
alkej-393	114	10	.	.	PUNCT
alkej-393	115	1	now	now	ADV
alkej-393	115	2	,	,	PUNCT
alkej-393	115	3	obtaining	obtain	VERB
alkej-393	115	4	the	the	DET
alkej-393	115	5	overall	overall	ADJ
alkej-393	115	6	transformation	transformation	NOUN
alkej-393	115	7	matrixes	matrix	NOUN
alkej-393	115	8	by	by	ADP
alkej-393	115	9	making	make	VERB
alkej-393	115	10	a	a	DET
alkej-393	115	11	product	product	NOUN
alkej-393	115	12	of	of	ADP
alkej-393	115	13	three	three	NUM
alkej-393	115	14	transformation	transformation	NOUN
alkej-393	115	15	matrixes	matrix	NOUN
alkej-393	115	16	as	as	ADP
alkej-393	115	17	the	the	DET
alkej-393	115	18	following	follow	VERB
alkej-393	115	19	:	:	PUNCT
alkej-393	115	20	�	�	PROPN
alkej-393	115	21	&	&	CCONJ
alkej-393	115	22	'	'	PUNCT
alkej-393	115	23	(	(	PUNCT
alkej-393	115	24	)	)	PUNCT
alkej-393	115	25	*	*	PUNCT
alkej-393	115	26	)	)	PUNCT
alkej-393	116	1	+	+	ADJ
alkej-393	116	2	,	,	PUNCT
alkej-393	116	3	=	=	SYM
alkej-393	116	4	�	�	PROPN
alkej-393	116	5	&	&	CCONJ
alkej-393	116	6	'	'	PUNCT
alkej-393	116	7	(	(	PUNCT
alkej-393	116	8	)	)	PUNCT
alkej-393	116	9	-,./0	-,./0	NOUN
alkej-393	116	10	∗	∗	PROPN
alkej-393	116	11	�	�	PROPN
alkej-393	116	12	-,./02	-,./02	PROPN
alkej-393	116	13	�	�	PROPN
alkej-393	116	14	*	*	PUNCT
alkej-393	116	15	�	�	PROPN
alkej-393	116	16	)	)	PUNCT
alkej-393	116	17	…	…	PUNCT
alkej-393	116	18	(	(	PUNCT
alkej-393	116	19	3	3	NUM
alkej-393	116	20	)	)	PUNCT
alkej-393	116	21	from	from	ADP
alkej-393	116	22	equation	equation	NOUN
alkej-393	116	23	(	(	PUNCT
alkej-393	116	24	2	2	NUM
alkej-393	116	25	)	)	PUNCT
alkej-393	116	26	,	,	PUNCT
alkej-393	116	27	the	the	DET
alkej-393	116	28	transformation	transformation	NOUN
alkej-393	116	29	matrixes	matrixe	VERB
alkej-393	116	30	for	for	ADP
alkej-393	116	31	one	one	NUM
alkej-393	116	32	quadruped	quadruped	NOUN
alkej-393	116	33	’s	’s	PART
alkej-393	116	34	leg	leg	NOUN
alkej-393	116	35	are	be	AUX
alkej-393	116	36	describing	describe	VERB
alkej-393	116	37	as	as	ADP
alkej-393	116	38	below	below	ADV
alkej-393	116	39	:	:	PUNCT
alkej-393	116	40	�	�	PROPN
alkej-393	116	41	�	�	PROPN
alkej-393	116	42	3	3	NUM
alkej-393	116	43	=	=	SYM
alkej-393	116	44	�	�	PROPN
alkej-393	116	45	�	�	PROPN
alkej-393	116	46	�	�	PROPN
alkej-393	116	47	0	0	NUM
alkej-393	116	48	�	�	PROPN
alkej-393	116	49	�	�	PROPN
alkej-393	116	50	�	�	PROPN
alkej-393	116	51	�	�	PROPN
alkej-393	116	52	�	�	PROPN
alkej-393	116	53	�	�	PROPN
alkej-393	116	54	�	�	PROPN
alkej-393	116	55	�	�	PROPN
alkej-393	116	56	0	0	NUM
alkej-393	116	57	�	�	PROPN
alkej-393	116	58	�	�	PROPN
alkej-393	116	59	�	�	PROPN
alkej-393	116	60	�	�	PROPN
alkej-393	116	61	�	�	PROPN
alkej-393	116	62	�	�	PROPN
alkej-393	116	63	�	�	PROPN
alkej-393	116	64	00	00	NUM
alkej-393	116	65	10	10	NUM
alkej-393	116	66	0	0	NUM
alkej-393	116	67	�	�	PROPN
alkej-393	116	68	�	�	PROPN
alkej-393	116	69	0	0	NUM
alkej-393	116	70	1	1	NUM
alkej-393	116	71	…	…	PUNCT
alkej-393	116	72	(	(	PUNCT
alkej-393	116	73	4	4	NUM
alkej-393	116	74	)	)	PUNCT
alkej-393	116	75	�	�	PROPN
alkej-393	116	76	�	�	PROPN
alkej-393	116	77	�	�	PROPN
alkej-393	116	78	=	=	SYM
alkej-393	116	79	�	�	PROPN
alkej-393	116	80	�	�	PROPN
alkej-393	116	81	�	�	PROPN
alkej-393	116	82	�	�	PROPN
alkej-393	116	83	�	�	PROPN
alkej-393	116	84	0	0	NUM
alkej-393	116	85	�	�	PROPN
alkej-393	116	86	�	�	PROPN
alkej-393	116	87	�	�	PROPN
alkej-393	116	88	�	�	PROPN
alkej-393	116	89	�	�	PROPN
alkej-393	116	90	�	�	PROPN
alkej-393	116	91	�	�	PROPN
alkej-393	116	92	�	�	PROPN
alkej-393	116	93	�	�	PROPN
alkej-393	116	94	0	0	NUM
alkej-393	116	95	�	�	PROPN
alkej-393	116	96	�	�	PROPN
alkej-393	116	97	�	�	PROPN
alkej-393	116	98	�	�	PROPN
alkej-393	116	99	00	00	NUM
alkej-393	116	100	00	00	NUM
alkej-393	116	101	�	�	PROPN
alkej-393	116	102	1	1	NUM
alkej-393	116	103	0	0	NUM
alkej-393	116	104	0	0	NUM
alkej-393	116	105	1	1	NUM
alkej-393	116	106	...	...	PUNCT
alkej-393	116	107	(	(	PUNCT
alkej-393	116	108	5	5	X
alkej-393	116	109	)	)	PUNCT
alkej-393	116	110	�	�	PROPN
alkej-393	116	111	�	�	PROPN
alkej-393	116	112	=	=	SYM
alkej-393	116	113	�	�	PROPN
alkej-393	116	114	�	�	PROPN
alkej-393	116	115	�	�	PROPN
alkej-393	116	116	�	�	PROPN
alkej-393	116	117	0	0	NUM
alkej-393	116	118	�	�	PROPN
alkej-393	116	119	�	�	PROPN
alkej-393	116	120	�	�	PROPN
alkej-393	116	121	�	�	PROPN
alkej-393	116	122	0	0	NUM
alkej-393	116	123	�	�	PROPN
alkej-393	116	124	�	�	PROPN
alkej-393	116	125	00	00	NUM
alkej-393	116	126	00	00	NUM
alkej-393	116	127	1	1	NUM
alkej-393	116	128	0	0	NUM
alkej-393	116	129	0	0	NUM
alkej-393	116	130	1	1	NUM
alkej-393	116	131	…	…	PUNCT
alkej-393	116	132	(	(	PUNCT
alkej-393	116	133	6	6	NUM
alkej-393	116	134	)	)	PUNCT
alkej-393	116	135	by	by	ADP
alkej-393	116	136	multiplication	multiplication	NOUN
alkej-393	116	137	the	the	DET
alkej-393	116	138	equations	equation	NOUN
alkej-393	116	139	(	(	PUNCT
alkej-393	116	140	4	4	NUM
alkej-393	116	141	)	)	PUNCT
alkej-393	116	142	and	and	CCONJ
alkej-393	116	143	(	(	PUNCT
alkej-393	116	144	5	5	NUM
alkej-393	116	145	)	)	PUNCT
alkej-393	116	146	4	4	NUM
alkej-393	116	147	�	�	PROPN
alkej-393	116	148	�	�	NOUN
alkej-393	116	149	3	3	NUM
alkej-393	116	150	∗	∗	NOUN
alkej-393	116	151	�	�	PROPN
alkej-393	116	152	�	�	PROPN
alkej-393	116	153	�	�	PROPN
alkej-393	116	154	5	5	NUM
alkej-393	116	155	yields	yield	NOUN
alkej-393	116	156	:	:	PUNCT
alkej-393	116	157	�	�	PROPN
alkej-393	116	158	�	�	PROPN
alkej-393	116	159	�	�	PROPN
alkej-393	116	160	0	0	NUM
alkej-393	116	161	�	�	PROPN
alkej-393	116	162	�	�	PROPN
alkej-393	116	163	�	�	PROPN
alkej-393	116	164	�	�	PROPN
alkej-393	116	165	�	�	PROPN
alkej-393	116	166	�	�	PROPN
alkej-393	116	167	�	�	PROPN
alkej-393	116	168	�	�	PROPN
alkej-393	116	169	0	0	NUM
alkej-393	116	170	�	�	PROPN
alkej-393	116	171	�	�	PROPN
alkej-393	116	172	�	�	PROPN
alkej-393	116	173	�	�	PROPN
alkej-393	116	174	�	�	PROPN
alkej-393	116	175	�	�	PROPN
alkej-393	116	176	�	�	PROPN
alkej-393	116	177	00	00	NUM
alkej-393	116	178	10	10	NUM
alkej-393	116	179	0	0	NUM
alkej-393	116	180	�	�	PROPN
alkej-393	116	181	�	�	PROPN
alkej-393	116	182	0	0	NUM
alkej-393	116	183	1	1	NUM
alkej-393	116	184	�	�	PROPN
alkej-393	116	185	�	�	PROPN
alkej-393	116	186	�	�	PROPN
alkej-393	116	187	�	�	PROPN
alkej-393	116	188	�	�	PROPN
alkej-393	116	189	0	0	NUM
alkej-393	116	190	�	�	PROPN
alkej-393	116	191	�	�	PROPN
alkej-393	116	192	�	�	PROPN
alkej-393	116	193	�	�	PROPN
alkej-393	116	194	�	�	PROPN
alkej-393	116	195	�	�	PROPN
alkej-393	116	196	�	�	PROPN
alkej-393	116	197	�	�	PROPN
alkej-393	116	198	�	�	PROPN
alkej-393	116	199	0	0	NUM
alkej-393	116	200	�	�	PROPN
alkej-393	116	201	�	�	PROPN
alkej-393	116	202	�	�	PROPN
alkej-393	116	203	�	�	PROPN
alkej-393	116	204	00	00	NUM
alkej-393	116	205	00	00	NUM
alkej-393	116	206	�	�	PROPN
alkej-393	116	207	1	1	NUM
alkej-393	116	208	0	0	NUM
alkej-393	116	209	0	0	NUM
alkej-393	116	210	1	1	NUM
alkej-393	116	211	=	=	SYM
alkej-393	116	212	�	�	PROPN
alkej-393	116	213	�	�	PROPN
alkej-393	116	214	�	�	PROPN
alkej-393	116	215	�	�	PROPN
alkej-393	116	216	�	�	PROPN
alkej-393	116	217	�	�	PROPN
alkej-393	116	218	�	�	PROPN
alkej-393	116	219	�	�	PROPN
alkej-393	116	220	�	�	PROPN
alkej-393	116	221	�	�	PROPN
alkej-393	116	222	�	�	PROPN
alkej-393	116	223	�	�	PROPN
alkej-393	116	224	�	�	PROPN
alkej-393	116	225	�	�	PROPN
alkej-393	116	226	4	4	NUM
alkej-393	116	227	�	�	PROPN
alkej-393	116	228	�	�	PROPN
alkej-393	116	229	�	�	PROPN
alkej-393	116	230	�	�	PROPN
alkej-393	116	231	6	6	NUM
alkej-393	116	232	�	�	PROPN
alkej-393	116	233	�	�	PROPN
alkej-393	116	234	5	5	NUM
alkej-393	116	235	�	�	PROPN
alkej-393	116	236	�	�	PROPN
alkej-393	116	237	�	�	PROPN
alkej-393	116	238	�	�	PROPN
alkej-393	116	239	�	�	PROPN
alkej-393	116	240	�	�	PROPN
alkej-393	116	241	�	�	PROPN
alkej-393	116	242	�	�	PROPN
alkej-393	116	243	�	�	PROPN
alkej-393	116	244	�	�	PROPN
alkej-393	116	245	�	�	PROPN
alkej-393	116	246	�	�	PROPN
alkej-393	116	247	4	4	NUM
alkej-393	116	248	�	�	PROPN
alkej-393	116	249	�	�	PROPN
alkej-393	116	250	�	�	PROPN
alkej-393	116	251	�	�	PROPN
alkej-393	116	252	6	6	NUM
alkej-393	116	253	�	�	PROPN
alkej-393	116	254	�	�	PROPN
alkej-393	116	255	5	5	NUM
alkej-393	116	256	�	�	PROPN
alkej-393	116	257	�	�	PROPN
alkej-393	116	258	0	0	NUM
alkej-393	116	259	�	�	PROPN
alkej-393	116	260	�	�	PROPN
alkej-393	116	261	�	�	PROPN
alkej-393	116	262	0	0	NUM
alkej-393	116	263	0	0	NUM
alkej-393	116	264	�	�	PROPN
alkej-393	116	265	�	�	PROPN
alkej-393	116	266	�	�	PROPN
alkej-393	116	267	�	�	PROPN
alkej-393	116	268	�	�	PROPN
alkej-393	116	269	�	�	PROPN
alkej-393	116	270	�	�	PROPN
alkej-393	116	271	0	0	NUM
alkej-393	116	272	1	1	NUM
alkej-393	116	273	…	…	PUNCT
alkej-393	116	274	(	(	PUNCT
alkej-393	116	275	7	7	NUM
alkej-393	116	276	)	)	PUNCT
alkej-393	116	277	in	in	ADP
alkej-393	116	278	the	the	DET
alkej-393	116	279	same	same	ADJ
alkej-393	116	280	method	method	NOUN
alkej-393	116	281	and	and	CCONJ
alkej-393	116	282	by	by	ADP
alkej-393	116	283	multiplication	multiplication	NOUN
alkej-393	116	284	equations	equation	NOUN
alkej-393	116	285	(	(	PUNCT
alkej-393	116	286	7	7	NUM
alkej-393	116	287	)	)	PUNCT
alkej-393	116	288	by	by	ADP
alkej-393	116	289	(	(	PUNCT
alkej-393	116	290	6	6	NUM
alkej-393	116	291	)	)	PUNCT
alkej-393	116	292	4	4	NUM
alkej-393	116	293	�	�	PROPN
alkej-393	116	294	�	�	PROPN
alkej-393	116	295	3	3	NUM
alkej-393	116	296	∗	∗	NUM
alkej-393	116	297	�	�	PROPN
alkej-393	116	298	�	�	PROPN
alkej-393	116	299	�	�	PROPN
alkej-393	116	300	5	5	NUM
alkej-393	116	301	∗	∗	NOUN
alkej-393	116	302	�	�	PROPN
alkej-393	116	303	�	�	PROPN
alkej-393	116	304	yielding	yield	VERB
alkej-393	116	305	equation	equation	NOUN
alkej-393	116	306	(	(	PUNCT
alkej-393	116	307	8)	8)	NUM
alkej-393	116	308	:	:	PUNCT
alkej-393	116	309	�	�	PROPN
alkej-393	116	310	�	�	PROPN
alkej-393	116	311	�	�	PROPN
alkej-393	116	312	4	4	NUM
alkej-393	116	313	�	�	PROPN
alkej-393	116	314	�	�	PROPN
alkej-393	116	315	�	�	PROPN
alkej-393	116	316	5	5	NUM
alkej-393	116	317	�	�	PROPN
alkej-393	116	318	�	�	PROPN
alkej-393	116	319	�	�	PROPN
alkej-393	116	320	�	�	PROPN
alkej-393	116	321	�	�	PROPN
alkej-393	116	322	�	�	PROPN
alkej-393	116	323	�	�	PROPN
alkej-393	116	324	�	�	PROPN
alkej-393	116	325	�	�	PROPN
alkej-393	116	326	�	�	PROPN
alkej-393	116	327	�	�	PROPN
alkej-393	116	328	4	4	NUM
alkej-393	116	329	�	�	PROPN
alkej-393	116	330	�	�	PROPN
alkej-393	116	331	�	�	PROPN
alkej-393	116	332	5	5	NUM
alkej-393	116	333	�	�	PROPN
alkej-393	116	334	�	�	PROPN
alkej-393	116	335	�	�	PROPN
alkej-393	116	336	4	4	NUM
alkej-393	116	337	�	�	PROPN
alkej-393	116	338	�	�	PROPN
alkej-393	116	339	�	�	PROPN
alkej-393	116	340	�	�	PROPN
alkej-393	116	341	6	6	NUM
alkej-393	116	342	�	�	PROPN
alkej-393	116	343	�	�	PROPN
alkej-393	116	344	5	5	NUM
alkej-393	116	345	�	�	PROPN
alkej-393	116	346	�	�	PROPN
alkej-393	116	347	4	4	NUM
alkej-393	116	348	�	�	PROPN
alkej-393	116	349	�	�	PROPN
alkej-393	116	350	�	�	PROPN
alkej-393	116	351	5	5	NUM
alkej-393	116	352	�	�	PROPN
alkej-393	116	353	�	�	PROPN
alkej-393	116	354	4	4	NUM
alkej-393	116	355	�	�	PROPN
alkej-393	116	356	�	�	PROPN
alkej-393	116	357	�	�	PROPN
alkej-393	116	358	5	5	NUM
alkej-393	116	359	�	�	PROPN
alkej-393	116	360	�	�	PROPN
alkej-393	116	361	�	�	PROPN
alkej-393	116	362	�	�	PROPN
alkej-393	116	363	�	�	PROPN
alkej-393	116	364	4	4	NUM
alkej-393	116	365	�	�	PROPN
alkej-393	116	366	�	�	PROPN
alkej-393	116	367	�	�	PROPN
alkej-393	116	368	5	5	NUM
alkej-393	116	369	�	�	PROPN
alkej-393	116	370	�	�	PROPN
alkej-393	116	371	�	�	PROPN
alkej-393	116	372	4	4	NUM
alkej-393	116	373	�	�	PROPN
alkej-393	116	374	�	�	PROPN
alkej-393	116	375	�	�	PROPN
alkej-393	116	376	�	�	PROPN
alkej-393	116	377	6	6	NUM
alkej-393	116	378	�	�	PROPN
alkej-393	116	379	�	�	PROPN
alkej-393	116	380	5	5	NUM
alkej-393	116	381	�	�	PROPN
alkej-393	116	382	�	�	PROPN
alkej-393	116	383	�	�	PROPN
alkej-393	116	384	0	0	NUM
alkej-393	116	385	�	�	PROPN
alkej-393	116	386	4	4	NUM
alkej-393	116	387	�	�	PROPN
alkej-393	116	388	�	�	NOUN
alkej-393	116	389	�	�	PROPN
alkej-393	116	390	50	50	NUM
alkej-393	116	391	0	0	NUM
alkej-393	116	392	�	�	PROPN
alkej-393	116	393	4	4	NUM
alkej-393	116	394	�	�	PROPN
alkej-393	116	395	�	�	PROPN
alkej-393	116	396	�	�	PROPN
alkej-393	116	397	5	5	NUM
alkej-393	116	398	�	�	PROPN
alkej-393	116	399	�	�	PROPN
alkej-393	116	400	2	2	NUM
alkej-393	116	401	�	�	PROPN
alkej-393	116	402	2	2	NUM
alkej-393	116	403	�	�	PROPN
alkej-393	116	404	�	�	PROPN
alkej-393	116	405	�	�	PROPN
alkej-393	116	406	0	0	NUM
alkej-393	116	407	1	1	NUM
alkej-393	116	408	…	…	PUNCT
alkej-393	116	409	(	(	PUNCT
alkej-393	116	410	8)	8)	NUM
alkej-393	116	411	where	where	SCONJ
alkej-393	116	412	:	:	PUNCT
alkej-393	116	413	�	�	PROPN
alkej-393	116	414	�	�	PROPN
alkej-393	116	415	=	=	SYM
alkej-393	116	416	�	�	PROPN
alkej-393	116	417	�	�	PROPN
alkej-393	116	418	�	�	PROPN
alkej-393	116	419	�	�	PROPN
alkej-393	116	420	�	�	PROPN
alkej-393	116	421	and	and	CCONJ
alkej-393	116	422	�	�	PROPN
alkej-393	116	423	�	�	PROPN
alkej-393	116	424	=	=	SYM
alkej-393	116	425	�	�	PROPN
alkej-393	116	426	�	�	PROPN
alkej-393	116	427	�	�	PROPN
alkej-393	116	428	�	�	PROPN
alkej-393	116	429	�	�	PROPN
alkej-393	116	430	,	,	PUNCT
alkej-393	116	431	for	for	ADP
alkej-393	116	432	i=1,2	i=1,2	ADJ
alkej-393	116	433	,	,	PUNCT
alkej-393	116	434	and	and	CCONJ
alkej-393	116	435	3	3	NUM
alkej-393	116	436	.	.	NOUN
alkej-393	116	437	4	4	NUM
alkej-393	116	438	�	�	PROPN
alkej-393	116	439	�	�	PROPN
alkej-393	116	440	�	�	PROPN
alkej-393	116	441	5=	5=	PROPN
alkej-393	116	442	cos	cos	AUX
alkej-393	116	443	4	4	NUM
alkej-393	116	444	�	�	PROPN
alkej-393	116	445	�	�	PROPN
alkej-393	116	446	�	�	PROPN
alkej-393	116	447	�	�	PROPN
alkej-393	116	448	5	5	NUM
alkej-393	116	449	4	4	NUM
alkej-393	116	450	�	�	PROPN
alkej-393	116	451	�	�	PROPN
alkej-393	116	452	�	�	PROPN
alkej-393	116	453	5=	5=	PROPN
alkej-393	116	454	sin	sin	VERB
alkej-393	116	455	4	4	NUM
alkej-393	116	456	�	�	PROPN
alkej-393	116	457	�	�	PROPN
alkej-393	116	458	�	�	PROPN
alkej-393	116	459	�	�	PROPN
alkej-393	116	460	5	5	NUM
alkej-393	116	461	from	from	ADP
alkej-393	116	462	the	the	DET
alkej-393	116	463	figure	figure	NOUN
alkej-393	116	464	(	(	PUNCT
alkej-393	116	465	3	3	NUM
alkej-393	116	466	)	)	PUNCT
alkej-393	116	467	and	and	CCONJ
alkej-393	116	468	by	by	ADP
alkej-393	116	469	using	use	VERB
alkej-393	116	470	the	the	DET
alkej-393	116	471	equation	equation	NOUN
alkej-393	116	472	(	(	PUNCT
alkej-393	116	473	8)	8)	NUM
alkej-393	116	474	,	,	PUNCT
alkej-393	116	475	the	the	DET
alkej-393	116	476	coordinate	coordinate	NOUN
alkej-393	116	477	position	position	NOUN
alkej-393	116	478	of	of	ADP
alkej-393	116	479	each	each	DET
alkej-393	116	480	leg	leg	NOUN
alkej-393	116	481	-	-	PUNCT
alkej-393	116	482	tip	tip	NOUN
alkej-393	116	483	can	can	AUX
alkej-393	116	484	be	be	AUX
alkej-393	116	485	calculated	calculate	VERB
alkej-393	116	486	as	as	ADP
alkej-393	116	487	the	the	DET
alkej-393	116	488	following	following	NOUN
alkej-393	116	489	:	:	PUNCT
alkej-393	116	490	�	�	PROPN
alkej-393	116	491	�	�	PROPN
alkej-393	116	492	=	=	SYM
alkej-393	116	493	�	�	PROPN
alkej-393	116	494	�	�	PROPN
alkej-393	116	495	�	�	PROPN
alkej-393	116	496	�	�	PROPN
alkej-393	116	497	�	�	PROPN
alkej-393	116	498	4	4	NUM
alkej-393	116	499	�	�	PROPN
alkej-393	116	500	4	4	NUM
alkej-393	116	501	�	�	PROPN
alkej-393	116	502	�	�	PROPN
alkej-393	116	503	�	�	PROPN
alkej-393	116	504	�	�	PROPN
alkej-393	116	505	�	�	PROPN
alkej-393	116	506	�	�	PROPN
alkej-393	116	507	5	5	NUM
alkej-393	116	508	�	�	PROPN
alkej-393	116	509	4	4	NUM
alkej-393	116	510	�	�	PROPN
alkej-393	116	511	�	�	PROPN
alkej-393	116	512	�	�	PROPN
alkej-393	116	513	�	�	PROPN
alkej-393	116	514	�	�	PROPN
alkej-393	116	515	�	�	PROPN
alkej-393	116	516	�	�	PROPN
alkej-393	116	517	6	6	NUM
alkej-393	116	518	�	�	PROPN
alkej-393	116	519	�	�	NOUN
alkej-393	116	520	55	55	NUM
alkej-393	116	521	(	(	PUNCT
alkej-393	116	522	9	9	NUM
alkej-393	116	523	)	)	PUNCT
alkej-393	116	524	=	=	NOUN
alkej-393	116	525	�	�	PROPN
alkej-393	116	526	=	=	SYM
alkej-393	116	527	�	�	PROPN
alkej-393	116	528	�	�	PROPN
alkej-393	116	529	�	�	PROPN
alkej-393	116	530	�	�	PROPN
alkej-393	116	531	�	�	PROPN
alkej-393	116	532	4	4	NUM
alkej-393	116	533	�	�	PROPN
alkej-393	116	534	4	4	NUM
alkej-393	116	535	�	�	PROPN
alkej-393	116	536	�	�	PROPN
alkej-393	116	537	�	�	PROPN
alkej-393	116	538	�	�	PROPN
alkej-393	116	539	�	�	PROPN
alkej-393	116	540	�	�	PROPN
alkej-393	116	541	5	5	NUM
alkej-393	116	542	�	�	PROPN
alkej-393	116	543	4	4	NUM
alkej-393	116	544	�	�	PROPN
alkej-393	116	545	�	�	PROPN
alkej-393	116	546	�	�	PROPN
alkej-393	116	547	�	�	PROPN
alkej-393	116	548	�	�	PROPN
alkej-393	116	549	�	�	PROPN
alkej-393	116	550	�	�	PROPN
alkej-393	116	551	6	6	NUM
alkej-393	116	552	�	�	PROPN
alkej-393	116	553	�	�	NOUN
alkej-393	116	554	55	55	NUM
alkej-393	116	555	(	(	PUNCT
alkej-393	116	556	10	10	NUM
alkej-393	116	557	)	)	PUNCT
alkej-393	116	558	�	�	PROPN
alkej-393	116	559	�	�	PROPN
alkej-393	116	560	=	=	SYM
alkej-393	116	561	�	�	PROPN
alkej-393	116	562	4	4	NUM
alkej-393	116	563	�	�	PROPN
alkej-393	116	564	�	�	PROPN
alkej-393	116	565	�	�	PROPN
alkej-393	116	566	�	�	PROPN
alkej-393	116	567	�	�	PROPN
alkej-393	116	568	�	�	PROPN
alkej-393	116	569	5	5	NUM
alkej-393	116	570	�	�	PROPN
alkej-393	116	571	�	�	PROPN
alkej-393	116	572	�	�	PROPN
alkej-393	116	573	�	�	PROPN
alkej-393	116	574	�	�	PROPN
alkej-393	116	575	�	�	PROPN
alkej-393	116	576	�	�	PROPN
alkej-393	116	577	�	�	PROPN
alkej-393	116	578	�	�	PROPN
alkej-393	116	579	�	�	PROPN
alkej-393	116	580	�	�	PROPN
alkej-393	116	581	(	(	PUNCT
alkej-393	116	582	11	11	NUM
alkej-393	116	583	)	)	PUNCT
alkej-393	116	584	where	where	SCONJ
alkej-393	116	585	:	:	PUNCT
alkej-393	116	586	(	(	PUNCT
alkej-393	116	587	�	�	PROPN
alkej-393	116	588	�	�	PROPN
alkej-393	116	589	,	,	PUNCT
alkej-393	116	590	=	=	PROPN
alkej-393	116	591	�	�	PROPN
alkej-393	116	592	,	,	PUNCT
alkej-393	116	593	�	�	PROPN
alkej-393	116	594	�	�	PROPN
alkej-393	116	595	)	)	PUNCT
alkej-393	116	596	is	be	AUX
alkej-393	116	597	the	the	DET
alkej-393	116	598	coordinates	coordinate	NOUN
alkej-393	116	599	of	of	ADP
alkej-393	116	600	the	the	DET
alkej-393	116	601	leg	leg	NOUN
alkej-393	116	602	-	-	PUNCT
alkej-393	116	603	tip	tip	NOUN
alkej-393	116	604	,	,	PUNCT
alkej-393	116	605	i=1	i=1	X
alkej-393	116	606	…	…	SYM
alkej-393	116	607	4	4	NUM
alkej-393	116	608	.	.	NOUN
alkej-393	116	609	4.2	4.2	NUM
alkej-393	116	610	inverse	inverse	NOUN
alkej-393	116	611	kinematics	kinematic	NOUN
alkej-393	116	612	the	the	DET
alkej-393	116	613	inverse	inverse	NOUN
alkej-393	116	614	kinematics	kinematic	NOUN
alkej-393	116	615	method	method	NOUN
alkej-393	116	616	formulated	formulate	VERB
alkej-393	116	617	the	the	DET
alkej-393	116	618	joint	joint	ADJ
alkej-393	116	619	angles	angle	NOUN
alkej-393	116	620	from	from	ADP
alkej-393	116	621	a	a	DET
alkej-393	116	622	given	give	VERB
alkej-393	116	623	position	position	NOUN
alkej-393	116	624	and	and	CCONJ
alkej-393	116	625	orientation	orientation	NOUN
alkej-393	116	626	of	of	ADP
alkej-393	116	627	the	the	DET
alkej-393	116	628	legs	leg	NOUN
alkej-393	116	629	tip	tip	NOUN
alkej-393	116	630	.	.	PUNCT
alkej-393	117	1	these	these	DET
alkej-393	117	2	position	position	NOUN
alkej-393	117	3	and	and	CCONJ
alkej-393	117	4	orientation	orientation	NOUN
alkej-393	117	5	are	be	AUX
alkej-393	117	6	achieved	achieve	VERB
alkej-393	117	7	from	from	ADP
alkej-393	117	8	the	the	DET
alkej-393	117	9	forward	forward	ADJ
alkej-393	117	10	kinematics	kinematic	NOUN
alkej-393	117	11	.	.	PUNCT
alkej-393	118	1	the	the	DET
alkej-393	118	2	objective	objective	NOUN
alkej-393	118	3	is	be	AUX
alkej-393	118	4	to	to	PART
alkej-393	118	5	find	find	VERB
alkej-393	118	6	the	the	DET
alkej-393	118	7	leg	leg	NOUN
alkej-393	118	8	three	three	NUM
alkej-393	118	9	joint	joint	ADJ
alkej-393	118	10	angles	angle	NOUN
alkej-393	118	11	�	�	PROPN
alkej-393	118	12	�	�	PROPN
alkej-393	118	13	,	,	PUNCT
alkej-393	118	14	�	�	PROPN
alkej-393	118	15	�	�	PROPN
alkej-393	118	16	and	and	CCONJ
alkej-393	118	17	�	�	PROPN
alkej-393	118	18	,	,	PUNCT
alkej-393	118	19	relating	relate	VERB
alkej-393	118	20	to	to	ADP
alkej-393	118	21	the	the	DET
alkej-393	118	22	required	require	VERB
alkej-393	118	23	of	of	ADP
alkej-393	118	24	the	the	DET
alkej-393	118	25	leg	leg	NOUN
alkej-393	118	26	tip	tip	NOUN
alkej-393	118	27	position	position	NOUN
alkej-393	118	28	[	[	X
alkej-393	118	29	15	15	NUM
alkej-393	118	30	]	]	PUNCT
alkej-393	118	31	as	as	SCONJ
alkej-393	118	32	shown	show	VERB
alkej-393	118	33	in	in	ADP
alkej-393	118	34	figure	figure	NOUN
alkej-393	118	35	(	(	PUNCT
alkej-393	118	36	4	4	NUM
alkej-393	118	37	)	)	PUNCT
alkej-393	118	38	.	.	PUNCT
alkej-393	119	1	fig	fig	NOUN
alkej-393	119	2	.	.	PUNCT
alkej-393	120	1	4	4	X
alkej-393	120	2	.	.	X
alkej-393	120	3	front	front	ADJ
alkej-393	120	4	view	view	NOUN
alkej-393	120	5	showing	show	VERB
alkej-393	120	6	one	one	NUM
alkej-393	120	7	leg	leg	NOUN
alkej-393	120	8	of	of	ADP
alkej-393	120	9	the	the	DET
alkej-393	120	10	quadruped	quadruped	NOUN
alkej-393	120	11	and	and	CCONJ
alkej-393	120	12	its	its	PRON
alkej-393	120	13	links	link	NOUN
alkej-393	120	14	(	(	PUNCT
alkej-393	120	15	coxa	coxa	ADJ
alkej-393	120	16	,	,	PUNCT
alkej-393	120	17	femur	femur	NOUN
alkej-393	120	18	,	,	PUNCT
alkej-393	120	19	tibia	tibia	NOUN
alkej-393	120	20	)	)	PUNCT
alkej-393	121	1	[	[	X
alkej-393	121	2	15	15	NUM
alkej-393	121	3	]	]	PUNCT
alkej-393	121	4	to	to	PART
alkej-393	121	5	find	find	VERB
alkej-393	121	6	the	the	DET
alkej-393	121	7	inverse	inverse	NOUN
alkej-393	121	8	kinematics	kinematic	NOUN
alkej-393	121	9	in	in	ADP
alkej-393	121	10	each	each	DET
alkej-393	121	11	leg	leg	NOUN
alkej-393	121	12	joint	joint	NOUN
alkej-393	121	13	,	,	PUNCT
alkej-393	121	14	the	the	DET
alkej-393	121	15	method	method	NOUN
alkej-393	121	16	simplifies	simplify	VERB
alkej-393	121	17	this	this	DET
alkej-393	121	18	problem	problem	NOUN
alkej-393	121	19	from	from	ADP
alkej-393	121	20	3d	3d	NUM
alkej-393	121	21	problem	problem	NOUN
alkej-393	121	22	view	view	NOUN
alkej-393	121	23	into	into	ADP
alkej-393	121	24	two	two	NUM
alkej-393	121	25	2d	2d	NUM
alkej-393	121	26	problem	problem	NOUN
alkej-393	121	27	view	view	NOUN
alkej-393	121	28	,	,	PUNCT
alkej-393	121	29	after	after	ADP
alkej-393	121	30	that	that	PRON
alkej-393	121	31	,	,	PUNCT
alkej-393	121	32	using	use	VERB
alkej-393	121	33	the	the	DET
alkej-393	121	34	geometrical	geometrical	ADJ
alkej-393	121	35	analysis	analysis	NOUN
alkej-393	121	36	to	to	PART
alkej-393	121	37	solve	solve	VERB
alkej-393	121	38	and	and	CCONJ
alkej-393	121	39	find	find	VERB
alkej-393	121	40	the	the	DET
alkej-393	121	41	solution	solution	NOUN
alkej-393	121	42	for	for	ADP
alkej-393	121	43	(	(	PUNCT
alkej-393	121	44	�	�	PROPN
alkej-393	121	45	�	�	PROPN
alkej-393	121	46	,	,	PUNCT
alkej-393	121	47	�	�	PROPN
alkej-393	121	48	�	�	PROPN
alkej-393	121	49	and	and	CCONJ
alkej-393	121	50	�	�	PROPN
alkej-393	121	51	)	)	PUNCT
alkej-393	121	52	,	,	PUNCT
alkej-393	121	53	as	as	ADP
alkej-393	121	54	showing	show	VERB
alkej-393	121	55	in	in	ADP
alkej-393	121	56	figure	figure	NOUN
alkej-393	121	57	(	(	PUNCT
alkej-393	121	58	5	5	NUM
alkej-393	121	59	)	)	PUNCT
alkej-393	121	60	fig	fig	NOUN
alkej-393	121	61	.	.	PUNCT
alkej-393	122	1	5	5	X
alkej-393	122	2	.	.	X
alkej-393	122	3	quadruped	quadrupe	VERB
alkej-393	122	4	top	top	ADJ
alkej-393	122	5	view	view	NOUN
alkej-393	122	6	showing	show	VERB
alkej-393	122	7	%	%	INTJ
alkej-393	122	8	>	>	X
alkej-393	122	9	from	from	ADP
alkej-393	122	10	figure	figure	NOUN
alkej-393	122	11	above	above	ADV
alkej-393	122	12	,	,	PUNCT
alkej-393	122	13	�	�	PROPN
alkej-393	122	14	�	�	PROPN
alkej-393	122	15	can	can	AUX
alkej-393	122	16	be	be	AUX
alkej-393	122	17	calculated	calculate	VERB
alkej-393	122	18	,	,	PUNCT
alkej-393	122	19	as	as	ADP
alkej-393	122	20	the	the	DET
alkej-393	122	21	following	following	NOUN
alkej-393	122	22	:	:	PUNCT
alkej-393	122	23	firas	firas	PROPN
alkej-393	122	24	a.	a.	PROPN
alkej-393	122	25	raheem	raheem	PROPN
alkej-393	122	26	al	al	PROPN
alkej-393	122	27	-	-	PUNCT
alkej-393	122	28	khwarizmi	khwarizmi	PROPN
alkej-393	122	29	engineering	engineering	NOUN
alkej-393	122	30	journal	journal	PROPN
alkej-393	122	31	,	,	PUNCT
alkej-393	122	32	vol	vol	NOUN
alkej-393	122	33	.	.	PROPN
alkej-393	122	34	14	14	NUM
alkej-393	122	35	,	,	PUNCT
alkej-393	122	36	no	no	INTJ
alkej-393	122	37	.	.	NOUN
alkej-393	122	38	2	2	NUM
alkej-393	122	39	,	,	PUNCT
alkej-393	122	40	p.p	p.p	PROPN
alkej-393	122	41	.	.	NOUN
alkej-393	122	42	93106	93106	NUM
alkej-393	122	43	(	(	PUNCT
alkej-393	122	44	2018	2018	NUM
alkej-393	122	45	)	)	PUNCT
alkej-393	122	46	98	98	NUM
alkej-393	122	47	(	(	PUNCT
alkej-393	122	48	?	?	PUNCT
alkej-393	123	1	=	=	PRON
alkej-393	123	2	tan	tan	PROPN
alkej-393	123	3	4	4	NUM
alkej-393	123	4	�	�	PROPN
alkej-393	123	5	�	�	NOUN
alkej-393	123	6	5	5	NUM
alkej-393	123	7	thus	thus	ADV
alkej-393	123	8	,	,	PUNCT
alkej-393	123	9	�	�	PROPN
alkej-393	123	10	�	�	PROPN
alkej-393	123	11	=	=	SYM
alkej-393	123	12	b	b	PROPN
alkej-393	123	13	�	�	PROPN
alkej-393	123	14	�	�	PROPN
alkej-393	123	15	�	�	PROPN
alkej-393	123	16	�	�	PROPN
alkej-393	123	17	4(?5	4(?5	NUM
alkej-393	123	18	…	…	PUNCT
alkej-393	123	19	(	(	PUNCT
alkej-393	123	20	12	12	NUM
alkej-393	123	21	)	)	PUNCT
alkej-393	123	22	to	to	PART
alkej-393	123	23	find	find	VERB
alkej-393	123	24	the	the	DET
alkej-393	123	25	other	other	ADJ
alkej-393	123	26	two	two	NUM
alkej-393	123	27	angels	angel	NOUN
alkej-393	123	28	which	which	PRON
alkej-393	123	29	are	be	AUX
alkej-393	123	30	�	�	PROPN
alkej-393	123	31	�	�	PROPN
alkej-393	123	32	and	and	CCONJ
alkej-393	123	33	�	�	PROPN
alkej-393	123	34	.	.	PUNCT
alkej-393	124	1	these	these	DET
alkej-393	124	2	angles	angle	NOUN
alkej-393	124	3	are	be	AUX
alkej-393	124	4	in	in	ADP
alkej-393	124	5	the	the	DET
alkej-393	124	6	same	same	ADJ
alkej-393	124	7	(	(	PUNCT
alkej-393	124	8	y	y	PROPN
alkej-393	124	9	-	-	PUNCT
alkej-393	124	10	z	z	NOUN
alkej-393	124	11	)	)	PUNCT
alkej-393	124	12	plane	plane	NOUN
alkej-393	124	13	.	.	PUNCT
alkej-393	125	1	to	to	PART
alkej-393	125	2	find	find	VERB
alkej-393	125	3	�	�	PROPN
alkej-393	125	4	�	�	PROPN
alkej-393	125	5	,	,	PUNCT
alkej-393	125	6	divide	divide	VERB
alkej-393	125	7	this	this	DET
alkej-393	125	8	angle	angle	NOUN
alkej-393	125	9	into	into	ADP
alkej-393	125	10	�	�	PROPN
alkej-393	125	11	�	�	PROPN
alkej-393	125	12	and	and	CCONJ
alkej-393	125	13	�	�	PROPN
alkej-393	125	14	�	�	PROPN
alkej-393	125	15	to	to	PART
alkej-393	125	16	simplify	simplify	VERB
alkej-393	125	17	the	the	DET
alkej-393	125	18	problem	problem	NOUN
alkej-393	125	19	.	.	PUNCT
alkej-393	126	1	to	to	PART
alkej-393	126	2	find	find	VERB
alkej-393	126	3	�	�	PROPN
alkej-393	126	4	�	�	PROPN
alkej-393	126	5	firstly	firstly	ADV
alkej-393	126	6	working	work	VERB
alkej-393	126	7	out	out	ADP
alkej-393	126	8	on	on	ADP
alkej-393	126	9	the	the	DET
alkej-393	126	10	distance	distance	NOUN
alkej-393	126	11	l	l	NOUN
alkej-393	126	12	to	to	PART
alkej-393	126	13	get	get	VERB
alkej-393	126	14	the	the	DET
alkej-393	126	15	angle	angle	NOUN
alkej-393	126	16	�	�	NOUN
alkej-393	126	17	�	�	PROPN
alkej-393	126	18	as	as	ADP
alkej-393	126	19	showing	show	VERB
alkej-393	126	20	in	in	ADP
alkej-393	126	21	the	the	DET
alkej-393	126	22	following	follow	VERB
alkej-393	126	23	figure	figure	NOUN
alkej-393	126	24	(	(	PUNCT
alkej-393	126	25	6	6	NUM
alkej-393	126	26	)	)	PUNCT
alkej-393	126	27	.	.	PUNCT
alkej-393	127	1	fig	fig	NOUN
alkej-393	127	2	.	.	PUNCT
alkej-393	128	1	6	6	NUM
alkej-393	128	2	.	.	X
alkej-393	128	3	quadruped	quadrupe	VERB
alkej-393	128	4	robot	robot	NOUN
alkej-393	128	5	one	one	NUM
alkej-393	128	6	leg	leg	NOUN
alkej-393	128	7	side	side	NOUN
alkej-393	128	8	view	view	NOUN
alkej-393	128	9	showing	show	VERB
alkej-393	128	10	links	link	NOUN
alkej-393	128	11	(	(	PUNCT
alkej-393	128	12	coxa	coxa	ADJ
alkej-393	128	13	,	,	PUNCT
alkej-393	128	14	femur	femur	NOUN
alkej-393	128	15	,	,	PUNCT
alkej-393	128	16	tibia	tibia	NOUN
alkej-393	128	17	)	)	PUNCT
alkej-393	129	1	and	and	CCONJ
alkej-393	130	1	%	%	INTJ
alkej-393	130	2	c	c	NOUN
alkej-393	131	1	and	and	CCONJ
alkej-393	132	1	%	%	INTJ
alkej-393	132	2	d	d	X
alkej-393	133	1	[	[	X
alkej-393	133	2	15	15	NUM
alkej-393	133	3	]	]	PUNCT
alkej-393	133	4	from	from	ADP
alkej-393	133	5	the	the	DET
alkej-393	133	6	figure	figure	NOUN
alkej-393	133	7	above	above	ADV
alkej-393	133	8	calculate	calculate	VERB
alkej-393	133	9	the	the	DET
alkej-393	133	10	followings	following	NOUN
alkej-393	133	11	:	:	PUNCT
alkej-393	133	12	e	e	X
alkej-393	133	13	=	=	SYM
alkej-393	133	14	f	f	X
alkej-393	133	15	�	�	PROPN
alkej-393	133	16	'--+,2	'--+,2	PROPN
alkej-393	133	17	�	�	PROPN
alkej-393	133	18	�	�	PROPN
alkej-393	133	19	4e	4e	PROPN
alkej-393	133	20	�	�	PROPN
alkej-393	133	21	�	�	PROPN
alkej-393	133	22	�	�	PROPN
alkej-393	133	23	5	5	NUM
alkej-393	133	24	�	�	PROPN
alkej-393	133	25	g	g	NOUN
alkej-393	133	26	…	…	PUNCT
alkej-393	133	27	(	(	PUNCT
alkej-393	133	28	13	13	NUM
alkej-393	133	29	)	)	PUNCT
alkej-393	133	30	where	where	SCONJ
alkej-393	133	31	c	c	NOUN
alkej-393	133	32	is	be	AUX
alkej-393	133	33	the	the	DET
alkej-393	133	34	coxa	coxa	PROPN
alkej-393	133	35	link	link	PROPN
alkej-393	133	36	length	length	NOUN
alkej-393	133	37	,	,	PUNCT
alkej-393	133	38	and	and	CCONJ
alkej-393	133	39	:	:	PUNCT
alkej-393	133	40	�	�	PROPN
alkej-393	133	41	�	�	PROPN
alkej-393	133	42	=	=	SYM
alkej-393	133	43	�	�	PROPN
alkej-393	133	44	�	�	PROPN
alkej-393	133	45	�	�	PROPN
alkej-393	133	46	�	�	PROPN
alkej-393	133	47	�	�	PROPN
alkej-393	133	48	4hijjklmn	4hijjklmn	NUM
alkej-393	133	49	5	5	NUM
alkej-393	133	50	…	…	PUNCT
alkej-393	133	51	(	(	PUNCT
alkej-393	133	52	14	14	NUM
alkej-393	133	53	)	)	PUNCT
alkej-393	133	54	from	from	ADP
alkej-393	133	55	the	the	DET
alkej-393	133	56	cosine	cosine	NOUN
alkej-393	133	57	rules	rule	NOUN
alkej-393	133	58	,	,	PUNCT
alkej-393	133	59	�	�	PROPN
alkej-393	133	60	�	�	PROPN
alkej-393	133	61	and	and	CCONJ
alkej-393	133	62	�	�	PROPN
alkej-393	133	63	angles	angle	NOUN
alkej-393	133	64	can	can	AUX
alkej-393	133	65	be	be	AUX
alkej-393	133	66	calculated	calculate	VERB
alkej-393	133	67	.	.	PUNCT
alkej-393	134	1	from	from	ADP
alkej-393	134	2	figure	figure	NOUN
alkej-393	134	3	(	(	PUNCT
alkej-393	134	4	6	6	NUM
alkej-393	134	5	)	)	PUNCT
alkej-393	134	6	shown	show	VERB
alkej-393	134	7	above	above	ADP
alkej-393	134	8	the	the	DET
alkej-393	134	9	three	three	NUM
alkej-393	134	10	sides	side	NOUN
alkej-393	134	11	of	of	ADP
alkej-393	134	12	a	a	DET
alkej-393	134	13	triangle	triangle	NOUN
alkej-393	134	14	are	be	AUX
alkej-393	134	15	(	(	PUNCT
alkej-393	134	16	femur	femur	ADJ
alkej-393	134	17	,	,	PUNCT
alkej-393	134	18	tibia	tibia	NOUN
alkej-393	134	19	,	,	PUNCT
alkej-393	134	20	and	and	CCONJ
alkej-393	134	21	l	l	NOUN
alkej-393	134	22	)	)	PUNCT
alkej-393	134	23	.	.	PUNCT
alkej-393	135	1	to	to	PART
alkej-393	135	2	calculate	calculate	VERB
alkej-393	135	3	�	�	PROPN
alkej-393	135	4	�	�	PROPN
alkej-393	135	5	:	:	PUNCT
alkej-393	135	6	�	�	PROPN
alkej-393	135	7	�	�	PROPN
alkej-393	135	8	=	=	SYM
alkej-393	135	9	o	o	PROPN
alkej-393	135	10	�	�	PROPN
alkej-393	135	11	�	�	PROPN
alkej-393	135	12	e	e	PROPN
alkej-393	135	13	�	�	PROPN
alkej-393	135	14	�	�	PROPN
alkej-393	135	15	42	42	NUM
alkej-393	135	16	∗	∗	NOUN
alkej-393	135	17	o	o	PROPN
alkej-393	135	18	∗	∗	X
alkej-393	135	19	e5cos	e5cos	PROPN
alkej-393	135	20	4	4	NUM
alkej-393	135	21	�	�	PROPN
alkej-393	135	22	�	�	NOUN
alkej-393	135	23	5	5	NUM
alkej-393	135	24	thus	thus	ADV
alkej-393	135	25	:	:	PUNCT
alkej-393	135	26	�	�	PROPN
alkej-393	135	27	�	�	PROPN
alkej-393	135	28	=	=	SYM
alkej-393	135	29	�	�	PROPN
alkej-393	135	30	�	�	PROPN
alkej-393	135	31	�	�	PROPN
alkej-393	135	32	�	�	PROPN
alkej-393	135	33	�	�	PROPN
alkej-393	135	34	pqg6ng	pqg6ng	PROPN
alkej-393	135	35	�	�	PROPN
alkej-393	135	36	rg	rg	NOUN
alkej-393	135	37	�	�	PROPN
alkej-393	135	38	∗q∗n	∗q∗n	X
alkej-393	135	39	s	s	X
alkej-393	135	40	…	…	PUNCT
alkej-393	135	41	(	(	PUNCT
alkej-393	135	42	15	15	NUM
alkej-393	135	43	)	)	PUNCT
alkej-393	135	44	where	where	SCONJ
alkej-393	135	45	:	:	PUNCT
alkej-393	135	46	f	f	PROPN
alkej-393	135	47	is	be	AUX
alkej-393	135	48	the	the	DET
alkej-393	135	49	length	length	NOUN
alkej-393	135	50	of	of	ADP
alkej-393	135	51	femur	femur	ADJ
alkej-393	135	52	link	link	NOUN
alkej-393	135	53	.	.	PUNCT
alkej-393	136	1	t	t	PROPN
alkej-393	136	2	is	be	AUX
alkej-393	136	3	the	the	DET
alkej-393	136	4	length	length	NOUN
alkej-393	136	5	of	of	ADP
alkej-393	136	6	tibia	tibia	NOUN
alkej-393	136	7	link	link	NOUN
alkej-393	136	8	.	.	PUNCT
alkej-393	137	1	although	although	SCONJ
alkej-393	137	2	,	,	PUNCT
alkej-393	137	3	�	�	PROPN
alkej-393	137	4	�	�	PROPN
alkej-393	137	5	is	be	AUX
alkej-393	137	6	equal	equal	ADJ
alkej-393	137	7	to	to	PART
alkej-393	137	8	:	:	PUNCT
alkej-393	137	9	�	�	PROPN
alkej-393	137	10	�	�	PROPN
alkej-393	137	11	=	=	SYM
alkej-393	137	12	�	�	PROPN
alkej-393	137	13	�	�	PROPN
alkej-393	137	14	�	�	PROPN
alkej-393	137	15	�	�	PROPN
alkej-393	137	16	�	�	PROPN
alkej-393	137	17	�	�	PROPN
alkej-393	137	18	�	�	PROPN
alkej-393	137	19	=	=	SYM
alkej-393	137	20	�	�	PROPN
alkej-393	137	21	�	�	PROPN
alkej-393	137	22	�	�	PROPN
alkej-393	137	23	�	�	PROPN
alkej-393	137	24	�	�	PROPN
alkej-393	137	25	phijjklmn	phijjklmn	PROPN
alkej-393	137	26	s	s	PART
alkej-393	137	27	�	�	PROPN
alkej-393	137	28	�	�	PROPN
alkej-393	137	29	�	�	PROPN
alkej-393	137	30	�	�	PROPN
alkej-393	137	31	�	�	PROPN
alkej-393	137	32	�	�	PROPN
alkej-393	137	33	pqg6ng	pqg6ng	PROPN
alkej-393	137	34	�	�	PROPN
alkej-393	137	35	rg	rg	NOUN
alkej-393	137	36	�	�	PROPN
alkej-393	137	37	∗q∗n	∗q∗n	X
alkej-393	137	38	s	s	X
alkej-393	137	39	…	…	PUNCT
alkej-393	137	40	(	(	PUNCT
alkej-393	137	41	16	16	NUM
alkej-393	137	42	)	)	PUNCT
alkej-393	137	43	finally	finally	ADV
alkej-393	137	44	,	,	PUNCT
alkej-393	137	45	�	�	PROPN
alkej-393	137	46	is	be	AUX
alkej-393	137	47	calculated	calculate	VERB
alkej-393	137	48	as	as	ADP
alkej-393	137	49	:	:	PUNCT
alkej-393	137	50	�	�	PROPN
alkej-393	137	51	=	=	SYM
alkej-393	137	52	�	�	PROPN
alkej-393	137	53	�	�	PROPN
alkej-393	137	54	�	�	PROPN
alkej-393	137	55	�	�	PROPN
alkej-393	137	56	�	�	PROPN
alkej-393	137	57	pqg6rg	pqg6rg	PROPN
alkej-393	137	58	�	�	PROPN
alkej-393	137	59	ng	ng	NOUN
alkej-393	137	60	�	�	PROPN
alkej-393	137	61	∗q∗r	∗q∗r	PROPN
alkej-393	137	62	s	s	PART
alkej-393	137	63	…	…	PUNCT
alkej-393	137	64	(	(	PUNCT
alkej-393	137	65	17	17	NUM
alkej-393	137	66	)	)	SYM
alkej-393	137	67	5	5	NUM
alkej-393	137	68	.	.	PUNCT
alkej-393	138	1	stability	stability	NOUN
alkej-393	138	2	analysis	analysis	NOUN
alkej-393	138	3	for	for	ADP
alkej-393	138	4	quadruped	quadruped	NOUN
alkej-393	138	5	robot	robot	NOUN
alkej-393	138	6	creeping	creep	VERB
alkej-393	138	7	gait	gait	NOUN
alkej-393	138	8	5.1	5.1	NUM
alkej-393	138	9	static	static	ADJ
alkej-393	138	10	stability	stability	NOUN
alkej-393	138	11	criterion	criterion	NOUN
alkej-393	138	12	with	with	ADP
alkej-393	138	13	a	a	DET
alkej-393	138	14	specific	specific	ADJ
alkej-393	138	15	goal	goal	NOUN
alkej-393	138	16	for	for	SCONJ
alkej-393	138	17	the	the	DET
alkej-393	138	18	quadruped	quadruped	NOUN
alkej-393	138	19	robot	robot	NOUN
alkej-393	138	20	to	to	PART
alkej-393	138	21	walk	walk	VERB
alkej-393	138	22	with	with	ADP
alkej-393	138	23	statically	statically	ADV
alkej-393	138	24	stable	stable	ADJ
alkej-393	138	25	movements	movement	NOUN
alkej-393	139	1	,	,	PUNCT
alkej-393	139	2	the	the	DET
alkej-393	139	3	cog	cog	PROPN
alkej-393	139	4	projection	projection	NOUN
alkej-393	139	5	on	on	ADP
alkej-393	139	6	the	the	DET
alkej-393	139	7	ground	ground	NOUN
alkej-393	139	8	should	should	AUX
alkej-393	139	9	be	be	AUX
alkej-393	139	10	inside	inside	ADP
alkej-393	139	11	the	the	DET
alkej-393	139	12	supporting	support	VERB
alkej-393	139	13	polygon	polygon	NOUN
alkej-393	139	14	framed	frame	VERB
alkej-393	139	15	by	by	ADP
alkej-393	139	16	the	the	DET
alkej-393	139	17	leg	leg	NOUN
alkej-393	139	18	tips	tip	NOUN
alkej-393	139	19	.	.	PUNCT
alkej-393	140	1	this	this	DET
alkej-393	140	2	condition	condition	NOUN
alkej-393	140	3	is	be	AUX
alkej-393	140	4	considered	consider	VERB
alkej-393	140	5	as	as	ADP
alkej-393	140	6	the	the	DET
alkej-393	140	7	main	main	ADJ
alkej-393	140	8	criteria	criterion	NOUN
alkej-393	140	9	for	for	ADP
alkej-393	140	10	the	the	DET
alkej-393	140	11	statically	statically	ADV
alkej-393	140	12	stable	stable	ADJ
alkej-393	140	13	walking	walking	NOUN
alkej-393	140	14	.	.	PUNCT
alkej-393	141	1	when	when	SCONJ
alkej-393	141	2	this	this	DET
alkej-393	141	3	condition	condition	NOUN
alkej-393	141	4	is	be	AUX
alkej-393	141	5	completely	completely	ADV
alkej-393	141	6	satisfied	satisfied	ADJ
alkej-393	141	7	,	,	PUNCT
alkej-393	141	8	the	the	DET
alkej-393	141	9	quadruped	quadruped	NOUN
alkej-393	141	10	robot	robot	NOUN
alkej-393	141	11	wo	will	AUX
alkej-393	141	12	n't	not	PART
alkej-393	141	13	overturn	overturn	VERB
alkej-393	141	14	because	because	SCONJ
alkej-393	141	15	of	of	ADP
alkej-393	141	16	the	the	DET
alkej-393	141	17	gravity	gravity	NOUN
alkej-393	141	18	.	.	PUNCT
alkej-393	142	1	furthermore	furthermore	ADV
alkej-393	142	2	,	,	PUNCT
alkej-393	142	3	this	this	DET
alkej-393	142	4	analysis	analysis	NOUN
alkej-393	142	5	can	can	AUX
alkej-393	142	6	be	be	AUX
alkej-393	142	7	made	make	VERB
alkej-393	142	8	for	for	ADP
alkej-393	142	9	the	the	DET
alkej-393	142	10	legs	leg	NOUN
alkej-393	142	11	gait	gait	NOUN
alkej-393	142	12	sequence	sequence	NOUN
alkej-393	142	13	as	as	SCONJ
alkej-393	142	14	discussed	discuss	VERB
alkej-393	142	15	to	to	PART
alkej-393	142	16	be	be	AUX
alkej-393	142	17	(	(	PUNCT
alkej-393	142	18	leg4→leg2→leg3→leg1	leg4→leg2→leg3→leg1	NOUN
alkej-393	142	19	)	)	PUNCT
alkej-393	142	20	.	.	PUNCT
alkej-393	143	1	during	during	ADP
alkej-393	143	2	the	the	DET
alkej-393	143	3	swing	swing	NOUN
alkej-393	143	4	period	period	NOUN
alkej-393	143	5	of	of	ADP
alkej-393	143	6	leg4	leg4	PROPN
alkej-393	143	7	,	,	PUNCT
alkej-393	143	8	the	the	DET
alkej-393	143	9	area	area	NOUN
alkej-393	143	10	of	of	ADP
alkej-393	143	11	support	support	NOUN
alkej-393	143	12	triangle	triangle	NOUN
alkej-393	143	13	is	be	AUX
alkej-393	143	14	framed	frame	VERB
alkej-393	143	15	by	by	ADP
alkej-393	143	16	the	the	DET
alkej-393	143	17	tips	tip	NOUN
alkej-393	143	18	of	of	ADP
alkej-393	143	19	the	the	DET
alkej-393	143	20	supporting	support	VERB
alkej-393	143	21	legs	leg	NOUN
alkej-393	143	22	(	(	PUNCT
alkej-393	143	23	leg1	leg1	NOUN
alkej-393	143	24	,	,	PUNCT
alkej-393	143	25	leg2	leg2	PROPN
alkej-393	143	26	,	,	PUNCT
alkej-393	143	27	leg3	leg3	PROPN
alkej-393	143	28	)	)	PUNCT
alkej-393	143	29	,	,	PUNCT
alkej-393	143	30	and	and	CCONJ
alkej-393	143	31	it	it	PRON
alkej-393	143	32	has	have	VERB
alkej-393	143	33	a	a	DET
alkej-393	143	34	symbolic	symbolic	NOUN
alkej-393	143	35	as	as	ADP
alkej-393	143	36	tr1	tr1	PROPN
alkej-393	143	37	.	.	PUNCT
alkej-393	144	1	in	in	ADP
alkej-393	144	2	the	the	DET
alkej-393	144	3	swing	swing	NOUN
alkej-393	144	4	period	period	NOUN
alkej-393	144	5	of	of	ADP
alkej-393	144	6	the	the	DET
alkej-393	144	7	leg2	leg2	NOUN
alkej-393	144	8	,	,	PUNCT
alkej-393	144	9	the	the	DET
alkej-393	144	10	support	support	NOUN
alkej-393	144	11	triangle	triangle	NOUN
alkej-393	144	12	is	be	AUX
alkej-393	144	13	shaped	shape	VERB
alkej-393	144	14	by	by	ADP
alkej-393	144	15	the	the	DET
alkej-393	144	16	tips	tip	NOUN
alkej-393	144	17	of	of	ADP
alkej-393	144	18	the	the	DET
alkej-393	144	19	supporting	support	VERB
alkej-393	144	20	legs	leg	NOUN
alkej-393	144	21	(	(	PUNCT
alkej-393	144	22	leg1	leg1	NOUN
alkej-393	144	23	,	,	PUNCT
alkej-393	144	24	leg3	leg3	ADJ
alkej-393	144	25	,	,	PUNCT
alkej-393	144	26	leg4	leg4	PROPN
alkej-393	144	27	)	)	PUNCT
alkej-393	144	28	.	.	PUNCT
alkej-393	145	1	and	and	CCONJ
alkej-393	145	2	this	this	DET
alkej-393	145	3	triangle	triangle	NOUN
alkej-393	145	4	has	have	VERB
alkej-393	145	5	a	a	DET
alkej-393	145	6	symbolic	symbolic	NOUN
alkej-393	145	7	as	as	ADP
alkej-393	145	8	tr2	tr2	NOUN
alkej-393	145	9	.	.	PUNCT
alkej-393	146	1	at	at	ADP
alkej-393	146	2	this	this	DET
alkej-393	146	3	moment	moment	NOUN
alkej-393	146	4	the	the	DET
alkej-393	146	5	intersection	intersection	NOUN
alkej-393	146	6	of	of	ADP
alkej-393	146	7	the	the	DET
alkej-393	146	8	tr1	tr1	NOUN
alkej-393	146	9	and	and	CCONJ
alkej-393	146	10	tr2	tr2	NOUN
alkej-393	146	11	resulted	result	VERB
alkej-393	146	12	in	in	ADP
alkej-393	146	13	another	another	DET
alkej-393	146	14	triangle	triangle	NOUN
alkej-393	146	15	named	name	VERB
alkej-393	146	16	as	as	ADP
alkej-393	146	17	dst1	dst1	NOUN
alkej-393	146	18	.	.	PUNCT
alkej-393	147	1	in	in	ADP
alkej-393	147	2	which	which	PRON
alkej-393	147	3	the	the	DET
alkej-393	147	4	cog	cog	PROPN
alkej-393	147	5	projection	projection	NOUN
alkej-393	147	6	must	must	AUX
alkej-393	147	7	be	be	AUX
alkej-393	147	8	inside	inside	ADP
alkej-393	147	9	this	this	DET
alkej-393	147	10	triangle	triangle	NOUN
alkej-393	147	11	to	to	PART
alkej-393	147	12	ensure	ensure	VERB
alkej-393	147	13	the	the	DET
alkej-393	147	14	static	static	ADJ
alkej-393	147	15	stability	stability	NOUN
alkej-393	147	16	when	when	SCONJ
alkej-393	147	17	leg4	leg4	NOUN
alkej-393	147	18	and	and	CCONJ
alkej-393	147	19	leg2	leg2	NOUN
alkej-393	147	20	are	be	AUX
alkej-393	147	21	in	in	ADP
alkej-393	147	22	swinging	swinge	VERB
alkej-393	147	23	phase	phase	NOUN
alkej-393	147	24	.	.	PUNCT
alkej-393	148	1	by	by	ADP
alkej-393	148	2	the	the	DET
alkej-393	148	3	same	same	ADJ
alkej-393	148	4	way	way	NOUN
alkej-393	148	5	,	,	PUNCT
alkej-393	148	6	the	the	DET
alkej-393	148	7	edges	edge	NOUN
alkej-393	148	8	of	of	ADP
alkej-393	148	9	supporting	support	VERB
alkej-393	148	10	triangles	triangle	NOUN
alkej-393	148	11	tr3	tr3	PROPN
alkej-393	148	12	and	and	CCONJ
alkej-393	148	13	tr4	tr4	PROPN
alkej-393	148	14	resulted	result	VERB
alkej-393	148	15	during	during	ADP
alkej-393	148	16	the	the	DET
alkej-393	148	17	period	period	NOUN
alkej-393	148	18	of	of	ADP
alkej-393	148	19	swing	swing	NOUN
alkej-393	148	20	leg3	leg3	ADJ
alkej-393	148	21	and	and	CCONJ
alkej-393	148	22	leg1	leg1	PROPN
alkej-393	148	23	,	,	PUNCT
alkej-393	148	24	respectively	respectively	ADV
alkej-393	148	25	.	.	PUNCT
alkej-393	149	1	the	the	DET
alkej-393	149	2	intersection	intersection	NOUN
alkej-393	149	3	of	of	ADP
alkej-393	149	4	the	the	DET
alkej-393	149	5	tr3	tr3	PROPN
alkej-393	149	6	and	and	CCONJ
alkej-393	149	7	tr4	tr4	PROPN
alkej-393	149	8	resulting	result	VERB
alkej-393	149	9	another	another	DET
alkej-393	149	10	triangle	triangle	NOUN
alkej-393	149	11	named	name	VERB
alkej-393	149	12	as	as	ADP
alkej-393	149	13	dst2	dst2	PROPN
alkej-393	149	14	.	.	PUNCT
alkej-393	150	1	by	by	ADP
alkej-393	150	2	the	the	DET
alkej-393	150	3	same	same	ADJ
alkej-393	150	4	condition	condition	NOUN
alkej-393	150	5	that	that	SCONJ
alkej-393	150	6	the	the	DET
alkej-393	150	7	cog	cog	NOUN
alkej-393	150	8	must	must	AUX
alkej-393	150	9	be	be	AUX
alkej-393	150	10	inside	inside	ADP
alkej-393	150	11	the	the	DET
alkej-393	150	12	triangle	triangle	NOUN
alkej-393	150	13	dst2	dst2	NOUN
alkej-393	150	14	triangle	triangle	NOUN
alkej-393	150	15	when	when	SCONJ
alkej-393	150	16	leg3	leg3	ADJ
alkej-393	150	17	and	and	CCONJ
alkej-393	150	18	leg1	leg1	NOUN
alkej-393	150	19	are	be	AUX
alkej-393	150	20	in	in	ADP
alkej-393	150	21	swinging	swinge	VERB
alkej-393	150	22	phase	phase	NOUN
alkej-393	150	23	.	.	PUNCT
alkej-393	151	1	many	many	ADJ
alkej-393	151	2	series	serie	NOUN
alkej-393	151	3	of	of	ADP
alkej-393	151	4	dsts	dst	NOUN
alkej-393	151	5	(	(	PUNCT
alkej-393	151	6	double	double	ADJ
alkej-393	151	7	supporting	support	VERB
alkej-393	151	8	triangles	triangle	NOUN
alkej-393	151	9	)	)	PUNCT
alkej-393	151	10	will	will	AUX
alkej-393	151	11	be	be	AUX
alkej-393	151	12	shaped	shape	VERB
alkej-393	151	13	during	during	ADP
alkej-393	151	14	the	the	DET
alkej-393	151	15	movement	movement	NOUN
alkej-393	151	16	of	of	ADP
alkej-393	151	17	the	the	DET
alkej-393	151	18	quadruped	quadruped	NOUN
alkej-393	151	19	robot	robot	NOUN
alkej-393	151	20	,	,	PUNCT
alkej-393	151	21	thus	thus	ADV
alkej-393	151	22	,	,	PUNCT
alkej-393	151	23	to	to	PART
alkej-393	151	24	ensure	ensure	VERB
alkej-393	151	25	the	the	DET
alkej-393	151	26	statically	statically	ADV
alkej-393	151	27	stable	stable	ADJ
alkej-393	151	28	condition	condition	NOUN
alkej-393	151	29	the	the	DET
alkej-393	151	30	planned	plan	VERB
alkej-393	151	31	trajectory	trajectory	NOUN
alkej-393	151	32	of	of	ADP
alkej-393	151	33	the	the	DET
alkej-393	151	34	cog	cog	PROPN
alkej-393	151	35	projection	projection	NOUN
alkej-393	151	36	must	must	AUX
alkej-393	151	37	be	be	AUX
alkej-393	151	38	planned	plan	VERB
alkej-393	151	39	along	along	ADP
alkej-393	151	40	the	the	DET
alkej-393	151	41	dst	dst	PROPN
alkej-393	151	42	's	's	PART
alkej-393	151	43	progression	progression	NOUN
alkej-393	151	44	sequence	sequence	NOUN
alkej-393	151	45	:	:	PUNCT
alkej-393	151	46	dst1→dst2→dst3→dst4	dst1→dst2→dst3→dst4	PROPN
alkej-393	151	47	....	....	PUNCT
alkej-393	151	48	…	…	PUNCT
alkej-393	151	49	(	(	PUNCT
alkej-393	151	50	18	18	NUM
alkej-393	151	51	)	)	PUNCT
alkej-393	151	52	this	this	DET
alkej-393	151	53	grantee	grantee	NOUN
alkej-393	151	54	that	that	SCONJ
alkej-393	151	55	the	the	DET
alkej-393	151	56	locomotion	locomotion	NOUN
alkej-393	151	57	of	of	ADP
alkej-393	151	58	the	the	DET
alkej-393	151	59	quadruped	quadruped	NOUN
alkej-393	151	60	robot	robot	NOUN
alkej-393	151	61	is	be	AUX
alkej-393	151	62	statically	statically	ADV
alkej-393	151	63	stable	stable	ADJ
alkej-393	151	64	[	[	X
alkej-393	151	65	10	10	NUM
alkej-393	151	66	]	]	PUNCT
alkej-393	151	67	.	.	PUNCT
alkej-393	152	1	the	the	DET
alkej-393	152	2	dst	dst	PROPN
alkej-393	152	3	sequence	sequence	NOUN
alkej-393	152	4	of	of	ADP
alkej-393	152	5	the	the	DET
alkej-393	152	6	quadruped	quadruped	NOUN
alkej-393	152	7	robot	robot	NOUN
alkej-393	152	8	motion	motion	NOUN
alkej-393	152	9	is	be	AUX
alkej-393	152	10	illustrated	illustrate	VERB
alkej-393	152	11	in	in	ADP
alkej-393	152	12	figure	figure	NOUN
alkej-393	152	13	(	(	PUNCT
alkej-393	152	14	7	7	NUM
alkej-393	152	15	)	)	PUNCT
alkej-393	152	16	.	.	PUNCT
alkej-393	153	1	fig	fig	NOUN
alkej-393	153	2	.	.	PUNCT
alkej-393	154	1	7	7	X
alkej-393	154	2	.	.	X
alkej-393	154	3	series	series	NOUN
alkej-393	154	4	of	of	ADP
alkej-393	154	5	double	double	ADJ
alkej-393	154	6	support	support	NOUN
alkej-393	154	7	triangles	triangle	NOUN
alkej-393	154	8	on	on	ADP
alkej-393	154	9	the	the	DET
alkej-393	154	10	ground	ground	NOUN
alkej-393	154	11	frame	frame	NOUN
alkej-393	155	1	[	[	X
alkej-393	155	2	10	10	NUM
alkej-393	155	3	]	]	PUNCT
alkej-393	155	4	.	.	PUNCT
alkej-393	156	1	firas	firas	PROPN
alkej-393	156	2	a.	a.	PROPN
alkej-393	156	3	raheem	raheem	PROPN
alkej-393	156	4	al	al	PROPN
alkej-393	156	5	-	-	PUNCT
alkej-393	156	6	khwarizmi	khwarizmi	PROPN
alkej-393	156	7	engineering	engineering	NOUN
alkej-393	156	8	journal	journal	PROPN
alkej-393	156	9	,	,	PUNCT
alkej-393	156	10	vol	vol	NOUN
alkej-393	156	11	.	.	PROPN
alkej-393	156	12	14	14	NUM
alkej-393	156	13	,	,	PUNCT
alkej-393	156	14	no	no	INTJ
alkej-393	156	15	.	.	NOUN
alkej-393	156	16	2	2	NUM
alkej-393	156	17	,	,	PUNCT
alkej-393	156	18	p.p	p.p	PROPN
alkej-393	156	19	.	.	NOUN
alkej-393	156	20	93106	93106	NUM
alkej-393	156	21	(	(	PUNCT
alkej-393	156	22	2018	2018	NUM
alkej-393	156	23	)	)	PUNCT
alkej-393	156	24	99	99	NUM
alkej-393	156	25	the	the	DET
alkej-393	156	26	main	main	ADJ
alkej-393	156	27	advantage	advantage	NOUN
alkej-393	156	28	of	of	ADP
alkej-393	156	29	making	make	VERB
alkej-393	156	30	the	the	DET
alkej-393	156	31	walking	walk	VERB
alkej-393	156	32	locomotion	locomotion	NOUN
alkej-393	156	33	of	of	ADP
alkej-393	156	34	the	the	DET
alkej-393	156	35	quadruped	quadruped	NOUN
alkej-393	156	36	periodically	periodically	ADV
alkej-393	156	37	repeated	repeat	VERB
alkej-393	156	38	is	be	AUX
alkej-393	156	39	to	to	PART
alkej-393	156	40	achieve	achieve	VERB
alkej-393	156	41	a	a	DET
alkej-393	156	42	constant	constant	ADJ
alkej-393	156	43	velocity	velocity	NOUN
alkej-393	156	44	which	which	PRON
alkej-393	156	45	leads	lead	VERB
alkej-393	156	46	to	to	ADP
alkej-393	156	47	making	make	VERB
alkej-393	156	48	the	the	DET
alkej-393	156	49	acceleration	acceleration	NOUN
alkej-393	156	50	on	on	ADP
alkej-393	156	51	the	the	DET
alkej-393	156	52	quadruped	quadruped	NOUN
alkej-393	156	53	body	body	NOUN
alkej-393	156	54	is	be	AUX
alkej-393	156	55	equal	equal	ADJ
alkej-393	156	56	to	to	ADP
alkej-393	156	57	zero	zero	NUM
alkej-393	156	58	,	,	PUNCT
alkej-393	156	59	which	which	PRON
alkej-393	156	60	reduces	reduce	VERB
alkej-393	156	61	the	the	DET
alkej-393	156	62	disturbances	disturbance	NOUN
alkej-393	156	63	on	on	ADP
alkej-393	156	64	the	the	DET
alkej-393	156	65	swinging	swinge	VERB
alkej-393	156	66	legs	leg	NOUN
alkej-393	156	67	.	.	PUNCT
alkej-393	157	1	5.2	5.2	NUM
alkej-393	157	2	stability	stability	NOUN
alkej-393	157	3	margin	margin	NOUN
alkej-393	157	4	analysis	analysis	NOUN
alkej-393	157	5	in	in	ADP
alkej-393	157	6	case	case	NOUN
alkej-393	157	7	of	of	ADP
alkej-393	157	8	quadruped	quadruped	NOUN
alkej-393	157	9	robot	robot	NOUN
alkej-393	157	10	creeping	creep	VERB
alkej-393	157	11	gait	gait	PROPN
alkej-393	157	12	walking	walk	VERB
alkej-393	157	13	,	,	PUNCT
alkej-393	157	14	and	and	CCONJ
alkej-393	157	15	according	accord	VERB
alkej-393	157	16	to	to	ADP
alkej-393	157	17	static	static	ADJ
alkej-393	157	18	stability	stability	NOUN
alkej-393	157	19	condition	condition	NOUN
alkej-393	157	20	,	,	PUNCT
alkej-393	157	21	the	the	DET
alkej-393	157	22	stability	stability	NOUN
alkej-393	157	23	margins	margin	NOUN
alkej-393	157	24	are	be	AUX
alkej-393	157	25	utilized	utilize	VERB
alkej-393	157	26	the	the	DET
alkej-393	157	27	shortest	short	ADJ
alkej-393	157	28	distance	distance	NOUN
alkej-393	157	29	between	between	ADP
alkej-393	157	30	the	the	DET
alkej-393	157	31	cog	cog	PROPN
alkej-393	157	32	projection	projection	NOUN
alkej-393	157	33	of	of	ADP
alkej-393	157	34	the	the	DET
alkej-393	157	35	quadruped	quadruped	NOUN
alkej-393	157	36	robot	robot	NOUN
alkej-393	157	37	to	to	ADP
alkej-393	157	38	the	the	DET
alkej-393	157	39	boundary	boundary	ADJ
alkej-393	157	40	limits	limit	NOUN
alkej-393	157	41	of	of	ADP
alkej-393	157	42	the	the	DET
alkej-393	157	43	supporting	support	VERB
alkej-393	157	44	pattern	pattern	NOUN
alkej-393	157	45	[	[	X
alkej-393	157	46	13	13	NUM
alkej-393	157	47	]	]	PUNCT
alkej-393	157	48	.	.	PUNCT
alkej-393	158	1	the	the	DET
alkej-393	158	2	following	follow	VERB
alkej-393	158	3	figures	figure	NOUN
alkej-393	158	4	explaining	explain	VERB
alkej-393	158	5	the	the	DET
alkej-393	158	6	mathematical	mathematical	ADJ
alkej-393	158	7	model	model	NOUN
alkej-393	158	8	of	of	ADP
alkej-393	158	9	a	a	DET
alkej-393	158	10	quadruped	quadruped	NOUN
alkej-393	158	11	robot	robot	NOUN
alkej-393	158	12	with	with	ADP
alkej-393	158	13	the	the	DET
alkej-393	158	14	analysis	analysis	NOUN
alkej-393	158	15	of	of	ADP
alkej-393	158	16	stability	stability	NOUN
alkej-393	158	17	margins	margin	NOUN
alkej-393	158	18	where	where	SCONJ
alkej-393	158	19	the	the	DET
alkej-393	158	20	calculations	calculation	NOUN
alkej-393	158	21	of	of	ADP
alkej-393	158	22	these	these	DET
alkej-393	158	23	stability	stability	NOUN
alkej-393	158	24	margins	margin	NOUN
alkej-393	158	25	as	as	SCONJ
alkej-393	158	26	follows	follow	VERB
alkej-393	158	27	(	(	PUNCT
alkej-393	158	28	a	a	NOUN
alkej-393	158	29	)	)	PUNCT
alkej-393	158	30	(	(	PUNCT
alkej-393	158	31	b	b	X
alkej-393	158	32	)	)	PUNCT
alkej-393	158	33	fig	fig	NOUN
alkej-393	158	34	.	.	PUNCT
alkej-393	159	1	8	8	NUM
alkej-393	159	2	.	.	X
alkej-393	159	3	quadruped	quadrupe	VERB
alkej-393	159	4	robot	robot	NOUN
alkej-393	159	5	when	when	SCONJ
alkej-393	159	6	leg4	leg4	PROPN
alkej-393	159	7	is	be	AUX
alkej-393	159	8	swinging	swinge	VERB
alkej-393	159	9	(	(	PUNCT
alkej-393	159	10	a	a	DET
alkej-393	159	11	)	)	PUNCT
alkej-393	159	12	quadruped	quadruped	NOUN
alkej-393	159	13	robot	robot	NOUN
alkej-393	159	14	(	(	PUNCT
alkej-393	159	15	b	b	NOUN
alkej-393	159	16	)	)	PUNCT
alkej-393	159	17	quadruped	quadruped	NOUN
alkej-393	159	18	support	support	NOUN
alkej-393	159	19	triangle	triangle	VERB
alkej-393	159	20	the	the	DET
alkej-393	159	21	first	first	ADJ
alkej-393	159	22	case	case	NOUN
alkej-393	159	23	,	,	PUNCT
alkej-393	159	24	shown	show	VERB
alkej-393	159	25	in	in	ADP
alkej-393	159	26	figure	figure	NOUN
alkej-393	159	27	(	(	PUNCT
alkej-393	159	28	8	8	NUM
alkej-393	159	29	-	-	PUNCT
alkej-393	159	30	a	a	NOUN
alkej-393	159	31	)	)	PUNCT
alkej-393	159	32	when	when	SCONJ
alkej-393	159	33	the	the	DET
alkej-393	159	34	quadruped	quadruped	NOUN
alkej-393	159	35	robot	robot	NOUN
alkej-393	159	36	leg4	leg4	NOUN
alkej-393	159	37	swing	swing	VERB
alkej-393	159	38	in	in	ADP
alkej-393	159	39	the	the	DET
alkej-393	159	40	air	air	NOUN
alkej-393	159	41	and	and	CCONJ
alkej-393	159	42	legs	leg	NOUN
alkej-393	159	43	(	(	PUNCT
alkej-393	159	44	1	1	NUM
alkej-393	159	45	,	,	PUNCT
alkej-393	159	46	2	2	NUM
alkej-393	159	47	,	,	PUNCT
alkej-393	159	48	and	and	CCONJ
alkej-393	159	49	3	3	X
alkej-393	159	50	)	)	PUNCT
alkej-393	159	51	on	on	ADP
alkej-393	159	52	the	the	DET
alkej-393	159	53	ground	ground	NOUN
alkej-393	159	54	.	.	PUNCT
alkej-393	160	1	the	the	DET
alkej-393	160	2	supporting	support	VERB
alkej-393	160	3	area	area	NOUN
alkej-393	160	4	will	will	AUX
alkej-393	160	5	have	have	VERB
alkej-393	160	6	three	three	NUM
alkej-393	160	7	triangles	triangle	NOUN
alkej-393	160	8	,	,	PUNCT
alkej-393	160	9	each	each	DET
alkej-393	160	10	triangle	triangle	NOUN
alkej-393	160	11	has	have	VERB
alkej-393	160	12	a	a	DET
alkej-393	160	13	defined	define	VERB
alkej-393	160	14	area	area	NOUN
alkej-393	160	15	(	(	PUNCT
alkej-393	160	16	area1	area1	NOUN
alkej-393	160	17	,	,	PUNCT
alkej-393	160	18	area2	area2	NOUN
alkej-393	160	19	,	,	PUNCT
alkej-393	160	20	area3	area3	NUM
alkej-393	160	21	)	)	PUNCT
alkej-393	160	22	and	and	CCONJ
alkej-393	160	23	the	the	DET
alkej-393	160	24	minimum	minimum	ADJ
alkej-393	160	25	distance	distance	NOUN
alkej-393	160	26	from	from	ADP
alkej-393	160	27	one	one	NUM
alkej-393	160	28	of	of	ADP
alkej-393	160	29	the	the	DET
alkej-393	160	30	supporting	support	VERB
alkej-393	160	31	lines	line	NOUN
alkej-393	160	32	(	(	PUNCT
alkej-393	160	33	l1	l1	PROPN
alkej-393	160	34	,	,	PUNCT
alkej-393	160	35	l2	l2	NOUN
alkej-393	160	36	,	,	PUNCT
alkej-393	160	37	l3	l3	PROPN
alkej-393	160	38	)	)	PUNCT
alkej-393	160	39	to	to	ADP
alkej-393	160	40	the	the	DET
alkej-393	160	41	perpendicular	perpendicular	ADJ
alkej-393	160	42	cog	cog	NOUN
alkej-393	160	43	projection	projection	NOUN
alkej-393	160	44	on	on	ADP
alkej-393	160	45	the	the	DET
alkej-393	160	46	ground	ground	NOUN
alkej-393	160	47	which	which	PRON
alkej-393	160	48	is	be	AUX
alkej-393	160	49	denoted	denote	VERB
alkej-393	160	50	as	as	ADP
alkej-393	160	51	(	(	PUNCT
alkej-393	160	52	t1	t1	NOUN
alkej-393	160	53	,	,	PUNCT
alkej-393	160	54	t2	t2	NOUN
alkej-393	160	55	,	,	PUNCT
alkej-393	160	56	t3	t3	PROPN
alkej-393	160	57	)	)	PUNCT
alkej-393	160	58	.	.	PUNCT
alkej-393	161	1	then	then	ADV
alkej-393	161	2	the	the	DET
alkej-393	161	3	analysis	analysis	NOUN
alkej-393	161	4	of	of	ADP
alkej-393	161	5	the	the	DET
alkej-393	161	6	stability	stability	NOUN
alkej-393	161	7	margins	margin	NOUN
alkej-393	161	8	at	at	ADP
alkej-393	161	9	this	this	DET
alkej-393	161	10	period	period	NOUN
alkej-393	161	11	is	be	AUX
alkej-393	161	12	showing	show	VERB
alkej-393	161	13	in	in	ADP
alkej-393	161	14	figure	figure	NOUN
alkej-393	161	15	(	(	PUNCT
alkej-393	161	16	8	8	NUM
alkej-393	161	17	-	-	PUNCT
alkej-393	161	18	b	b	NOUN
alkej-393	161	19	)	)	PUNCT
alkej-393	161	20	as	as	ADP
alkej-393	161	21	:	:	PUNCT
alkej-393	161	22	tuv	tuv	PROPN
alkej-393	161	23	�	�	PROPN
alkej-393	161	24	�	�	PROPN
alkej-393	161	25	=	=	SYM
alkej-393	161	26	�	�	PROPN
alkej-393	161	27	�	�	PROPN
alkej-393	161	28	w	w	NOUN
alkej-393	161	29	1	1	NUM
alkej-393	161	30	1	1	NUM
alkej-393	161	31	1	1	NUM
alkej-393	161	32	�	�	NOUN
alkej-393	161	33	&'x	&'x	PRON
alkej-393	161	34	�	�	NOUN
alkej-393	161	35	�	�	PROPN
alkej-393	161	36	�	�	PROPN
alkej-393	161	37	=	=	PROPN
alkej-393	161	38	&	&	CCONJ
alkej-393	161	39	'	'	CCONJ
alkej-393	161	40	x	x	PUNCT
alkej-393	161	41	=	=	X
alkej-393	161	42	�	�	X
alkej-393	161	43	=	=	SYM
alkej-393	161	44	y	y	PROPN
alkej-393	161	45	where	where	SCONJ
alkej-393	161	46	(	(	PUNCT
alkej-393	161	47	�	�	PROPN
alkej-393	161	48	&	&	CCONJ
alkej-393	161	49	'	'	CCONJ
alkej-393	161	50	x	x	INTJ
alkej-393	161	51	,	,	PUNCT
alkej-393	161	52	=	=	NOUN
alkej-393	161	53	&	&	CCONJ
alkej-393	161	54	'	'	CCONJ
alkej-393	161	55	x	x	X
alkej-393	161	56	)	)	PUNCT
alkej-393	161	57	is	be	AUX
alkej-393	161	58	the	the	DET
alkej-393	161	59	coordinate	coordinate	NOUN
alkej-393	161	60	of	of	ADP
alkej-393	161	61	the	the	DET
alkej-393	161	62	center	center	NOUN
alkej-393	161	63	of	of	ADP
alkej-393	161	64	gravity	gravity	NOUN
alkej-393	161	65	of	of	ADP
alkej-393	161	66	the	the	DET
alkej-393	161	67	quadruped	quadruped	NOUN
alkej-393	161	68	robot	robot	NOUN
alkej-393	161	69	on	on	ADP
alkej-393	161	70	the	the	DET
alkej-393	161	71	ground	ground	NOUN
alkej-393	161	72	.	.	PUNCT
alkej-393	162	1	(	(	PUNCT
alkej-393	162	2	�	�	PROPN
alkej-393	162	3	�	�	PROPN
alkej-393	162	4	,	,	PUNCT
alkej-393	162	5	=	=	NOUN
alkej-393	162	6	�	�	PROPN
alkej-393	162	7	)	)	PUNCT
alkej-393	162	8	is	be	AUX
alkej-393	162	9	the	the	DET
alkej-393	162	10	coordinate	coordinate	NOUN
alkej-393	162	11	of	of	ADP
alkej-393	162	12	leg1	leg1	NOUN
alkej-393	162	13	position	position	NOUN
alkej-393	162	14	.	.	PUNCT
alkej-393	163	1	(	(	PUNCT
alkej-393	163	2	�	�	PROPN
alkej-393	163	3	,	,	PUNCT
alkej-393	163	4	=	=	PUNCT
alkej-393	163	5	)	)	PUNCT
alkej-393	163	6	is	be	AUX
alkej-393	163	7	the	the	DET
alkej-393	163	8	coordinate	coordinate	NOUN
alkej-393	163	9	of	of	ADP
alkej-393	163	10	leg3	leg3	ADJ
alkej-393	163	11	position	position	NOUN
alkej-393	163	12	.	.	PUNCT
alkej-393	164	1	so	so	ADV
alkej-393	164	2	,	,	PUNCT
alkej-393	164	3	by	by	ADP
alkej-393	164	4	expanding	expand	VERB
alkej-393	164	5	and	and	CCONJ
alkej-393	164	6	simplify	simplify	VERB
alkej-393	164	7	this	this	DET
alkej-393	164	8	matrix	matrix	NOUN
alkej-393	164	9	tuv	tuv	PROPN
alkej-393	164	10	�	�	PROPN
alkej-393	164	11	�	�	PROPN
alkej-393	164	12	can	can	AUX
alkej-393	164	13	be	be	AUX
alkej-393	164	14	calculated	calculate	VERB
alkej-393	164	15	as	as	ADP
alkej-393	164	16	the	the	DET
alkej-393	164	17	following	following	NOUN
alkej-393	164	18	:	:	PUNCT
alkej-393	164	19	tuv	tuv	PROPN
alkej-393	164	20	�	�	PROPN
alkej-393	164	21	�	�	PROPN
alkej-393	164	22	=	=	SYM
alkej-393	164	23	�	�	PROPN
alkej-393	164	24	�	�	PROPN
alkej-393	164	25	[	[	SYM
alkej-393	164	26	\	\	PROPN
alkej-393	164	27	�	�	PROPN
alkej-393	164	28	�	�	PROPN
alkej-393	164	29	�	�	PROPN
alkej-393	164	30	�	�	PROPN
alkej-393	164	31	&	&	CCONJ
alkej-393	164	32	'	'	CCONJ
alkej-393	164	33	x]\=	x]\=	PROPN
alkej-393	164	34	�	�	PROPN
alkej-393	164	35	=	=	PROPN
alkej-393	164	36	&	&	CCONJ
alkej-393	164	37	'	'	CCONJ
alkej-393	164	38	x	x	X
alkej-393	164	39	]	]	X
alkej-393	164	40	�	�	PROPN
alkej-393	164	41	\	\	PROPN
alkej-393	164	42	�	�	PROPN
alkej-393	164	43	�	�	PROPN
alkej-393	164	44	�	�	PROPN
alkej-393	164	45	&	&	CCONJ
alkej-393	164	46	'	'	CCONJ
alkej-393	164	47	x]\=	x]\=	PROPN
alkej-393	164	48	�	�	PROPN
alkej-393	164	49	�	�	PROPN
alkej-393	164	50	=	=	PROPN
alkej-393	164	51	&	&	CCONJ
alkej-393	164	52	'	'	PUNCT
alkej-393	164	53	x]^	x]^	NOUN
alkej-393	165	1	e	e	X
alkej-393	165	2	�	�	X
alkej-393	165	3	=	=	SYM
alkej-393	165	4	_	_	ADJ
alkej-393	165	5	4	4	NUM
alkej-393	165	6	�	�	PROPN
alkej-393	165	7	�	�	PROPN
alkej-393	165	8	�	�	PROPN
alkej-393	165	9	�	�	PROPN
alkej-393	165	10	5	5	NUM
alkej-393	165	11	�	�	PROPN
alkej-393	165	12	�	�	PROPN
alkej-393	165	13	4=	4=	NUM
alkej-393	165	14	�	�	PROPN
alkej-393	165	15	�	�	PROPN
alkej-393	165	16	=	=	SYM
alkej-393	165	17	5	5	NUM
alkej-393	165	18	�	�	PROPN
alkej-393	165	19	�	�	PROPN
alkej-393	165	20	�	�	PROPN
alkej-393	165	21	=	=	SYM
alkej-393	165	22	2	2	NUM
alkej-393	165	23	∗	∗	NOUN
alkej-393	165	24	4`0,)ana	4`0,)ana	NUM
alkej-393	165	25	5	5	NUM
alkej-393	165	26	...	...	PUNCT
alkej-393	165	27	(	(	PUNCT
alkej-393	165	28	19	19	NUM
alkej-393	165	29	)	)	PUNCT
alkej-393	165	30	by	by	ADP
alkej-393	165	31	the	the	DET
alkej-393	165	32	same	same	ADJ
alkej-393	165	33	way	way	NOUN
alkej-393	165	34	,	,	PUNCT
alkej-393	165	35	tuv	tuv	PROPN
alkej-393	165	36	�	�	PROPN
alkej-393	165	37	�	�	PROPN
alkej-393	165	38	and	and	CCONJ
alkej-393	165	39	tuv	tuv	PROPN
alkej-393	165	40	�	�	PROPN
alkej-393	165	41	can	can	AUX
alkej-393	165	42	be	be	AUX
alkej-393	165	43	calculated	calculate	VERB
alkej-393	165	44	:	:	PUNCT
alkej-393	165	45	tuv	tuv	PROPN
alkej-393	165	46	�	�	PROPN
alkej-393	165	47	�	�	PROPN
alkej-393	165	48	=	=	SYM
alkej-393	165	49	�	�	PROPN
alkej-393	165	50	�	�	PROPN
alkej-393	165	51	[	[	SYM
alkej-393	165	52	\	\	PROPN
alkej-393	165	53	�	�	PROPN
alkej-393	165	54	�	�	PROPN
alkej-393	165	55	�	�	PROPN
alkej-393	165	56	�	�	PROPN
alkej-393	165	57	&	&	CCONJ
alkej-393	165	58	'	'	CCONJ
alkej-393	165	59	x]\=	x]\=	PROPN
alkej-393	165	60	�	�	PROPN
alkej-393	165	61	�	�	PROPN
alkej-393	165	62	=	=	PROPN
alkej-393	165	63	&	&	CCONJ
alkej-393	165	64	'	'	CCONJ
alkej-393	165	65	x	x	X
alkej-393	165	66	]	]	X
alkej-393	165	67	�	�	PROPN
alkej-393	165	68	\	\	PROPN
alkej-393	165	69	�	�	PROPN
alkej-393	165	70	�	�	PROPN
alkej-393	165	71	�	�	PROPN
alkej-393	165	72	�	�	PROPN
alkej-393	165	73	&	&	CCONJ
alkej-393	165	74	'	'	CCONJ
alkej-393	165	75	x]\=	x]\=	PROPN
alkej-393	165	76	�	�	PROPN
alkej-393	165	77	�	�	PROPN
alkej-393	165	78	=	=	PROPN
alkej-393	165	79	&	&	CCONJ
alkej-393	165	80	'	'	PUNCT
alkej-393	165	81	x]^	x]^	NOUN
alkej-393	166	1	e	e	X
alkej-393	166	2	�	�	X
alkej-393	166	3	=	=	SYM
alkej-393	167	1	_	_	ADJ
alkej-393	167	2	4	4	NUM
alkej-393	167	3	�	�	PROPN
alkej-393	167	4	�	�	PROPN
alkej-393	167	5	�	�	PROPN
alkej-393	167	6	�	�	PROPN
alkej-393	167	7	�	�	PROPN
alkej-393	167	8	5	5	NUM
alkej-393	167	9	�	�	PROPN
alkej-393	167	10	�	�	PROPN
alkej-393	167	11	4=	4=	NUM
alkej-393	167	12	�	�	PROPN
alkej-393	167	13	�	�	PROPN
alkej-393	167	14	=	=	SYM
alkej-393	167	15	�	�	PROPN
alkej-393	167	16	5	5	NUM
alkej-393	167	17	�	�	PROPN
alkej-393	167	18	�	�	PROPN
alkej-393	167	19	�	�	PROPN
alkej-393	167	20	=	=	SYM
alkej-393	167	21	2	2	NUM
alkej-393	167	22	∗	∗	NOUN
alkej-393	167	23	4`0,)gng	4`0,)gng	NUM
alkej-393	167	24	5	5	NUM
alkej-393	167	25	...	...	PUNCT
alkej-393	167	26	(	(	PUNCT
alkej-393	167	27	20	20	NUM
alkej-393	167	28	)	)	PUNCT
alkej-393	167	29	tuv	tuv	PROPN
alkej-393	167	30	�	�	PROPN
alkej-393	167	31	=	=	SYM
alkej-393	167	32	�	�	PROPN
alkej-393	167	33	�	�	PROPN
alkej-393	167	34	[	[	SYM
alkej-393	167	35	\	\	PROPN
alkej-393	167	36	�	�	PROPN
alkej-393	167	37	�	�	PROPN
alkej-393	167	38	�	�	PROPN
alkej-393	167	39	�	�	PROPN
alkej-393	167	40	&	&	CCONJ
alkej-393	167	41	'	'	CCONJ
alkej-393	167	42	x]\=	x]\=	PROPN
alkej-393	167	43	�	�	PROPN
alkej-393	167	44	=	=	PROPN
alkej-393	167	45	&	&	CCONJ
alkej-393	167	46	'	'	CCONJ
alkej-393	167	47	x	x	X
alkej-393	167	48	]	]	X
alkej-393	167	49	�	�	PROPN
alkej-393	167	50	\	\	PROPN
alkej-393	167	51	�	�	PROPN
alkej-393	167	52	�	�	PROPN
alkej-393	167	53	�	�	PROPN
alkej-393	167	54	&	&	CCONJ
alkej-393	167	55	'	'	CCONJ
alkej-393	167	56	x]\=	x]\=	PROPN
alkej-393	167	57	�	�	PROPN
alkej-393	167	58	�	�	PROPN
alkej-393	167	59	=	=	PROPN
alkej-393	167	60	&	&	CCONJ
alkej-393	167	61	'	'	CCONJ
alkej-393	167	62	x	x	X
alkej-393	167	63	]	]	X
alkej-393	167	64	̂	̂	PUNCT
alkej-393	167	65	e	e	NOUN
alkej-393	167	66	�	�	X
alkej-393	167	67	=	=	SYM
alkej-393	168	1	_	_	ADJ
alkej-393	168	2	4	4	NUM
alkej-393	168	3	�	�	PROPN
alkej-393	168	4	�	�	PROPN
alkej-393	168	5	�	�	PROPN
alkej-393	168	6	�	�	PROPN
alkej-393	168	7	5	5	NUM
alkej-393	168	8	�	�	PROPN
alkej-393	168	9	�	�	PROPN
alkej-393	168	10	4=	4=	NUM
alkej-393	168	11	�	�	PROPN
alkej-393	168	12	�	�	PROPN
alkej-393	168	13	=	=	SYM
alkej-393	168	14	5	5	NUM
alkej-393	168	15	�	�	PROPN
alkej-393	168	16	�	�	PROPN
alkej-393	168	17	=	=	SYM
alkej-393	168	18	2	2	NUM
alkej-393	168	19	∗	∗	NOUN
alkej-393	168	20	4`0,)bnb	4`0,)bnb	NUM
alkej-393	168	21	5	5	NUM
alkej-393	168	22	…	…	PUNCT
alkej-393	168	23	(	(	PUNCT
alkej-393	168	24	21	21	NUM
alkej-393	168	25	)	)	PUNCT
alkej-393	168	26	finally	finally	ADV
alkej-393	168	27	,	,	PUNCT
alkej-393	168	28	the	the	DET
alkej-393	168	29	first	first	ADJ
alkej-393	168	30	stability	stability	NOUN
alkej-393	168	31	margin	margin	NOUN
alkej-393	168	32	�	�	PROPN
alkej-393	168	33	c	c	NOUN
alkej-393	168	34	�	�	PROPN
alkej-393	168	35	is	be	AUX
alkej-393	168	36	the	the	DET
alkej-393	168	37	minimum	minimum	NOUN
alkej-393	168	38	of	of	ADP
alkej-393	168	39	these	these	DET
alkej-393	168	40	three	three	NUM
alkej-393	168	41	margins	margin	NOUN
alkej-393	168	42	:	:	PUNCT
alkej-393	168	43	�	�	PROPN
alkej-393	168	44	c	c	NOUN
alkej-393	168	45	�	�	PROPN
alkej-393	168	46	=	=	SYM
alkej-393	168	47	c	c	PROPN
alkej-393	168	48	�	�	PROPN
alkej-393	168	49	�	�	PROPN
alkej-393	168	50	4	4	NUM
alkej-393	168	51	�	�	PROPN
alkej-393	168	52	�	�	PROPN
alkej-393	168	53	,	,	PUNCT
alkej-393	168	54	�	�	PROPN
alkej-393	168	55	�	�	PROPN
alkej-393	168	56	,	,	PUNCT
alkej-393	168	57	�	�	PROPN
alkej-393	168	58	5	5	NUM
alkej-393	168	59	…	…	PUNCT
alkej-393	168	60	(	(	PUNCT
alkej-393	168	61	22	22	NUM
alkej-393	168	62	)	)	PUNCT
alkej-393	168	63	according	accord	VERB
alkej-393	168	64	to	to	ADP
alkej-393	168	65	the	the	DET
alkej-393	168	66	quadruped	quadruped	NOUN
alkej-393	168	67	robot	robot	NOUN
alkej-393	168	68	creeping	creep	VERB
alkej-393	168	69	gait	gait	PROPN
alkej-393	168	70	sequence	sequence	NOUN
alkej-393	168	71	,	,	PUNCT
alkej-393	168	72	the	the	DET
alkej-393	168	73	robot	robot	NOUN
alkej-393	168	74	swinging	swinge	VERB
alkej-393	168	75	leg	leg	NOUN
alkej-393	168	76	2	2	NUM
alkej-393	168	77	while	while	SCONJ
alkej-393	168	78	the	the	DET
alkej-393	168	79	other	other	ADJ
alkej-393	168	80	legs	leg	NOUN
alkej-393	168	81	(	(	PUNCT
alkej-393	168	82	leg1	leg1	NOUN
alkej-393	168	83	,	,	PUNCT
alkej-393	168	84	leg3	leg3	ADJ
alkej-393	168	85	,	,	PUNCT
alkej-393	168	86	and	and	CCONJ
alkej-393	168	87	leg4	leg4	NOUN
alkej-393	168	88	)	)	PUNCT
alkej-393	168	89	are	be	AUX
alkej-393	168	90	on	on	ADP
alkej-393	168	91	the	the	DET
alkej-393	168	92	ground	ground	NOUN
alkej-393	168	93	,	,	PUNCT
alkej-393	168	94	�	�	PROPN
alkej-393	168	95	c	c	NOUN
alkej-393	168	96	�	�	PROPN
alkej-393	168	97	can	can	AUX
alkej-393	168	98	be	be	AUX
alkej-393	168	99	found	find	VERB
alkej-393	168	100	as	as	ADP
alkej-393	168	101	the	the	DET
alkej-393	168	102	following	follow	VERB
alkej-393	168	103	(	(	PUNCT
alkej-393	168	104	a	a	PRON
alkej-393	168	105	)	)	PUNCT
alkej-393	168	106	firas	firas	PROPN
alkej-393	168	107	a.	a.	PROPN
alkej-393	168	108	raheem	raheem	PROPN
alkej-393	168	109	al	al	PROPN
alkej-393	168	110	-	-	PUNCT
alkej-393	168	111	khwarizmi	khwarizmi	PROPN
alkej-393	168	112	engineering	engineering	NOUN
alkej-393	168	113	journal	journal	PROPN
alkej-393	168	114	,	,	PUNCT
alkej-393	168	115	vol	vol	NOUN
alkej-393	168	116	.	.	PROPN
alkej-393	168	117	14	14	NUM
alkej-393	168	118	,	,	PUNCT
alkej-393	168	119	no	no	INTJ
alkej-393	168	120	.	.	NOUN
alkej-393	168	121	2	2	NUM
alkej-393	168	122	,	,	PUNCT
alkej-393	168	123	p.p	p.p	PROPN
alkej-393	168	124	.	.	NOUN
alkej-393	168	125	93106	93106	NUM
alkej-393	168	126	(	(	PUNCT
alkej-393	168	127	2018	2018	NUM
alkej-393	168	128	)	)	PUNCT
alkej-393	168	129	100	100	NUM
alkej-393	168	130	(	(	PUNCT
alkej-393	168	131	b	b	NOUN
alkej-393	168	132	)	)	PUNCT
alkej-393	168	133	fig	fig	NOUN
alkej-393	168	134	.	.	PUNCT
alkej-393	169	1	9	9	NUM
alkej-393	169	2	.	.	X
alkej-393	169	3	quadruped	quadrupe	VERB
alkej-393	169	4	robot	robot	NOUN
alkej-393	169	5	when	when	SCONJ
alkej-393	169	6	leg2	leg2	NOUN
alkej-393	169	7	is	be	AUX
alkej-393	169	8	swinging	swinge	VERB
alkej-393	169	9	(	(	PUNCT
alkej-393	169	10	a	a	DET
alkej-393	169	11	)	)	PUNCT
alkej-393	169	12	quadruped	quadruped	NOUN
alkej-393	169	13	robot	robot	NOUN
alkej-393	169	14	3d	3d	PROPN
alkej-393	169	15	view	view	NOUN
alkej-393	169	16	(	(	PUNCT
alkej-393	169	17	b	b	NOUN
alkej-393	169	18	)	)	PUNCT
alkej-393	169	19	quadruped	quadruped	NOUN
alkej-393	169	20	support	support	NOUN
alkej-393	169	21	triangle	triangle	NOUN
alkej-393	169	22	.	.	PUNCT
alkej-393	170	1	the	the	DET
alkej-393	170	2	second	second	ADJ
alkej-393	170	3	case	case	NOUN
alkej-393	170	4	,	,	PUNCT
alkej-393	170	5	showing	show	VERB
alkej-393	170	6	in	in	ADP
alkej-393	170	7	figure	figure	NOUN
alkej-393	170	8	(	(	PUNCT
alkej-393	170	9	9	9	NUM
alkej-393	170	10	-	-	PUNCT
alkej-393	170	11	a	a	NOUN
alkej-393	170	12	)	)	PUNCT
alkej-393	170	13	when	when	SCONJ
alkej-393	170	14	the	the	DET
alkej-393	170	15	leg2	leg2	NOUN
alkej-393	170	16	is	be	AUX
alkej-393	170	17	swinging	swinge	VERB
alkej-393	170	18	in	in	ADP
alkej-393	170	19	the	the	DET
alkej-393	170	20	air	air	NOUN
alkej-393	170	21	and	and	CCONJ
alkej-393	170	22	the	the	DET
alkej-393	170	23	other	other	ADJ
alkej-393	170	24	legs	leg	NOUN
alkej-393	170	25	(	(	PUNCT
alkej-393	170	26	1	1	NUM
alkej-393	170	27	,	,	PUNCT
alkej-393	170	28	3	3	NUM
alkej-393	170	29	,	,	PUNCT
alkej-393	170	30	and	and	CCONJ
alkej-393	170	31	4	4	X
alkej-393	170	32	)	)	PUNCT
alkej-393	170	33	will	will	AUX
alkej-393	170	34	be	be	AUX
alkej-393	170	35	on	on	ADP
alkej-393	170	36	the	the	DET
alkej-393	170	37	ground	ground	NOUN
alkej-393	170	38	.	.	PUNCT
alkej-393	171	1	then	then	ADV
alkej-393	171	2	the	the	DET
alkej-393	171	3	analysis	analysis	NOUN
alkej-393	171	4	of	of	ADP
alkej-393	171	5	the	the	DET
alkej-393	171	6	stability	stability	NOUN
alkej-393	171	7	margins	margin	NOUN
alkej-393	171	8	at	at	ADP
alkej-393	171	9	this	this	DET
alkej-393	171	10	period	period	NOUN
alkej-393	171	11	is	be	AUX
alkej-393	171	12	showing	show	VERB
alkej-393	171	13	in	in	ADP
alkej-393	171	14	figure	figure	NOUN
alkej-393	171	15	(	(	PUNCT
alkej-393	171	16	9	9	NUM
alkej-393	171	17	-	-	PUNCT
alkej-393	171	18	b	b	NOUN
alkej-393	171	19	)	)	PUNCT
alkej-393	171	20	as	as	ADP
alkej-393	171	21	:	:	PUNCT
alkej-393	171	22	tuv	tuv	PROPN
alkej-393	171	23	�	�	PROPN
alkej-393	171	24	�	�	PROPN
alkej-393	171	25	=	=	SYM
alkej-393	171	26	�	�	PROPN
alkej-393	171	27	�	�	PROPN
alkej-393	171	28	[	[	SYM
alkej-393	171	29	\	\	PROPN
alkej-393	171	30	�	�	PROPN
alkej-393	171	31	�	�	PROPN
alkej-393	171	32	�	�	PROPN
alkej-393	171	33	�	�	PROPN
alkej-393	171	34	&	&	CCONJ
alkej-393	171	35	'	'	CCONJ
alkej-393	172	1	x]\=	x]\=	PROPN
alkej-393	172	2	�	�	PROPN
alkej-393	172	3	=	=	PROPN
alkej-393	172	4	&	&	CCONJ
alkej-393	172	5	'	'	CCONJ
alkej-393	172	6	x	x	X
alkej-393	172	7	]	]	X
alkej-393	172	8	�	�	PROPN
alkej-393	172	9	\	\	PROPN
alkej-393	172	10	�	�	PROPN
alkej-393	172	11	�	�	PROPN
alkej-393	172	12	�	�	PROPN
alkej-393	172	13	&	&	CCONJ
alkej-393	172	14	'	'	CCONJ
alkej-393	172	15	x]\=	x]\=	PROPN
alkej-393	172	16	�	�	PROPN
alkej-393	172	17	�	�	PROPN
alkej-393	172	18	=	=	PROPN
alkej-393	172	19	&	&	CCONJ
alkej-393	172	20	'	'	PUNCT
alkej-393	172	21	x]^	x]^	NOUN
alkej-393	173	1	e	e	X
alkej-393	173	2	�	�	X
alkej-393	173	3	=	=	SYM
alkej-393	173	4	_	_	ADJ
alkej-393	173	5	4	4	NUM
alkej-393	173	6	�	�	PROPN
alkej-393	173	7	�	�	PROPN
alkej-393	173	8	�	�	PROPN
alkej-393	173	9	�	�	PROPN
alkej-393	173	10	5	5	NUM
alkej-393	173	11	�	�	PROPN
alkej-393	173	12	�	�	PROPN
alkej-393	173	13	4=	4=	NUM
alkej-393	173	14	�	�	PROPN
alkej-393	173	15	�	�	PROPN
alkej-393	173	16	=	=	SYM
alkej-393	173	17	5	5	NUM
alkej-393	173	18	�	�	PROPN
alkej-393	173	19	�	�	PROPN
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alkej-393	173	21	=	=	SYM
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alkej-393	173	23	∗	∗	NOUN
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alkej-393	173	25	5	5	NUM
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alkej-393	173	48	=	=	SYM
alkej-393	173	49	�	�	PROPN
alkej-393	173	50	�	�	PROPN
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alkej-393	173	52	\	\	PROPN
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alkej-393	173	56	�	�	PROPN
alkej-393	173	57	&	&	CCONJ
alkej-393	173	58	'	'	CCONJ
alkej-393	173	59	x]\=	x]\=	PROPN
alkej-393	173	60	�	�	PROPN
alkej-393	173	61	=	=	PROPN
alkej-393	173	62	&	&	CCONJ
alkej-393	173	63	'	'	CCONJ
alkej-393	173	64	x	x	X
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alkej-393	173	66	�	�	PROPN
alkej-393	173	67	\	\	PROPN
alkej-393	173	68	�	�	PROPN
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alkej-393	173	71	&	&	CCONJ
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alkej-393	173	73	x]\=	x]\=	PROPN
alkej-393	173	74	�	�	PROPN
alkej-393	173	75	�	�	PROPN
alkej-393	173	76	=	=	PROPN
alkej-393	173	77	&	&	CCONJ
alkej-393	173	78	'	'	PUNCT
alkej-393	173	79	x]^	x]^	NOUN
alkej-393	174	1	e	e	X
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alkej-393	174	3	=	=	SYM
alkej-393	175	1	_	_	ADJ
alkej-393	175	2	4	4	NUM
alkej-393	175	3	�	�	PROPN
alkej-393	175	4	�	�	PROPN
alkej-393	175	5	�	�	PROPN
alkej-393	175	6	�	�	PROPN
alkej-393	175	7	5	5	NUM
alkej-393	175	8	�	�	PROPN
alkej-393	175	9	�	�	PROPN
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alkej-393	175	11	�	�	PROPN
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alkej-393	175	13	=	=	SYM
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alkej-393	175	15	�	�	PROPN
alkej-393	175	16	�	�	PROPN
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alkej-393	175	18	=	=	SYM
alkej-393	175	19	2	2	NUM
alkej-393	175	20	∗	∗	NOUN
alkej-393	175	21	4`0,)gng	4`0,)gng	NUM
alkej-393	175	22	5	5	NUM
alkej-393	175	23	…	…	PUNCT
alkej-393	175	24	(	(	PUNCT
alkej-393	175	25	24	24	NUM
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alkej-393	175	27	tuv	tuv	PROPN
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alkej-393	175	30	�	�	PROPN
alkej-393	175	31	�	�	PROPN
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alkej-393	175	33	\	\	PROPN
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alkej-393	175	36	�	�	PROPN
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alkej-393	175	39	x]\=	x]\=	PROPN
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alkej-393	175	41	=	=	PROPN
alkej-393	175	42	&	&	CCONJ
alkej-393	175	43	'	'	CCONJ
alkej-393	175	44	x	x	X
alkej-393	175	45	]	]	X
alkej-393	175	46	�	�	PROPN
alkej-393	175	47	\	\	PROPN
alkej-393	175	48	�	�	PROPN
alkej-393	175	49	�	�	PROPN
alkej-393	175	50	�	�	PROPN
alkej-393	175	51	&	&	CCONJ
alkej-393	175	52	'	'	CCONJ
alkej-393	175	53	x]\=	x]\=	PROPN
alkej-393	175	54	�	�	PROPN
alkej-393	175	55	=	=	PROPN
alkej-393	175	56	&	&	CCONJ
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alkej-393	175	58	x]^	x]^	NOUN
alkej-393	176	1	e	e	X
alkej-393	176	2	�	�	X
alkej-393	176	3	=	=	SYM
alkej-393	176	4	_	_	PRON
alkej-393	176	5	4	4	NUM
alkej-393	176	6	�	�	PROPN
alkej-393	176	7	�	�	PROPN
alkej-393	176	8	�	�	PROPN
alkej-393	176	9	5	5	NUM
alkej-393	176	10	�	�	PROPN
alkej-393	176	11	�	�	PROPN
alkej-393	176	12	4=	4=	NUM
alkej-393	176	13	�	�	PROPN
alkej-393	176	14	=	=	SYM
alkej-393	176	15	5	5	NUM
alkej-393	176	16	�	�	PROPN
alkej-393	176	17	�	�	PROPN
alkej-393	176	18	=	=	SYM
alkej-393	176	19	2	2	NUM
alkej-393	176	20	∗	∗	NOUN
alkej-393	176	21	4`0,)bnb	4`0,)bnb	NUM
alkej-393	176	22	5	5	NUM
alkej-393	176	23	…	…	PUNCT
alkej-393	176	24	(	(	PUNCT
alkej-393	176	25	25	25	NUM
alkej-393	176	26	)	)	PUNCT
alkej-393	176	27	finally	finally	ADV
alkej-393	176	28	,	,	PUNCT
alkej-393	176	29	the	the	DET
alkej-393	176	30	second	second	ADJ
alkej-393	176	31	stability	stability	NOUN
alkej-393	176	32	margin	margin	NOUN
alkej-393	176	33	�	�	PROPN
alkej-393	176	34	c	c	NOUN
alkej-393	176	35	�	�	PROPN
alkej-393	176	36	is	be	AUX
alkej-393	176	37	the	the	DET
alkej-393	176	38	minimum	minimum	NOUN
alkej-393	176	39	of	of	ADP
alkej-393	176	40	these	these	DET
alkej-393	176	41	three	three	NUM
alkej-393	176	42	margins	margin	NOUN
alkej-393	176	43	:	:	PUNCT
alkej-393	176	44	�	�	PROPN
alkej-393	176	45	c	c	NOUN
alkej-393	176	46	�	�	PROPN
alkej-393	176	47	=	=	SYM
alkej-393	176	48	min	min	PROPN
alkej-393	176	49	4	4	NUM
alkej-393	176	50	�	�	PROPN
alkej-393	176	51	�	�	PROPN
alkej-393	176	52	,	,	PUNCT
alkej-393	176	53	�	�	PROPN
alkej-393	176	54	�	�	PROPN
alkej-393	176	55	,	,	PUNCT
alkej-393	176	56	�	�	PROPN
alkej-393	176	57	5	5	NUM
alkej-393	176	58	…	…	PUNCT
alkej-393	176	59	(	(	PUNCT
alkej-393	176	60	26	26	NUM
alkej-393	176	61	)	)	PUNCT
alkej-393	176	62	according	accord	VERB
alkej-393	176	63	to	to	ADP
alkej-393	176	64	the	the	DET
alkej-393	176	65	quadruped	quadruped	NOUN
alkej-393	176	66	robot	robot	NOUN
alkej-393	176	67	creeping	creep	VERB
alkej-393	176	68	gait	gait	PROPN
alkej-393	176	69	sequence	sequence	NOUN
alkej-393	176	70	,	,	PUNCT
alkej-393	176	71	the	the	DET
alkej-393	176	72	robot	robot	NOUN
alkej-393	176	73	swinging	swinge	VERB
alkej-393	176	74	leg	leg	NOUN
alkej-393	176	75	3	3	NUM
alkej-393	176	76	and	and	CCONJ
alkej-393	176	77	the	the	DET
alkej-393	176	78	other	other	ADJ
alkej-393	176	79	legs	leg	NOUN
alkej-393	176	80	(	(	PUNCT
alkej-393	176	81	leg1	leg1	NOUN
alkej-393	176	82	,	,	PUNCT
alkej-393	176	83	leg2	leg2	PROPN
alkej-393	176	84	,	,	PUNCT
alkej-393	176	85	and	and	CCONJ
alkej-393	176	86	leg4	leg4	NOUN
alkej-393	176	87	)	)	PUNCT
alkej-393	176	88	are	be	AUX
alkej-393	176	89	on	on	ADP
alkej-393	176	90	the	the	DET
alkej-393	176	91	ground	ground	NOUN
alkej-393	176	92	,	,	PUNCT
alkej-393	176	93	the	the	DET
alkej-393	176	94	�	�	PROPN
alkej-393	176	95	c	c	PROPN
alkej-393	176	96	can	can	AUX
alkej-393	176	97	be	be	AUX
alkej-393	176	98	found	find	VERB
alkej-393	176	99	as	as	ADP
alkej-393	176	100	the	the	DET
alkej-393	176	101	following	follow	VERB
alkej-393	176	102	(	(	PUNCT
alkej-393	176	103	a	a	NOUN
alkej-393	176	104	)	)	PUNCT
alkej-393	176	105	(	(	PUNCT
alkej-393	176	106	b	b	X
alkej-393	176	107	)	)	PUNCT
alkej-393	176	108	fig	fig	NOUN
alkej-393	176	109	.	.	PUNCT
alkej-393	177	1	10	10	NUM
alkej-393	177	2	.	.	PUNCT
alkej-393	177	3	quadruped	quadrupe	VERB
alkej-393	177	4	robot	robot	NOUN
alkej-393	177	5	when	when	SCONJ
alkej-393	177	6	leg3	leg3	PROPN
alkej-393	177	7	is	be	AUX
alkej-393	177	8	swinging	swinge	VERB
alkej-393	177	9	(	(	PUNCT
alkej-393	177	10	a	a	DET
alkej-393	177	11	)	)	PUNCT
alkej-393	177	12	quadruped	quadruped	NOUN
alkej-393	177	13	robot	robot	NOUN
alkej-393	177	14	3d	3d	PROPN
alkej-393	177	15	view	view	NOUN
alkej-393	177	16	(	(	PUNCT
alkej-393	177	17	b	b	NOUN
alkej-393	177	18	)	)	PUNCT
alkej-393	177	19	quadruped	quadruped	NOUN
alkej-393	177	20	support	support	NOUN
alkej-393	177	21	triangle	triangle	NOUN
alkej-393	177	22	.	.	PUNCT
alkej-393	178	1	the	the	DET
alkej-393	178	2	third	third	ADJ
alkej-393	178	3	case	case	NOUN
alkej-393	178	4	,	,	PUNCT
alkej-393	178	5	showing	show	VERB
alkej-393	178	6	in	in	ADP
alkej-393	178	7	figure	figure	NOUN
alkej-393	178	8	(	(	PUNCT
alkej-393	178	9	10	10	NUM
alkej-393	178	10	-	-	PUNCT
alkej-393	178	11	a	a	NOUN
alkej-393	178	12	)	)	PUNCT
alkej-393	178	13	when	when	SCONJ
alkej-393	178	14	the	the	DET
alkej-393	178	15	leg3	leg3	NOUN
alkej-393	178	16	is	be	AUX
alkej-393	178	17	swinging	swinge	VERB
alkej-393	178	18	in	in	ADP
alkej-393	178	19	the	the	DET
alkej-393	178	20	air	air	NOUN
alkej-393	178	21	and	and	CCONJ
alkej-393	178	22	the	the	DET
alkej-393	178	23	other	other	ADJ
alkej-393	178	24	legs	leg	NOUN
alkej-393	178	25	(	(	PUNCT
alkej-393	178	26	1	1	NUM
alkej-393	178	27	,	,	PUNCT
alkej-393	178	28	2	2	NUM
alkej-393	178	29	,	,	PUNCT
alkej-393	178	30	and	and	CCONJ
alkej-393	178	31	4	4	X
alkej-393	178	32	)	)	PUNCT
alkej-393	178	33	will	will	AUX
alkej-393	178	34	be	be	AUX
alkej-393	178	35	on	on	ADP
alkej-393	178	36	the	the	DET
alkej-393	178	37	ground	ground	NOUN
alkej-393	178	38	.	.	PUNCT
alkej-393	179	1	then	then	ADV
alkej-393	179	2	the	the	DET
alkej-393	179	3	analysis	analysis	NOUN
alkej-393	179	4	of	of	ADP
alkej-393	179	5	the	the	DET
alkej-393	179	6	stability	stability	NOUN
alkej-393	179	7	margins	margin	NOUN
alkej-393	179	8	at	at	ADP
alkej-393	179	9	this	this	DET
alkej-393	179	10	period	period	NOUN
alkej-393	179	11	is	be	AUX
alkej-393	179	12	showing	show	VERB
alkej-393	179	13	in	in	ADP
alkej-393	179	14	figure	figure	NOUN
alkej-393	179	15	(	(	PUNCT
alkej-393	179	16	10	10	NUM
alkej-393	179	17	-	-	PUNCT
alkej-393	179	18	b	b	NOUN
alkej-393	179	19	)	)	PUNCT
alkej-393	179	20	as	as	ADP
alkej-393	179	21	:	:	PUNCT
alkej-393	179	22	area	area	NOUN
alkej-393	179	23	�	�	PROPN
alkej-393	179	24	=	=	SYM
alkej-393	179	25	�	�	PROPN
alkej-393	179	26	�	�	PROPN
alkej-393	179	27	h4x	h4x	PROPN
alkej-393	179	28	�	�	PROPN
alkej-393	179	29	�	�	PROPN
alkej-393	179	30	xjkl	xjkl	PROPN
alkej-393	179	31	54y	54y	NUM
alkej-393	179	32	�	�	PROPN
alkej-393	179	33	�	�	PROPN
alkej-393	179	34	yjkl	yjkl	PROPN
alkej-393	179	35	5	5	NUM
alkej-393	179	36	�	�	PROPN
alkej-393	179	37	4x	4x	NUM
alkej-393	179	38	�	�	PROPN
alkej-393	179	39	�	�	PROPN
alkej-393	179	40	xjkl	xjkl	PROPN
alkej-393	179	41	54y	54y	NUM
alkej-393	179	42	�	�	PROPN
alkej-393	179	43	�	�	PROPN
alkej-393	179	44	yjkl	yjkl	PROPN
alkej-393	179	45	5n	5n	NUM
alkej-393	179	46	l	l	X
alkej-393	179	47	�	�	X
alkej-393	179	48	=	=	SYM
alkej-393	179	49	_	_	PROPN
alkej-393	179	50	4x	4x	NUM
alkej-393	179	51	�	�	PROPN
alkej-393	179	52	�	�	PROPN
alkej-393	179	53	x	x	SYM
alkej-393	179	54	�	�	PROPN
alkej-393	179	55	5	5	NUM
alkej-393	179	56	�	�	PROPN
alkej-393	179	57	�	�	PROPN
alkej-393	179	58	4y	4y	NUM
alkej-393	179	59	�	�	PROPN
alkej-393	179	60	�	�	PROPN
alkej-393	179	61	y	y	PROPN
alkej-393	179	62	�	�	PROPN
alkej-393	179	63	5	5	NUM
alkej-393	179	64	�	�	PROPN
alkej-393	179	65	t	t	PROPN
alkej-393	179	66	�	�	PROPN
alkej-393	179	67	=	=	SYM
alkej-393	179	68	2	2	NUM
alkej-393	179	69	∗	∗	NOUN
alkej-393	179	70	4qrstaua	4qrstaua	NUM
alkej-393	179	71	5	5	NUM
alkej-393	179	72	…	…	PUNCT
alkej-393	179	73	(	(	PUNCT
alkej-393	179	74	27	27	NUM
alkej-393	179	75	)	)	PUNCT
alkej-393	179	76	by	by	ADP
alkej-393	179	77	the	the	DET
alkej-393	179	78	same	same	ADJ
alkej-393	179	79	way	way	NOUN
alkej-393	179	80	,	,	PUNCT
alkej-393	179	81	tuv	tuv	PROPN
alkej-393	179	82	�	�	PROPN
alkej-393	179	83	�	�	PROPN
alkej-393	179	84	and	and	CCONJ
alkej-393	179	85	tuv	tuv	PROPN
alkej-393	179	86	�	�	PROPN
alkej-393	179	87	can	can	AUX
alkej-393	179	88	be	be	AUX
alkej-393	179	89	calculated	calculate	VERB
alkej-393	179	90	:	:	PUNCT
alkej-393	179	91	area	area	NOUN
alkej-393	179	92	�	�	PROPN
alkej-393	179	93	=	=	SYM
alkej-393	179	94	�	�	PROPN
alkej-393	179	95	�	�	PROPN
alkej-393	179	96	h4x	h4x	PROPN
alkej-393	179	97	�	�	PROPN
alkej-393	179	98	�	�	PROPN
alkej-393	179	99	xjkl	xjkl	PROPN
alkej-393	179	100	54y	54y	PROPN
alkej-393	179	101	�	�	PROPN
alkej-393	179	102	yjkl	yjkl	PROPN
alkej-393	179	103	5	5	NUM
alkej-393	179	104	�	�	PROPN
alkej-393	179	105	4x	4x	PROPN
alkej-393	179	106	�	�	PROPN
alkej-393	179	107	xjkl	xjkl	PROPN
alkej-393	179	108	54y	54y	NUM
alkej-393	179	109	�	�	PROPN
alkej-393	179	110	�	�	PROPN
alkej-393	180	1	yjkl	yjkl	PROPN
alkej-393	180	2	5n	5n	NUM
alkej-393	180	3	l	l	X
alkej-393	180	4	�	�	X
alkej-393	180	5	=	=	SYM
alkej-393	180	6	_	_	PROPN
alkej-393	180	7	4x	4x	NUM
alkej-393	180	8	�	�	PROPN
alkej-393	180	9	�	�	PROPN
alkej-393	180	10	x	x	PROPN
alkej-393	180	11	5	5	NUM
alkej-393	180	12	�	�	PROPN
alkej-393	180	13	�	�	PROPN
alkej-393	180	14	4y	4y	PROPN
alkej-393	180	15	�	�	PROPN
alkej-393	180	16	�	�	PROPN
alkej-393	180	17	y	y	PROPN
alkej-393	180	18	5	5	NUM
alkej-393	180	19	�	�	PROPN
alkej-393	180	20	t	t	PROPN
alkej-393	180	21	�	�	PROPN
alkej-393	180	22	=	=	SYM
alkej-393	180	23	2	2	NUM
alkej-393	180	24	∗	∗	NOUN
alkej-393	180	25	4qrstgug	4qrstgug	NUM
alkej-393	180	26	5	5	NUM
alkej-393	180	27	…	…	PUNCT
alkej-393	180	28	(	(	PUNCT
alkej-393	180	29	28	28	NUM
alkej-393	180	30	)	)	PUNCT
alkej-393	180	31	area	area	NOUN
alkej-393	180	32	=	=	SYM
alkej-393	180	33	�	�	PROPN
alkej-393	180	34	�	�	PROPN
alkej-393	180	35	h4x	h4x	PROPN
alkej-393	180	36	�	�	PROPN
alkej-393	180	37	�	�	PROPN
alkej-393	180	38	xjkl	xjkl	PROPN
alkej-393	180	39	54y	54y	PROPN
alkej-393	180	40	�	�	PROPN
alkej-393	180	41	yjkl	yjkl	PROPN
alkej-393	180	42	5	5	NUM
alkej-393	180	43	�	�	PROPN
alkej-393	180	44	4x	4x	PROPN
alkej-393	180	45	�	�	PROPN
alkej-393	180	46	xjkl	xjkl	PROPN
alkej-393	180	47	54y	54y	NUM
alkej-393	180	48	�	�	PROPN
alkej-393	180	49	�	�	PROPN
alkej-393	180	50	yjkl	yjkl	PROPN
alkej-393	180	51	5n	5n	NUM
alkej-393	180	52	l	l	NOUN
alkej-393	180	53	=	=	PUNCT
alkej-393	181	1	_	_	PUNCT
alkej-393	181	2	4x	4x	NUM
alkej-393	181	3	�	�	PROPN
alkej-393	181	4	�	�	PROPN
alkej-393	181	5	x	x	PROPN
alkej-393	181	6	5	5	NUM
alkej-393	181	7	�	�	PROPN
alkej-393	181	8	�	�	PROPN
alkej-393	181	9	4y	4y	PROPN
alkej-393	181	10	�	�	PROPN
alkej-393	181	11	�	�	PROPN
alkej-393	181	12	y	y	PROPN
alkej-393	181	13	5	5	NUM
alkej-393	181	14	�	�	PROPN
alkej-393	181	15	t	t	NOUN
alkej-393	181	16	=	=	SYM
alkej-393	181	17	2	2	NUM
alkej-393	181	18	∗	∗	NOUN
alkej-393	181	19	4qrstbub	4qrstbub	NUM
alkej-393	181	20	5	5	NUM
alkej-393	181	21	…	…	PUNCT
alkej-393	181	22	(	(	PUNCT
alkej-393	181	23	29	29	NUM
alkej-393	181	24	)	)	PUNCT
alkej-393	181	25	firas	firas	PROPN
alkej-393	181	26	a.	a.	PROPN
alkej-393	181	27	raheem	raheem	PROPN
alkej-393	181	28	al	al	PROPN
alkej-393	181	29	-	-	PUNCT
alkej-393	181	30	khwarizmi	khwarizmi	PROPN
alkej-393	181	31	engineering	engineering	NOUN
alkej-393	181	32	journal	journal	PROPN
alkej-393	181	33	,	,	PUNCT
alkej-393	181	34	vol	vol	NOUN
alkej-393	181	35	.	.	PROPN
alkej-393	181	36	14	14	NUM
alkej-393	181	37	,	,	PUNCT
alkej-393	181	38	no	no	INTJ
alkej-393	181	39	.	.	NOUN
alkej-393	181	40	2	2	NUM
alkej-393	181	41	,	,	PUNCT
alkej-393	181	42	p.p	p.p	PROPN
alkej-393	181	43	.	.	NOUN
alkej-393	181	44	93106	93106	NUM
alkej-393	181	45	(	(	PUNCT
alkej-393	181	46	2018	2018	NUM
alkej-393	181	47	)	)	PUNCT
alkej-393	181	48	101	101	NUM
alkej-393	181	49	finally	finally	ADV
alkej-393	181	50	,	,	PUNCT
alkej-393	181	51	the	the	DET
alkej-393	181	52	third	third	ADJ
alkej-393	181	53	stability	stability	NOUN
alkej-393	181	54	margin	margin	NOUN
alkej-393	181	55	�	�	PROPN
alkej-393	181	56	c	c	PROPN
alkej-393	181	57	is	be	AUX
alkej-393	181	58	the	the	DET
alkej-393	181	59	minimum	minimum	NOUN
alkej-393	181	60	of	of	ADP
alkej-393	181	61	these	these	DET
alkej-393	181	62	three	three	NUM
alkej-393	181	63	margins	margin	NOUN
alkej-393	181	64	:	:	PUNCT
alkej-393	181	65	�	�	PROPN
alkej-393	181	66	c	c	NOUN
alkej-393	181	67	=	=	SYM
alkej-393	181	68	min	min	PROPN
alkej-393	181	69	4	4	NUM
alkej-393	181	70	�	�	PROPN
alkej-393	181	71	�	�	PROPN
alkej-393	181	72	,	,	PUNCT
alkej-393	181	73	�	�	PROPN
alkej-393	181	74	�	�	PROPN
alkej-393	181	75	,	,	PUNCT
alkej-393	181	76	�	�	PROPN
alkej-393	181	77	5	5	NUM
alkej-393	181	78	…	…	PUNCT
alkej-393	181	79	(	(	PUNCT
alkej-393	181	80	30	30	NUM
alkej-393	181	81	)	)	PUNCT
alkej-393	181	82	according	accord	VERB
alkej-393	181	83	to	to	ADP
alkej-393	181	84	the	the	DET
alkej-393	181	85	quadruped	quadruped	NOUN
alkej-393	181	86	robot	robot	NOUN
alkej-393	181	87	creeping	creep	VERB
alkej-393	181	88	gait	gait	PROPN
alkej-393	181	89	sequence	sequence	NOUN
alkej-393	181	90	,	,	PUNCT
alkej-393	181	91	the	the	DET
alkej-393	181	92	robot	robot	NOUN
alkej-393	181	93	swinging	swinge	VERB
alkej-393	181	94	leg	leg	NOUN
alkej-393	181	95	1	1	NUM
alkej-393	181	96	and	and	CCONJ
alkej-393	181	97	the	the	DET
alkej-393	181	98	other	other	ADJ
alkej-393	181	99	legs	leg	NOUN
alkej-393	181	100	(	(	PUNCT
alkej-393	181	101	leg2	leg2	PROPN
alkej-393	181	102	,	,	PUNCT
alkej-393	181	103	leg3	leg3	ADJ
alkej-393	181	104	,	,	PUNCT
alkej-393	181	105	and	and	CCONJ
alkej-393	181	106	leg4	leg4	NOUN
alkej-393	181	107	)	)	PUNCT
alkej-393	181	108	are	be	AUX
alkej-393	181	109	on	on	ADP
alkej-393	181	110	the	the	DET
alkej-393	181	111	ground	ground	NOUN
alkej-393	181	112	,	,	PUNCT
alkej-393	181	113	the	the	DET
alkej-393	181	114	�	�	PROPN
alkej-393	181	115	c	c	PROPN
alkej-393	181	116	can	can	AUX
alkej-393	181	117	be	be	AUX
alkej-393	181	118	found	find	VERB
alkej-393	181	119	as	as	ADP
alkej-393	181	120	the	the	DET
alkej-393	181	121	following	follow	VERB
alkej-393	181	122	(	(	PUNCT
alkej-393	181	123	a	a	NOUN
alkej-393	181	124	)	)	PUNCT
alkej-393	181	125	(	(	PUNCT
alkej-393	181	126	b	b	X
alkej-393	181	127	)	)	PUNCT
alkej-393	181	128	fig	fig	NOUN
alkej-393	181	129	.	.	PUNCT
alkej-393	182	1	11	11	NUM
alkej-393	182	2	.	.	PUNCT
alkej-393	182	3	quadruped	quadrupe	VERB
alkej-393	182	4	robot	robot	NOUN
alkej-393	182	5	when	when	SCONJ
alkej-393	182	6	leg3	leg3	PROPN
alkej-393	182	7	is	be	AUX
alkej-393	182	8	swinging	swinge	VERB
alkej-393	182	9	(	(	PUNCT
alkej-393	182	10	a	a	DET
alkej-393	182	11	)	)	PUNCT
alkej-393	182	12	quadruped	quadruped	NOUN
alkej-393	182	13	robot	robot	NOUN
alkej-393	182	14	3d	3d	PROPN
alkej-393	182	15	view	view	NOUN
alkej-393	182	16	(	(	PUNCT
alkej-393	182	17	b	b	NOUN
alkej-393	182	18	)	)	PUNCT
alkej-393	182	19	quadruped	quadruped	NOUN
alkej-393	182	20	support	support	NOUN
alkej-393	182	21	triangle	triangle	NOUN
alkej-393	182	22	.	.	PUNCT
alkej-393	183	1	the	the	DET
alkej-393	183	2	fourth	fourth	ADJ
alkej-393	183	3	case	case	NOUN
alkej-393	183	4	,	,	PUNCT
alkej-393	183	5	showing	show	VERB
alkej-393	183	6	in	in	ADP
alkej-393	183	7	figure	figure	NOUN
alkej-393	183	8	(	(	PUNCT
alkej-393	183	9	11	11	NUM
alkej-393	183	10	-	-	PUNCT
alkej-393	183	11	a	a	NOUN
alkej-393	183	12	)	)	PUNCT
alkej-393	183	13	when	when	SCONJ
alkej-393	183	14	the	the	DET
alkej-393	183	15	leg1	leg1	NOUN
alkej-393	183	16	is	be	AUX
alkej-393	183	17	swinging	swinge	VERB
alkej-393	183	18	in	in	ADP
alkej-393	183	19	the	the	DET
alkej-393	183	20	air	air	NOUN
alkej-393	183	21	and	and	CCONJ
alkej-393	183	22	the	the	DET
alkej-393	183	23	other	other	ADJ
alkej-393	183	24	legs	leg	NOUN
alkej-393	183	25	(	(	PUNCT
alkej-393	183	26	2	2	NUM
alkej-393	183	27	,	,	PUNCT
alkej-393	183	28	3	3	NUM
alkej-393	183	29	,	,	PUNCT
alkej-393	183	30	and	and	CCONJ
alkej-393	183	31	4	4	X
alkej-393	183	32	)	)	PUNCT
alkej-393	183	33	are	be	AUX
alkej-393	183	34	on	on	ADP
alkej-393	183	35	the	the	DET
alkej-393	183	36	ground	ground	NOUN
alkej-393	183	37	.	.	PUNCT
alkej-393	184	1	then	then	ADV
alkej-393	184	2	the	the	DET
alkej-393	184	3	analysis	analysis	NOUN
alkej-393	184	4	of	of	ADP
alkej-393	184	5	the	the	DET
alkej-393	184	6	stability	stability	NOUN
alkej-393	184	7	margins	margin	NOUN
alkej-393	184	8	at	at	ADP
alkej-393	184	9	this	this	DET
alkej-393	184	10	period	period	NOUN
alkej-393	184	11	is	be	AUX
alkej-393	184	12	showing	show	VERB
alkej-393	184	13	in	in	ADP
alkej-393	184	14	figure	figure	NOUN
alkej-393	184	15	(	(	PUNCT
alkej-393	184	16	11	11	NUM
alkej-393	184	17	-	-	PUNCT
alkej-393	184	18	b	b	NOUN
alkej-393	184	19	)	)	PUNCT
alkej-393	184	20	as	as	ADP
alkej-393	184	21	:	:	PUNCT
alkej-393	184	22	area	area	NOUN
alkej-393	184	23	�	�	PROPN
alkej-393	184	24	=	=	SYM
alkej-393	184	25	�	�	PROPN
alkej-393	184	26	�	�	PROPN
alkej-393	184	27	h4x	h4x	PROPN
alkej-393	184	28	�	�	PROPN
alkej-393	184	29	�	�	PROPN
alkej-393	184	30	xjkl	xjkl	PROPN
alkej-393	184	31	54y	54y	PROPN
alkej-393	184	32	�	�	PROPN
alkej-393	184	33	yjkl	yjkl	PROPN
alkej-393	184	34	5	5	NUM
alkej-393	184	35	�	�	PROPN
alkej-393	184	36	4x	4x	PROPN
alkej-393	184	37	�	�	PROPN
alkej-393	184	38	xjkl	xjkl	PROPN
alkej-393	184	39	54y	54y	NUM
alkej-393	184	40	�	�	PROPN
alkej-393	184	41	�	�	PROPN
alkej-393	184	42	yjkl	yjkl	PROPN
alkej-393	184	43	5n	5n	NUM
alkej-393	184	44	l	l	X
alkej-393	184	45	�	�	X
alkej-393	184	46	=	=	SYM
alkej-393	184	47	_	_	PROPN
alkej-393	184	48	4x	4x	NUM
alkej-393	184	49	�	�	PROPN
alkej-393	184	50	�	�	PROPN
alkej-393	184	51	x	x	PROPN
alkej-393	184	52	5	5	NUM
alkej-393	184	53	�	�	PROPN
alkej-393	184	54	�	�	PROPN
alkej-393	184	55	4y	4y	PROPN
alkej-393	184	56	�	�	PROPN
alkej-393	184	57	�	�	PROPN
alkej-393	184	58	y	y	PROPN
alkej-393	184	59	5	5	NUM
alkej-393	184	60	�	�	PROPN
alkej-393	184	61	t	t	PROPN
alkej-393	184	62	�	�	PROPN
alkej-393	184	63	=	=	SYM
alkej-393	184	64	2	2	NUM
alkej-393	184	65	∗	∗	NOUN
alkej-393	184	66	4qrstaua	4qrstaua	NUM
alkej-393	184	67	5	5	NUM
alkej-393	184	68	…	…	PUNCT
alkej-393	184	69	(	(	PUNCT
alkej-393	184	70	31	31	NUM
alkej-393	184	71	)	)	PUNCT
alkej-393	184	72	by	by	ADP
alkej-393	184	73	the	the	DET
alkej-393	184	74	same	same	ADJ
alkej-393	184	75	way	way	NOUN
alkej-393	184	76	,	,	PUNCT
alkej-393	184	77	tuv	tuv	PROPN
alkej-393	184	78	�	�	PROPN
alkej-393	184	79	�	�	PROPN
alkej-393	184	80	and	and	CCONJ
alkej-393	184	81	tuv	tuv	PROPN
alkej-393	184	82	�	�	PROPN
alkej-393	184	83	can	can	AUX
alkej-393	184	84	be	be	AUX
alkej-393	184	85	calculated	calculate	VERB
alkej-393	184	86	:	:	PUNCT
alkej-393	184	87	area	area	NOUN
alkej-393	184	88	�	�	PROPN
alkej-393	184	89	=	=	SYM
alkej-393	184	90	�	�	PROPN
alkej-393	184	91	�	�	PROPN
alkej-393	184	92	h4x	h4x	PROPN
alkej-393	184	93	�	�	PROPN
alkej-393	184	94	�	�	PROPN
alkej-393	184	95	xjkl	xjkl	PROPN
alkej-393	184	96	54y	54y	PROPN
alkej-393	184	97	�	�	PROPN
alkej-393	184	98	yjkl	yjkl	PROPN
alkej-393	184	99	5	5	NUM
alkej-393	184	100	�	�	PROPN
alkej-393	184	101	4x	4x	PROPN
alkej-393	184	102	�	�	PROPN
alkej-393	184	103	xjkl	xjkl	PROPN
alkej-393	184	104	54y	54y	NUM
alkej-393	184	105	�	�	PROPN
alkej-393	184	106	�	�	PROPN
alkej-393	185	1	yjkl	yjkl	PROPN
alkej-393	185	2	5n	5n	NUM
alkej-393	185	3	l	l	X
alkej-393	185	4	�	�	X
alkej-393	185	5	=	=	SYM
alkej-393	185	6	_	_	PROPN
alkej-393	185	7	4x	4x	NUM
alkej-393	185	8	�	�	PROPN
alkej-393	185	9	�	�	PROPN
alkej-393	185	10	x	x	PROPN
alkej-393	185	11	5	5	NUM
alkej-393	185	12	�	�	PROPN
alkej-393	185	13	�	�	PROPN
alkej-393	185	14	4y	4y	PROPN
alkej-393	185	15	�	�	PROPN
alkej-393	185	16	�	�	PROPN
alkej-393	185	17	y	y	PROPN
alkej-393	185	18	5	5	NUM
alkej-393	185	19	�	�	PROPN
alkej-393	185	20	t	t	PROPN
alkej-393	185	21	�	�	PROPN
alkej-393	185	22	=	=	SYM
alkej-393	185	23	2	2	NUM
alkej-393	185	24	∗	∗	NOUN
alkej-393	185	25	4qrstgug	4qrstgug	NUM
alkej-393	185	26	5	5	NUM
alkej-393	185	27	…	…	PUNCT
alkej-393	185	28	(	(	PUNCT
alkej-393	185	29	32	32	NUM
alkej-393	185	30	)	)	PUNCT
alkej-393	185	31	area	area	NOUN
alkej-393	185	32	=	=	SYM
alkej-393	185	33	�	�	PROPN
alkej-393	185	34	�	�	PROPN
alkej-393	185	35	h4x	h4x	PROPN
alkej-393	185	36	�	�	PROPN
alkej-393	185	37	xjkl	xjkl	PROPN
alkej-393	185	38	54y	54y	NUM
alkej-393	185	39	�	�	PROPN
alkej-393	185	40	yjkl	yjkl	PROPN
alkej-393	185	41	5	5	NUM
alkej-393	185	42	�	�	PROPN
alkej-393	185	43	4x	4x	PROPN
alkej-393	185	44	�	�	PROPN
alkej-393	185	45	xjkl	xjkl	PROPN
alkej-393	185	46	54y	54y	PROPN
alkej-393	185	47	�	�	PROPN
alkej-393	185	48	yjkl	yjkl	PROPN
alkej-393	185	49	5n	5n	NUM
alkej-393	185	50	l	l	NOUN
alkej-393	185	51	=	=	PUNCT
alkej-393	186	1	_	_	PUNCT
alkej-393	186	2	4x	4x	NOUN
alkej-393	186	3	�	�	PROPN
alkej-393	186	4	x	x	PROPN
alkej-393	186	5	5	5	NUM
alkej-393	186	6	�	�	PROPN
alkej-393	186	7	�	�	PROPN
alkej-393	186	8	4y	4y	PROPN
alkej-393	186	9	�	�	PROPN
alkej-393	186	10	y	y	PROPN
alkej-393	186	11	5	5	NUM
alkej-393	186	12	�	�	PROPN
alkej-393	186	13	t	t	NOUN
alkej-393	186	14	=	=	SYM
alkej-393	186	15	2	2	NUM
alkej-393	186	16	∗	∗	NOUN
alkej-393	186	17	4qrstbub	4qrstbub	NUM
alkej-393	186	18	5	5	NUM
alkej-393	186	19	…	…	PUNCT
alkej-393	186	20	(	(	PUNCT
alkej-393	186	21	33	33	NUM
alkej-393	186	22	)	)	PUNCT
alkej-393	186	23	finally	finally	ADV
alkej-393	186	24	,	,	PUNCT
alkej-393	186	25	the	the	DET
alkej-393	186	26	fourth	fourth	ADJ
alkej-393	186	27	stability	stability	NOUN
alkej-393	186	28	margin	margin	NOUN
alkej-393	186	29	�	�	PROPN
alkej-393	186	30	c	c	PROPN
alkej-393	186	31	is	be	AUX
alkej-393	186	32	the	the	DET
alkej-393	186	33	minimum	minimum	NOUN
alkej-393	186	34	of	of	ADP
alkej-393	186	35	these	these	DET
alkej-393	186	36	three	three	NUM
alkej-393	186	37	margins	margin	NOUN
alkej-393	186	38	:	:	PUNCT
alkej-393	186	39	�	�	PROPN
alkej-393	186	40	c	c	NOUN
alkej-393	186	41	=	=	SYM
alkej-393	186	42	min	min	PROPN
alkej-393	186	43	4	4	NUM
alkej-393	186	44	�	�	PROPN
alkej-393	186	45	�	�	PROPN
alkej-393	186	46	,	,	PUNCT
alkej-393	186	47	�	�	PROPN
alkej-393	186	48	�	�	PROPN
alkej-393	186	49	,	,	PUNCT
alkej-393	186	50	�	�	PROPN
alkej-393	186	51	5	5	NUM
alkej-393	186	52	…	…	PUNCT
alkej-393	186	53	(	(	PUNCT
alkej-393	186	54	34	34	NUM
alkej-393	186	55	)	)	PUNCT
alkej-393	186	56	6	6	NUM
alkej-393	186	57	.	.	PUNCT
alkej-393	186	58	simulation	simulation	NOUN
alkej-393	186	59	and	and	CCONJ
alkej-393	186	60	results	result	VERB
alkej-393	186	61	this	this	DET
alkej-393	186	62	section	section	NOUN
alkej-393	186	63	is	be	AUX
alkej-393	186	64	showing	show	VERB
alkej-393	186	65	the	the	DET
alkej-393	186	66	simulation	simulation	NOUN
alkej-393	186	67	results	result	NOUN
alkej-393	186	68	of	of	ADP
alkej-393	186	69	the	the	DET
alkej-393	186	70	analyzed	analyze	VERB
alkej-393	186	71	stability	stability	NOUN
alkej-393	186	72	margins	margin	NOUN
alkej-393	186	73	which	which	PRON
alkej-393	186	74	are	be	AUX
alkej-393	186	75	necessary	necessary	ADJ
alkej-393	186	76	for	for	SCONJ
alkej-393	186	77	the	the	DET
alkej-393	186	78	quadruped	quadruped	NOUN
alkej-393	186	79	robot	robot	NOUN
alkej-393	186	80	walking	walk	VERB
alkej-393	186	81	stability	stability	NOUN
alkej-393	186	82	.	.	PUNCT
alkej-393	187	1	according	accord	VERB
alkej-393	187	2	to	to	ADP
alkej-393	187	3	the	the	DET
alkej-393	187	4	robot	robot	NOUN
alkej-393	187	5	legs	leg	NOUN
alkej-393	187	6	sequence	sequence	NOUN
alkej-393	187	7	,	,	PUNCT
alkej-393	187	8	the	the	DET
alkej-393	187	9	results	result	NOUN
alkej-393	187	10	are	be	AUX
alkej-393	187	11	achieved	achieve	VERB
alkej-393	187	12	as	as	ADP
alkej-393	187	13	the	the	DET
alkej-393	187	14	following	follow	VERB
alkej-393	187	15	(	(	PUNCT
alkej-393	187	16	a	a	NOUN
alkej-393	187	17	)	)	PUNCT
alkej-393	187	18	(	(	PUNCT
alkej-393	187	19	b	b	X
alkej-393	187	20	)	)	PUNCT
alkej-393	187	21	fig	fig	NOUN
alkej-393	187	22	.	.	PUNCT
alkej-393	188	1	12	12	NUM
alkej-393	188	2	.	.	X
alkej-393	189	1	showing	show	VERB
alkej-393	189	2	(	(	PUNCT
alkej-393	189	3	a	a	NOUN
alkej-393	189	4	)	)	PUNCT
alkej-393	189	5	leg	leg	NOUN
alkej-393	189	6	4	4	NUM
alkej-393	189	7	in	in	ADP
alkej-393	189	8	swinging	swinge	VERB
alkej-393	189	9	phase	phase	NOUN
alkej-393	189	10	(	(	PUNCT
alkej-393	189	11	b	b	X
alkej-393	189	12	)	)	PUNCT
alkej-393	189	13	the	the	DET
alkej-393	189	14	stability	stability	NOUN
alkej-393	189	15	margin	margin	NOUN
alkej-393	189	16	vw>(cm	vw>(cm	NOUN
alkej-393	189	17	)	)	PUNCT
alkej-393	189	18	when	when	SCONJ
alkej-393	189	19	leg4	leg4	PROPN
alkej-393	189	20	is	be	AUX
alkej-393	189	21	swing	swe	VERB
alkej-393	189	22	.	.	PUNCT
alkej-393	190	1	(	(	PUNCT
alkej-393	190	2	a	a	X
alkej-393	190	3	)	)	PUNCT
alkej-393	190	4	50	50	NUM
alkej-393	190	5	40	40	NUM
alkej-393	190	6	x	x	SYM
alkej-393	190	7	30	30	NUM
alkej-393	190	8	20	20	NUM
alkej-393	190	9	10	10	NUM
alkej-393	190	10	0	0	NUM
alkej-393	190	11	0	0	NUM
alkej-393	190	12	10	10	NUM
alkej-393	190	13	20	20	NUM
alkej-393	190	14	y	y	PROPN
alkej-393	190	15	30	30	NUM
alkej-393	190	16	40	40	NUM
alkej-393	190	17	leg	leg	NOUN
alkej-393	190	18	4	4	NUM
alkej-393	190	19	swing	swing	NOUN
alkej-393	190	20	support	support	NOUN
alkej-393	190	21	triangle	triangle	NOUN
alkej-393	190	22	firas	firas	PROPN
alkej-393	190	23	a.	a.	PROPN
alkej-393	190	24	raheem	raheem	PROPN
alkej-393	190	25	al	al	PROPN
alkej-393	190	26	-	-	PUNCT
alkej-393	190	27	khwarizmi	khwarizmi	PROPN
alkej-393	190	28	engineering	engineering	NOUN
alkej-393	190	29	journal	journal	PROPN
alkej-393	190	30	,	,	PUNCT
alkej-393	190	31	vol	vol	NOUN
alkej-393	190	32	.	.	PROPN
alkej-393	190	33	14	14	NUM
alkej-393	190	34	,	,	PUNCT
alkej-393	190	35	no	no	INTJ
alkej-393	190	36	.	.	NOUN
alkej-393	190	37	2	2	NUM
alkej-393	190	38	,	,	PUNCT
alkej-393	190	39	p.p	p.p	PROPN
alkej-393	190	40	.	.	NOUN
alkej-393	190	41	93106	93106	NUM
alkej-393	190	42	(	(	PUNCT
alkej-393	190	43	2018	2018	NUM
alkej-393	190	44	)	)	PUNCT
alkej-393	190	45	102	102	NUM
alkej-393	190	46	(	(	PUNCT
alkej-393	190	47	b	b	NOUN
alkej-393	190	48	)	)	PUNCT
alkej-393	190	49	fig	fig	NOUN
alkej-393	190	50	.	.	PUNCT
alkej-393	191	1	13	13	NUM
alkej-393	191	2	.	.	X
alkej-393	192	1	showing	show	VERB
alkej-393	192	2	(	(	PUNCT
alkej-393	192	3	a	a	NOUN
alkej-393	192	4	)	)	PUNCT
alkej-393	192	5	leg	leg	NOUN
alkej-393	192	6	2	2	NUM
alkej-393	192	7	in	in	ADP
alkej-393	192	8	swinging	swinge	VERB
alkej-393	192	9	phase	phase	NOUN
alkej-393	192	10	.	.	PUNCT
alkej-393	193	1	(	(	PUNCT
alkej-393	193	2	b	b	X
alkej-393	193	3	)	)	PUNCT
alkej-393	193	4	the	the	DET
alkej-393	193	5	stability	stability	NOUN
alkej-393	193	6	margin	margin	NOUN
alkej-393	193	7	vwc(cm	vwc(cm	NUM
alkej-393	193	8	)	)	PUNCT
alkej-393	193	9	when	when	SCONJ
alkej-393	193	10	leg2	leg2	NOUN
alkej-393	193	11	is	be	AUX
alkej-393	193	12	swing	swe	VERB
alkej-393	193	13	.	.	PUNCT
alkej-393	194	1	(	(	PUNCT
alkej-393	194	2	a	a	X
alkej-393	194	3	)	)	PUNCT
alkej-393	194	4	(	(	PUNCT
alkej-393	194	5	b	b	X
alkej-393	194	6	)	)	PUNCT
alkej-393	194	7	fig	fig	NOUN
alkej-393	194	8	.	.	PUNCT
alkej-393	195	1	14	14	NUM
alkej-393	195	2	.	.	X
alkej-393	196	1	showing	show	VERB
alkej-393	196	2	(	(	PUNCT
alkej-393	196	3	a	a	NOUN
alkej-393	196	4	)	)	PUNCT
alkej-393	196	5	leg	leg	NOUN
alkej-393	196	6	3	3	NUM
alkej-393	196	7	in	in	ADP
alkej-393	196	8	swinging	swinge	VERB
alkej-393	196	9	phase	phase	NOUN
alkej-393	196	10	.	.	PUNCT
alkej-393	197	1	(	(	PUNCT
alkej-393	197	2	b	b	X
alkej-393	197	3	)	)	PUNCT
alkej-393	197	4	the	the	DET
alkej-393	197	5	stability	stability	NOUN
alkej-393	197	6	margin	margin	NOUN
alkej-393	197	7	vwd(cm	vwd(cm	NUM
alkej-393	197	8	)	)	PUNCT
alkej-393	197	9	when	when	SCONJ
alkej-393	197	10	leg3	leg3	PROPN
alkej-393	197	11	is	be	AUX
alkej-393	197	12	swing	swing	NOUN
alkej-393	197	13	.	.	PUNCT
alkej-393	198	1	(	(	PUNCT
alkej-393	198	2	a	a	X
alkej-393	198	3	)	)	PUNCT
alkej-393	198	4	(	(	PUNCT
alkej-393	198	5	b	b	X
alkej-393	198	6	)	)	PUNCT
alkej-393	198	7	fig	fig	NOUN
alkej-393	198	8	.	.	PUNCT
alkej-393	199	1	15	15	NUM
alkej-393	199	2	.	.	X
alkej-393	200	1	showing	show	VERB
alkej-393	200	2	(	(	PUNCT
alkej-393	200	3	a	a	NOUN
alkej-393	200	4	)	)	PUNCT
alkej-393	200	5	leg	leg	NOUN
alkej-393	200	6	1	1	NUM
alkej-393	200	7	in	in	ADP
alkej-393	200	8	swinging	swinge	VERB
alkej-393	200	9	phase	phase	NOUN
alkej-393	200	10	.	.	PUNCT
alkej-393	201	1	(	(	PUNCT
alkej-393	201	2	b	b	X
alkej-393	201	3	)	)	PUNCT
alkej-393	201	4	the	the	DET
alkej-393	201	5	stability	stability	NOUN
alkej-393	201	6	margin	margin	NOUN
alkej-393	201	7	vwx(cm	vwx(cm	NOUN
alkej-393	201	8	)	)	PUNCT
alkej-393	201	9	when	when	SCONJ
alkej-393	201	10	leg1	leg1	NOUN
alkej-393	201	11	is	be	AUX
alkej-393	201	12	swing	swe	VERB
alkej-393	201	13	.	.	PUNCT
alkej-393	202	1	from	from	ADP
alkej-393	202	2	figures	figure	NOUN
alkej-393	202	3	shown	show	VERB
alkej-393	202	4	above	above	ADP
alkej-393	202	5	,	,	PUNCT
alkej-393	202	6	it	it	PRON
alkej-393	202	7	can	can	AUX
alkej-393	202	8	be	be	AUX
alkej-393	202	9	seen	see	VERB
alkej-393	202	10	that	that	SCONJ
alkej-393	202	11	all	all	DET
alkej-393	202	12	stability	stability	NOUN
alkej-393	202	13	margins	margin	NOUN
alkej-393	202	14	(	(	PUNCT
alkej-393	202	15	sm	sm	PROPN
alkej-393	202	16	�	�	PROPN
alkej-393	202	17	,	,	PUNCT
alkej-393	202	18	sm	sm	PROPN
alkej-393	202	19	�	�	PROPN
alkej-393	202	20	,	,	PUNCT
alkej-393	202	21	sm	sm	INTJ
alkej-393	202	22	,	,	PUNCT
alkej-393	202	23	and	and	CCONJ
alkej-393	202	24	sm	sm	INTJ
alkej-393	202	25	)	)	PUNCT
alkej-393	202	26	have	have	VERB
alkej-393	202	27	positive	positive	ADJ
alkej-393	202	28	values	value	NOUN
alkej-393	202	29	.	.	PUNCT
alkej-393	203	1	these	these	DET
alkej-393	203	2	values	value	NOUN
alkej-393	203	3	are	be	AUX
alkej-393	203	4	sufficient	sufficient	ADJ
alkej-393	203	5	to	to	PART
alkej-393	203	6	satisfy	satisfy	VERB
alkej-393	203	7	a	a	DET
alkej-393	203	8	stable	stable	ADJ
alkej-393	203	9	walking	walking	NOUN
alkej-393	203	10	for	for	ADP
alkej-393	203	11	the	the	DET
alkej-393	203	12	quadruped	quadruped	NOUN
alkej-393	203	13	robot	robot	NOUN
alkej-393	203	14	creeping	creeping	NOUN
alkej-393	203	15	gait	gait	NOUN
alkej-393	203	16	as	as	SCONJ
alkej-393	203	17	assumed	assume	VERB
alkej-393	203	18	in	in	ADP
alkej-393	203	19	this	this	DET
alkej-393	203	20	paper	paper	NOUN
alkej-393	203	21	.	.	PUNCT
alkej-393	204	1	the	the	DET
alkej-393	204	2	results	result	NOUN
alkej-393	204	3	of	of	ADP
alkej-393	204	4	the	the	DET
alkej-393	204	5	stable	stable	ADJ
alkej-393	204	6	creeping	creeping	ADJ
alkej-393	204	7	gait	gait	NOUN
alkej-393	204	8	sequence	sequence	NOUN
alkej-393	204	9	for	for	ADP
alkej-393	204	10	all	all	DET
alkej-393	204	11	legs	leg	NOUN
alkej-393	204	12	have	have	AUX
alkej-393	204	13	been	be	AUX
alkej-393	204	14	converted	convert	VERB
alkej-393	204	15	into	into	ADP
alkej-393	204	16	joint	joint	ADJ
alkej-393	204	17	angles	angle	NOUN
alkej-393	204	18	(	(	PUNCT
alkej-393	204	19	�	�	PROPN
alkej-393	204	20	�	�	PROPN
alkej-393	204	21	,	,	PUNCT
alkej-393	204	22	�	�	PROPN
alkej-393	204	23	�	�	PROPN
alkej-393	204	24	,	,	PUNCT
alkej-393	204	25	�	�	PROPN
alkej-393	204	26	)	)	PUNCT
alkej-393	204	27	for	for	ADP
alkej-393	204	28	each	each	DET
alkej-393	204	29	leg	leg	NOUN
alkej-393	204	30	by	by	ADP
alkej-393	204	31	using	use	VERB
alkej-393	204	32	inverse	inverse	NOUN
alkej-393	204	33	kinematics	kinematic	NOUN
alkej-393	204	34	analysis	analysis	NOUN
alkej-393	204	35	.	.	PUNCT
alkej-393	205	1	so	so	ADV
alkej-393	205	2	,	,	PUNCT
alkej-393	205	3	the	the	DET
alkej-393	205	4	results	result	NOUN
alkej-393	205	5	contain	contain	VERB
alkej-393	205	6	the	the	DET
alkej-393	205	7	changing	changing	NOUN
alkej-393	205	8	of	of	ADP
alkej-393	205	9	each	each	DET
alkej-393	205	10	leg	leg	NOUN
alkej-393	205	11	three	three	NUM
alkej-393	205	12	angles	angle	NOUN
alkej-393	205	13	and	and	CCONJ
alkej-393	205	14	the	the	DET
alkej-393	205	15	change	change	NOUN
alkej-393	205	16	of	of	ADP
alkej-393	205	17	distance	distance	NOUN
alkej-393	205	18	of	of	ADP
alkej-393	205	19	each	each	DET
alkej-393	205	20	leg	leg	NOUN
alkej-393	205	21	-	-	PUNCT
alkej-393	205	22	tip	tip	NOUN
alkej-393	205	23	along	along	ADP
alkej-393	205	24	x	x	ADJ
alkej-393	205	25	-	-	ADJ
alkej-393	205	26	axis	axis	ADJ
alkej-393	205	27	direction	direction	NOUN
alkej-393	205	28	and	and	CCONJ
alkej-393	205	29	z	z	NOUN
alkej-393	205	30	-	-	PUNCT
alkej-393	205	31	axis	axis	NOUN
alkej-393	205	32	direction	direction	NOUN
alkej-393	205	33	during	during	ADP
alkej-393	205	34	the	the	DET
alkej-393	205	35	creeping	creep	VERB
alkej-393	205	36	gait	gait	NOUN
alkej-393	205	37	walking	walk	VERB
alkej-393	205	38	of	of	ADP
alkej-393	205	39	quadruped	quadruped	NOUN
alkej-393	205	40	robot	robot	NOUN
alkej-393	205	41	.	.	PUNCT
alkej-393	206	1	the	the	DET
alkej-393	206	2	following	follow	VERB
alkej-393	206	3	figures	figure	NOUN
alkej-393	206	4	(	(	PUNCT
alkej-393	206	5	12	12	NUM
alkej-393	206	6	-	-	SYM
alkej-393	206	7	15	15	NUM
alkej-393	206	8	)	)	PUNCT
alkej-393	206	9	illustrate	illustrate	VERB
alkej-393	206	10	the	the	DET
alkej-393	206	11	quadruped	quadruped	NOUN
alkej-393	206	12	robot	robot	NOUN
alkej-393	206	13	configurations	configuration	NOUN
alkej-393	206	14	and	and	CCONJ
alkej-393	206	15	results	result	NOUN
alkej-393	206	16	.	.	PUNCT
alkej-393	207	1	(	(	PUNCT
alkej-393	207	2	a	a	X
alkej-393	207	3	)	)	PUNCT
alkej-393	207	4	(	(	PUNCT
alkej-393	207	5	b	b	X
alkej-393	207	6	)	)	PUNCT
alkej-393	207	7	fig	fig	NOUN
alkej-393	207	8	.	.	PUNCT
alkej-393	208	1	16	16	NUM
alkej-393	208	2	.	.	PUNCT
alkej-393	209	1	when	when	SCONJ
alkej-393	209	2	leg	leg	NOUN
alkej-393	209	3	4	4	NUM
alkej-393	209	4	is	be	AUX
alkej-393	209	5	swinging	swinge	VERB
alkej-393	209	6	.	.	PUNCT
alkej-393	210	1	(	(	PUNCT
alkej-393	210	2	a	a	X
alkej-393	210	3	)	)	PUNCT
alkej-393	210	4	leg	leg	NOUN
alkej-393	210	5	4	4	NUM
alkej-393	210	6	moved	move	VERB
alkej-393	210	7	one	one	NUM
alkej-393	210	8	step	step	NOUN
alkej-393	210	9	along	along	ADP
alkej-393	210	10	x	x	NOUN
alkej-393	210	11	-	-	NOUN
alkej-393	210	12	axis	axis	ADJ
alkej-393	210	13	.	.	PUNCT
alkej-393	211	1	(	(	PUNCT
alkej-393	211	2	b	b	X
alkej-393	211	3	)	)	PUNCT
alkej-393	211	4	leg	leg	NOUN
alkej-393	211	5	4	4	NUM
alkej-393	211	6	moved	move	VERB
alkej-393	211	7	one	one	NUM
alkej-393	211	8	step	step	NOUN
alkej-393	211	9	along	along	ADP
alkej-393	211	10	z	z	NOUN
alkej-393	211	11	-	-	PUNCT
alkej-393	211	12	axis	axis	NOUN
alkej-393	211	13	.	.	PUNCT
alkej-393	212	1	s	s	PART
alkej-393	212	2	m	m	VERB
alkej-393	212	3	2	2	NUM
alkej-393	212	4	(	(	PUNCT
alkej-393	212	5	c	c	NOUN
alkej-393	212	6	m	m	VERB
alkej-393	212	7	)	)	PUNCT
alkej-393	212	8	0	0	NUM
alkej-393	213	1	50	50	NUM
alkej-393	213	2	100	100	NUM
alkej-393	213	3	150	150	NUM
alkej-393	213	4	200	200	NUM
alkej-393	213	5	250	250	NUM
alkej-393	213	6	300	300	NUM
alkej-393	213	7	350	350	NUM
alkej-393	213	8	1	1	NUM
alkej-393	213	9	2	2	NUM
alkej-393	213	10	3	3	NUM
alkej-393	213	11	4	4	NUM
alkej-393	213	12	5	5	NUM
alkej-393	213	13	6	6	NUM
alkej-393	213	14	iteration	iteration	NOUN
alkej-393	213	15	s	s	PART
alkej-393	213	16	m	m	NOUN
alkej-393	213	17	3	3	NUM
alkej-393	213	18	(	(	PUNCT
alkej-393	213	19	c	c	NOUN
alkej-393	213	20	m	m	VERB
alkej-393	213	21	)	)	PUNCT
alkej-393	213	22	sm3	sm3	PROPN
alkej-393	213	23	firas	firas	PROPN
alkej-393	213	24	a.	a.	PROPN
alkej-393	213	25	raheem	raheem	PROPN
alkej-393	213	26	al	al	PROPN
alkej-393	213	27	-	-	PUNCT
alkej-393	213	28	khwarizmi	khwarizmi	PROPN
alkej-393	213	29	engineering	engineering	NOUN
alkej-393	213	30	journal	journal	PROPN
alkej-393	213	31	,	,	PUNCT
alkej-393	213	32	vol	vol	NOUN
alkej-393	213	33	.	.	PROPN
alkej-393	213	34	14	14	NUM
alkej-393	213	35	,	,	PUNCT
alkej-393	213	36	no	no	INTJ
alkej-393	213	37	.	.	NOUN
alkej-393	213	38	2	2	NUM
alkej-393	213	39	,	,	PUNCT
alkej-393	213	40	p.p	p.p	PROPN
alkej-393	213	41	.	.	NOUN
alkej-393	213	42	93106	93106	NUM
alkej-393	213	43	(	(	PUNCT
alkej-393	213	44	2018	2018	NUM
alkej-393	213	45	)	)	PUNCT
alkej-393	213	46	103	103	NUM
alkej-393	213	47	(	(	PUNCT
alkej-393	213	48	a	a	NOUN
alkej-393	213	49	)	)	PUNCT
alkej-393	213	50	(	(	PUNCT
alkej-393	213	51	b	b	X
alkej-393	213	52	)	)	PUNCT
alkej-393	213	53	fig	fig	NOUN
alkej-393	213	54	.	.	PUNCT
alkej-393	214	1	17	17	NUM
alkej-393	214	2	.	.	PUNCT
alkej-393	215	1	when	when	SCONJ
alkej-393	215	2	leg	leg	NOUN
alkej-393	215	3	2	2	NUM
alkej-393	215	4	is	be	AUX
alkej-393	215	5	swinging	swinge	VERB
alkej-393	215	6	.	.	PUNCT
alkej-393	216	1	(	(	PUNCT
alkej-393	216	2	a	a	X
alkej-393	216	3	)	)	PUNCT
alkej-393	216	4	leg	leg	NOUN
alkej-393	216	5	2	2	NUM
alkej-393	216	6	moved	move	VERB
alkej-393	216	7	one	one	NUM
alkej-393	216	8	step	step	NOUN
alkej-393	216	9	along	along	ADP
alkej-393	216	10	x	x	NOUN
alkej-393	216	11	-	-	NOUN
alkej-393	216	12	axis	axis	ADJ
alkej-393	216	13	.	.	PUNCT
alkej-393	217	1	(	(	PUNCT
alkej-393	217	2	b	b	X
alkej-393	217	3	)	)	PUNCT
alkej-393	217	4	leg	leg	NOUN
alkej-393	217	5	2	2	NUM
alkej-393	217	6	moved	move	VERB
alkej-393	217	7	one	one	NUM
alkej-393	217	8	step	step	NOUN
alkej-393	217	9	along	along	ADP
alkej-393	217	10	z	z	NOUN
alkej-393	217	11	-	-	PUNCT
alkej-393	217	12	axis	axis	NOUN
alkej-393	217	13	.	.	PUNCT
alkej-393	218	1	(	(	PUNCT
alkej-393	218	2	a	a	X
alkej-393	218	3	)	)	PUNCT
alkej-393	218	4	(	(	PUNCT
alkej-393	218	5	b	b	X
alkej-393	218	6	)	)	PUNCT
alkej-393	218	7	fig	fig	NOUN
alkej-393	218	8	.	.	PUNCT
alkej-393	219	1	18	18	NUM
alkej-393	219	2	:	:	PUNCT
alkej-393	219	3	when	when	SCONJ
alkej-393	219	4	leg	leg	NOUN
alkej-393	219	5	3	3	NUM
alkej-393	219	6	is	be	AUX
alkej-393	219	7	swinging	swinge	VERB
alkej-393	219	8	.	.	PUNCT
alkej-393	220	1	(	(	PUNCT
alkej-393	220	2	a	a	X
alkej-393	220	3	)	)	PUNCT
alkej-393	220	4	leg	leg	NOUN
alkej-393	220	5	3	3	NUM
alkej-393	220	6	moved	move	VERB
alkej-393	220	7	one	one	NUM
alkej-393	220	8	step	step	NOUN
alkej-393	220	9	along	along	ADP
alkej-393	220	10	x	x	NOUN
alkej-393	220	11	-	-	NOUN
alkej-393	220	12	axis	axis	ADJ
alkej-393	220	13	.	.	PUNCT
alkej-393	221	1	(	(	PUNCT
alkej-393	221	2	b	b	X
alkej-393	221	3	)	)	PUNCT
alkej-393	221	4	leg	leg	NOUN
alkej-393	221	5	3	3	NUM
alkej-393	221	6	moved	move	VERB
alkej-393	221	7	one	one	NUM
alkej-393	221	8	step	step	NOUN
alkej-393	221	9	along	along	ADP
alkej-393	221	10	z	z	NOUN
alkej-393	221	11	-	-	PUNCT
alkej-393	221	12	axis	axis	NOUN
alkej-393	221	13	.	.	PUNCT
alkej-393	222	1	(	(	PUNCT
alkej-393	222	2	a	a	X
alkej-393	222	3	)	)	PUNCT
alkej-393	222	4	(	(	PUNCT
alkej-393	222	5	b	b	X
alkej-393	222	6	)	)	PUNCT
alkej-393	222	7	fig	fig	NOUN
alkej-393	222	8	.	.	PUNCT
alkej-393	223	1	19	19	NUM
alkej-393	223	2	.	.	PUNCT
alkej-393	224	1	when	when	SCONJ
alkej-393	224	2	leg	leg	NOUN
alkej-393	224	3	1	1	NUM
alkej-393	224	4	is	be	AUX
alkej-393	224	5	swinging	swinge	VERB
alkej-393	224	6	.	.	PUNCT
alkej-393	225	1	(	(	PUNCT
alkej-393	225	2	a	a	X
alkej-393	225	3	)	)	PUNCT
alkej-393	225	4	leg	leg	NOUN
alkej-393	225	5	1	1	NUM
alkej-393	225	6	moved	move	VERB
alkej-393	225	7	one	one	NUM
alkej-393	225	8	step	step	NOUN
alkej-393	225	9	along	along	ADP
alkej-393	225	10	x	x	NOUN
alkej-393	225	11	-	-	NOUN
alkej-393	225	12	axis	axis	ADJ
alkej-393	225	13	.	.	PUNCT
alkej-393	226	1	(	(	PUNCT
alkej-393	226	2	b	b	X
alkej-393	226	3	)	)	PUNCT
alkej-393	226	4	leg	leg	NOUN
alkej-393	226	5	1	1	NUM
alkej-393	226	6	moved	move	VERB
alkej-393	226	7	one	one	NUM
alkej-393	226	8	step	step	NOUN
alkej-393	226	9	along	along	ADP
alkej-393	226	10	z	z	NOUN
alkej-393	226	11	-	-	PUNCT
alkej-393	226	12	axis	axis	NOUN
alkej-393	226	13	.	.	PUNCT
alkej-393	227	1	from	from	ADP
alkej-393	227	2	above	above	ADP
alkej-393	227	3	figures	figure	NOUN
alkej-393	227	4	it	it	PRON
alkej-393	227	5	can	can	AUX
alkej-393	227	6	be	be	AUX
alkej-393	227	7	seen	see	VERB
alkej-393	227	8	the	the	DET
alkej-393	227	9	following	following	NOUN
alkej-393	227	10	:	:	PUNCT
alkej-393	228	1	1	1	X
alkej-393	228	2	.	.	X
alkej-393	229	1	in	in	ADP
alkej-393	229	2	figure	figure	NOUN
alkej-393	229	3	(	(	PUNCT
alkej-393	229	4	16	16	NUM
alkej-393	229	5	):	):	PUNCT
alkej-393	229	6	leg4	leg4	NOUN
alkej-393	229	7	tip	tip	NOUN
alkej-393	229	8	is	be	AUX
alkej-393	229	9	swinging	swinge	VERB
alkej-393	229	10	and	and	CCONJ
alkej-393	229	11	moving	move	VERB
alkej-393	229	12	from	from	ADP
alkej-393	229	13	(	(	PUNCT
alkej-393	229	14	-5	-5	INTJ
alkej-393	229	15	cm	cm	NOUN
alkej-393	229	16	)	)	PUNCT
alkej-393	229	17	to	to	ADP
alkej-393	229	18	(	(	PUNCT
alkej-393	229	19	-3.5	-3.5	PROPN
alkej-393	229	20	cm	cm	NOUN
alkej-393	229	21	)	)	PUNCT
alkej-393	229	22	along	along	ADP
alkej-393	229	23	x	x	ADJ
alkej-393	229	24	-	-	NOUN
alkej-393	229	25	axis	axis	ADJ
alkej-393	229	26	and	and	CCONJ
alkej-393	229	27	(	(	PUNCT
alkej-393	229	28	1.5	1.5	NUM
alkej-393	229	29	cm	cm	NOUN
alkej-393	229	30	)	)	PUNCT
alkej-393	229	31	along	along	ADP
alkej-393	229	32	z	z	NOUN
alkej-393	229	33	-	-	PUNCT
alkej-393	229	34	axis	axis	ADJ
alkej-393	229	35	.	.	PUNCT
alkej-393	230	1	2	2	X
alkej-393	230	2	.	.	X
alkej-393	230	3	in	in	ADP
alkej-393	230	4	figure	figure	NOUN
alkej-393	230	5	(	(	PUNCT
alkej-393	230	6	17	17	NUM
alkej-393	230	7	):	):	PUNCT
alkej-393	230	8	leg2	leg2	NOUN
alkej-393	230	9	swinging	swinge	VERB
alkej-393	230	10	and	and	CCONJ
alkej-393	230	11	moving	move	VERB
alkej-393	230	12	from	from	ADP
alkej-393	230	13	(	(	PUNCT
alkej-393	230	14	5	5	NUM
alkej-393	230	15	cm	cm	NOUN
alkej-393	230	16	)	)	PUNCT
alkej-393	230	17	to	to	ADP
alkej-393	230	18	(	(	PUNCT
alkej-393	230	19	7.4	7.4	NUM
alkej-393	230	20	cm	cm	NOUN
alkej-393	230	21	)	)	PUNCT
alkej-393	230	22	along	along	ADP
alkej-393	230	23	x	x	NOUN
alkej-393	230	24	-	-	NOUN
alkej-393	230	25	axis	axis	ADJ
alkej-393	230	26	,	,	PUNCT
alkej-393	230	27	also	also	ADV
alkej-393	230	28	the	the	DET
alkej-393	230	29	height	height	NOUN
alkej-393	230	30	of	of	ADP
alkej-393	230	31	the	the	DET
alkej-393	230	32	lifting	lift	VERB
alkej-393	230	33	tip	tip	NOUN
alkej-393	230	34	is	be	AUX
alkej-393	230	35	(	(	PUNCT
alkej-393	230	36	1.5	1.5	NUM
alkej-393	230	37	cm	cm	NOUN
alkej-393	230	38	)	)	PUNCT
alkej-393	230	39	along	along	ADP
alkej-393	230	40	z	z	NOUN
alkej-393	230	41	-	-	PUNCT
alkej-393	230	42	axis	axis	ADJ
alkej-393	230	43	.	.	PUNCT
alkej-393	231	1	3	3	X
alkej-393	231	2	.	.	X
alkej-393	231	3	in	in	ADP
alkej-393	231	4	figure	figure	NOUN
alkej-393	231	5	(	(	PUNCT
alkej-393	231	6	18	18	NUM
alkej-393	231	7	):	):	PUNCT
alkej-393	231	8	leg3	leg3	ADJ
alkej-393	231	9	swinging	swinging	NOUN
alkej-393	231	10	and	and	CCONJ
alkej-393	231	11	moving	move	VERB
alkej-393	231	12	from	from	ADP
alkej-393	231	13	(	(	PUNCT
alkej-393	231	14	-5	-5	INTJ
alkej-393	231	15	cm	cm	NOUN
alkej-393	231	16	)	)	PUNCT
alkej-393	231	17	to	to	ADP
alkej-393	231	18	(	(	PUNCT
alkej-393	231	19	-2	-2	INTJ
alkej-393	231	20	cm	cm	NOUN
alkej-393	231	21	)	)	PUNCT
alkej-393	231	22	along	along	ADP
alkej-393	231	23	x	x	NOUN
alkej-393	231	24	-	-	NOUN
alkej-393	231	25	axis	axis	ADJ
alkej-393	231	26	,	,	PUNCT
alkej-393	231	27	also	also	ADV
alkej-393	231	28	the	the	DET
alkej-393	231	29	height	height	NOUN
alkej-393	231	30	of	of	ADP
alkej-393	231	31	the	the	DET
alkej-393	231	32	lifting	lift	VERB
alkej-393	231	33	tip	tip	NOUN
alkej-393	231	34	is	be	AUX
alkej-393	231	35	(	(	PUNCT
alkej-393	231	36	1.5	1.5	NUM
alkej-393	231	37	cm	cm	NOUN
alkej-393	231	38	)	)	PUNCT
alkej-393	231	39	along	along	ADP
alkej-393	231	40	z	z	NOUN
alkej-393	231	41	-	-	PUNCT
alkej-393	231	42	axis	axis	ADJ
alkej-393	231	43	.	.	PUNCT
alkej-393	232	1	4	4	X
alkej-393	232	2	.	.	X
alkej-393	232	3	in	in	ADP
alkej-393	232	4	figure	figure	NOUN
alkej-393	232	5	(	(	PUNCT
alkej-393	232	6	19	19	NUM
alkej-393	232	7	):	):	PUNCT
alkej-393	232	8	leg1	leg1	NOUN
alkej-393	232	9	swinging	swinging	NOUN
alkej-393	232	10	and	and	CCONJ
alkej-393	232	11	moving	move	VERB
alkej-393	232	12	from	from	ADP
alkej-393	232	13	(	(	PUNCT
alkej-393	232	14	5	5	NUM
alkej-393	232	15	cm	cm	NOUN
alkej-393	232	16	)	)	PUNCT
alkej-393	232	17	to	to	ADP
alkej-393	232	18	(	(	PUNCT
alkej-393	232	19	8.5	8.5	NUM
alkej-393	232	20	cm	cm	NOUN
alkej-393	232	21	)	)	PUNCT
alkej-393	232	22	along	along	ADP
alkej-393	232	23	x	x	NOUN
alkej-393	232	24	-	-	NOUN
alkej-393	232	25	axis	axis	ADJ
alkej-393	232	26	,	,	PUNCT
alkej-393	232	27	also	also	ADV
alkej-393	232	28	the	the	DET
alkej-393	232	29	height	height	NOUN
alkej-393	232	30	of	of	ADP
alkej-393	232	31	the	the	DET
alkej-393	232	32	lifting	lift	VERB
alkej-393	232	33	tip	tip	NOUN
alkej-393	232	34	is	be	AUX
alkej-393	232	35	(	(	PUNCT
alkej-393	232	36	1.5	1.5	NUM
alkej-393	232	37	cm	cm	NOUN
alkej-393	232	38	)	)	PUNCT
alkej-393	232	39	along	along	ADP
alkej-393	232	40	z	z	NOUN
alkej-393	232	41	-	-	PUNCT
alkej-393	232	42	axis	axis	NOUN
alkej-393	232	43	.	.	PUNCT
alkej-393	233	1	as	as	SCONJ
alkej-393	233	2	discussed	discuss	VERB
alkej-393	233	3	in	in	ADP
alkej-393	233	4	this	this	DET
alkej-393	233	5	paper	paper	NOUN
alkej-393	233	6	,	,	PUNCT
alkej-393	233	7	the	the	DET
alkej-393	233	8	quadruped	quadruped	NOUN
alkej-393	233	9	walking	walk	VERB
alkej-393	233	10	along	along	ADP
alkej-393	233	11	x	x	NOUN
alkej-393	233	12	-	-	NOUN
alkej-393	233	13	axis	axis	ADJ
alkej-393	233	14	only	only	ADV
alkej-393	233	15	while	while	SCONJ
alkej-393	233	16	the	the	DET
alkej-393	233	17	y	y	NOUN
alkej-393	233	18	-	-	PUNCT
alkej-393	233	19	axis	axis	NOUN
alkej-393	233	20	is	be	AUX
alkej-393	233	21	fixed	fix	VERB
alkej-393	233	22	,	,	PUNCT
alkej-393	233	23	there	there	PRON
alkej-393	233	24	is	be	VERB
alkej-393	233	25	no	no	DET
alkej-393	233	26	changing	change	VERB
alkej-393	233	27	in	in	ADP
alkej-393	233	28	the	the	DET
alkej-393	233	29	y	y	NOUN
alkej-393	233	30	-	-	PUNCT
alkej-393	233	31	axis	axis	NOUN
alkej-393	233	32	during	during	ADP
alkej-393	233	33	the	the	DET
alkej-393	233	34	walking	walking	NOUN
alkej-393	233	35	of	of	ADP
alkej-393	233	36	the	the	DET
alkej-393	233	37	quadruped	quadruped	NOUN
alkej-393	233	38	robot	robot	NOUN
alkej-393	233	39	.	.	PUNCT
alkej-393	234	1	figure	figure	NOUN
alkej-393	234	2	(	(	PUNCT
alkej-393	234	3	20	20	NUM
alkej-393	234	4	)	)	PUNCT
alkej-393	234	5	showing	show	VERB
alkej-393	234	6	this	this	DET
alkej-393	234	7	case	case	NOUN
alkej-393	234	8	.	.	PUNCT
alkej-393	235	1	firas	firas	PROPN
alkej-393	235	2	a.	a.	PROPN
alkej-393	235	3	raheem	raheem	PROPN
alkej-393	235	4	al	al	PROPN
alkej-393	235	5	-	-	PUNCT
alkej-393	235	6	khwarizmi	khwarizmi	PROPN
alkej-393	235	7	engineering	engineering	NOUN
alkej-393	235	8	journal	journal	PROPN
alkej-393	235	9	,	,	PUNCT
alkej-393	235	10	vol	vol	NOUN
alkej-393	235	11	.	.	PROPN
alkej-393	235	12	14	14	NUM
alkej-393	235	13	,	,	PUNCT
alkej-393	235	14	no	no	INTJ
alkej-393	235	15	.	.	NOUN
alkej-393	235	16	2	2	NUM
alkej-393	235	17	,	,	PUNCT
alkej-393	235	18	p.p	p.p	PROPN
alkej-393	235	19	.	.	NOUN
alkej-393	235	20	93106	93106	NUM
alkej-393	235	21	(	(	PUNCT
alkej-393	235	22	2018	2018	NUM
alkej-393	235	23	)	)	PUNCT
alkej-393	235	24	104	104	NUM
alkej-393	235	25	fig	fig	NOUN
alkej-393	235	26	.	.	PUNCT
alkej-393	236	1	20	20	NUM
alkej-393	236	2	.	.	PUNCT
alkej-393	237	1	showing	show	VERB
alkej-393	237	2	the	the	DET
alkej-393	237	3	changing	changing	NOUN
alkej-393	237	4	of	of	ADP
alkej-393	237	5	the	the	DET
alkej-393	237	6	leg	leg	NOUN
alkej-393	237	7	tips	tip	NOUN
alkej-393	237	8	along	along	ADP
alkej-393	237	9	y	y	NOUN
alkej-393	237	10	-	-	NOUN
alkej-393	237	11	axis	axis	NOUN
alkej-393	237	12	during	during	ADP
alkej-393	237	13	the	the	DET
alkej-393	237	14	quadruped	quadruped	NOUN
alkej-393	237	15	walking	walking	NOUN
alkej-393	237	16	.	.	PUNCT
alkej-393	238	1	during	during	ADP
alkej-393	238	2	the	the	DET
alkej-393	238	3	creeping	creeping	ADJ
alkej-393	238	4	gait	gait	NOUN
alkej-393	238	5	sequence	sequence	NOUN
alkej-393	238	6	,	,	PUNCT
alkej-393	238	7	the	the	DET
alkej-393	238	8	quadruped	quadruped	NOUN
alkej-393	238	9	robot	robot	NOUN
alkej-393	238	10	leg	leg	NOUN
alkej-393	238	11	angles	angle	NOUN
alkej-393	238	12	are	be	AUX
alkej-393	238	13	changing	change	VERB
alkej-393	238	14	.	.	PUNCT
alkej-393	239	1	these	these	DET
alkej-393	239	2	angles	angle	NOUN
alkej-393	239	3	are	be	AUX
alkej-393	239	4	(	(	PUNCT
alkej-393	239	5	�	�	PROPN
alkej-393	239	6	�	�	PROPN
alkej-393	239	7	,	,	PUNCT
alkej-393	239	8	�	�	PROPN
alkej-393	239	9	�	�	PROPN
alkej-393	239	10	and	and	CCONJ
alkej-393	239	11	�	�	PROPN
alkej-393	239	12	)	)	PUNCT
alkej-393	239	13	of	of	ADP
alkej-393	239	14	each	each	DET
alkej-393	239	15	leg	leg	NOUN
alkej-393	239	16	.	.	PUNCT
alkej-393	240	1	this	this	DET
alkej-393	240	2	changing	change	VERB
alkej-393	240	3	is	be	AUX
alkej-393	240	4	showing	show	VERB
alkej-393	240	5	in	in	ADP
alkej-393	240	6	figure	figure	NOUN
alkej-393	240	7	(	(	PUNCT
alkej-393	240	8	21	21	NUM
alkej-393	240	9	)	)	PUNCT
alkej-393	240	10	(	(	PUNCT
alkej-393	240	11	a	a	X
alkej-393	240	12	)	)	PUNCT
alkej-393	240	13	(	(	PUNCT
alkej-393	240	14	b	b	X
alkej-393	240	15	)	)	PUNCT
alkej-393	240	16	(	(	PUNCT
alkej-393	240	17	c	c	X
alkej-393	240	18	)	)	PUNCT
alkej-393	240	19	fig	fig	NOUN
alkej-393	240	20	.	.	PUNCT
alkej-393	241	1	21	21	NUM
alkej-393	241	2	.	.	PUNCT
alkej-393	242	1	changing	change	VERB
alkej-393	242	2	of	of	ADP
alkej-393	242	3	angles	angle	NOUN
alkej-393	242	4	(	(	PUNCT
alkej-393	242	5	a	a	PRON
alkej-393	242	6	)	)	PUNCT
alkej-393	242	7	coxa	coxa	NOUN
alkej-393	242	8	-	-	PUNCT
alkej-393	242	9	angle	angle	NOUN
alkej-393	242	10	(	(	PUNCT
alkej-393	242	11	b	b	NOUN
alkej-393	242	12	)	)	PUNCT
alkej-393	242	13	femur	femur	NOUN
alkej-393	242	14	-	-	PUNCT
alkej-393	242	15	angle	angle	NOUN
alkej-393	242	16	(	(	PUNCT
alkej-393	242	17	c	c	NOUN
alkej-393	242	18	)	)	PUNCT
alkej-393	242	19	tibia	tibia	NOUN
alkej-393	242	20	-	-	PUNCT
alkej-393	242	21	angle	angle	NOUN
alkej-393	242	22	from	from	ADP
alkej-393	242	23	figure	figure	NOUN
alkej-393	242	24	(	(	PUNCT
alkej-393	242	25	21	21	NUM
alkej-393	242	26	)	)	PUNCT
alkej-393	242	27	shown	show	VERB
alkej-393	242	28	above	above	ADP
alkej-393	242	29	it	it	PRON
alkej-393	242	30	can	can	AUX
alkej-393	242	31	be	be	AUX
alkej-393	242	32	seen	see	VERB
alkej-393	242	33	the	the	DET
alkej-393	242	34	following	follow	VERB
alkej-393	242	35	:	:	PUNCT
alkej-393	242	36	1	1	X
alkej-393	242	37	.	.	X
alkej-393	242	38	figure	figure	NOUN
alkej-393	242	39	(	(	PUNCT
alkej-393	242	40	21	21	NUM
alkej-393	242	41	-	-	PUNCT
alkej-393	242	42	a	a	PRON
alkej-393	242	43	)	)	PUNCT
alkej-393	242	44	is	be	AUX
alkej-393	242	45	the	the	DET
alkej-393	242	46	changing	changing	NOUN
alkej-393	242	47	of	of	ADP
alkej-393	242	48	leg1	leg1	PROPN
alkej-393	242	49	angle	angle	PROPN
alkej-393	242	50	�	�	PROPN
alkej-393	242	51	�	�	PROPN
alkej-393	242	52	.	.	PUNCT
alkej-393	243	1	this	this	DET
alkej-393	243	2	angle	angle	NOUN
alkej-393	243	3	is	be	AUX
alkej-393	243	4	varying	vary	VERB
alkej-393	243	5	between	between	ADP
alkej-393	243	6	(	(	PUNCT
alkej-393	243	7	15	15	NUM
alkej-393	243	8	degree	degree	NOUN
alkej-393	243	9	)	)	PUNCT
alkej-393	243	10	to	to	ADP
alkej-393	243	11	(	(	PUNCT
alkej-393	243	12	-15	-15	NOUN
alkej-393	243	13	degree	degree	NOUN
alkej-393	243	14	)	)	PUNCT
alkej-393	243	15	.	.	PUNCT
alkej-393	244	1	2	2	X
alkej-393	244	2	.	.	X
alkej-393	244	3	figure	figure	NOUN
alkej-393	244	4	(	(	PUNCT
alkej-393	244	5	21	21	NUM
alkej-393	244	6	-	-	PUNCT
alkej-393	244	7	b	b	NOUN
alkej-393	244	8	)	)	PUNCT
alkej-393	244	9	is	be	AUX
alkej-393	244	10	the	the	DET
alkej-393	244	11	changing	changing	NOUN
alkej-393	244	12	of	of	ADP
alkej-393	244	13	leg1	leg1	PROPN
alkej-393	244	14	angle	angle	PROPN
alkej-393	244	15	�	�	PROPN
alkej-393	244	16	�	�	PROPN
alkej-393	244	17	.	.	PUNCT
alkej-393	245	1	this	this	DET
alkej-393	245	2	angle	angle	NOUN
alkej-393	245	3	is	be	AUX
alkej-393	245	4	varying	vary	VERB
alkej-393	245	5	between	between	ADP
alkej-393	245	6	(	(	PUNCT
alkej-393	245	7	30	30	NUM
alkej-393	245	8	degree	degree	NOUN
alkej-393	245	9	)	)	PUNCT
alkej-393	245	10	to	to	ADP
alkej-393	245	11	(	(	PUNCT
alkej-393	245	12	65	65	NUM
alkej-393	245	13	degree	degree	NOUN
alkej-393	245	14	)	)	PUNCT
alkej-393	245	15	.	.	PUNCT
alkej-393	246	1	3	3	X
alkej-393	246	2	.	.	X
alkej-393	246	3	figure	figure	NOUN
alkej-393	246	4	(	(	PUNCT
alkej-393	246	5	21	21	NUM
alkej-393	246	6	-	-	SYM
alkej-393	246	7	c	c	NOUN
alkej-393	246	8	)	)	PUNCT
alkej-393	246	9	is	be	AUX
alkej-393	246	10	the	the	DET
alkej-393	246	11	changing	changing	NOUN
alkej-393	246	12	of	of	ADP
alkej-393	246	13	leg1	leg1	PROPN
alkej-393	246	14	angle	angle	NOUN
alkej-393	246	15	�	�	PROPN
alkej-393	246	16	.	.	PUNCT
alkej-393	247	1	this	this	DET
alkej-393	247	2	angle	angle	NOUN
alkej-393	247	3	is	be	AUX
alkej-393	247	4	varying	vary	VERB
alkej-393	247	5	between	between	ADP
alkej-393	247	6	(	(	PUNCT
alkej-393	247	7	120	120	NUM
alkej-393	247	8	degree	degree	NOUN
alkej-393	247	9	)	)	PUNCT
alkej-393	247	10	to	to	ADP
alkej-393	247	11	(	(	PUNCT
alkej-393	247	12	140	140	NUM
alkej-393	247	13	degree	degree	NOUN
alkej-393	247	14	)	)	PUNCT
alkej-393	247	15	.	.	PUNCT
alkej-393	248	1	7	7	X
alkej-393	248	2	.	.	X
alkej-393	248	3	conclusion	conclusion	NOUN
alkej-393	248	4	the	the	DET
alkej-393	248	5	main	main	ADJ
alkej-393	248	6	focus	focus	NOUN
alkej-393	248	7	of	of	ADP
alkej-393	248	8	this	this	DET
alkej-393	248	9	paper	paper	NOUN
alkej-393	248	10	is	be	AUX
alkej-393	248	11	how	how	SCONJ
alkej-393	248	12	to	to	PART
alkej-393	248	13	analyze	analyze	VERB
alkej-393	248	14	the	the	DET
alkej-393	248	15	quadruped	quadruped	NOUN
alkej-393	248	16	robot	robot	NOUN
alkej-393	248	17	creeping	creep	VERB
alkej-393	248	18	gait	gait	PROPN
alkej-393	248	19	walking	walk	VERB
alkej-393	248	20	and	and	CCONJ
alkej-393	248	21	then	then	ADV
alkej-393	248	22	to	to	PART
alkej-393	248	23	derive	derive	VERB
alkej-393	248	24	,	,	PUNCT
alkej-393	248	25	verify	verify	VERB
alkej-393	248	26	and	and	CCONJ
alkej-393	248	27	prove	prove	VERB
alkej-393	248	28	that	that	SCONJ
alkej-393	248	29	the	the	DET
alkej-393	248	30	robot	robot	NOUN
alkej-393	248	31	is	be	AUX
alkej-393	248	32	statically	statically	ADV
alkej-393	248	33	stable	stable	ADJ
alkej-393	248	34	during	during	ADP
alkej-393	248	35	walking	walk	VERB
alkej-393	248	36	.	.	PUNCT
alkej-393	249	1	in	in	ADP
alkej-393	249	2	order	order	NOUN
alkej-393	249	3	to	to	PART
alkej-393	249	4	satisfy	satisfy	VERB
alkej-393	249	5	the	the	DET
alkej-393	249	6	goal	goal	NOUN
alkej-393	249	7	of	of	ADP
alkej-393	249	8	this	this	DET
alkej-393	249	9	work	work	NOUN
alkej-393	249	10	,	,	PUNCT
alkej-393	249	11	first	first	ADV
alkej-393	249	12	,	,	PUNCT
alkej-393	249	13	the	the	DET
alkej-393	249	14	full	full	ADJ
alkej-393	249	15	forward	forward	ADV
alkej-393	249	16	and	and	CCONJ
alkej-393	249	17	inverse	inverse	NOUN
alkej-393	249	18	kinematics	kinematic	NOUN
alkej-393	249	19	model	model	NOUN
alkej-393	249	20	has	have	AUX
alkej-393	249	21	been	be	AUX
alkej-393	249	22	derived	derive	VERB
alkej-393	249	23	and	and	CCONJ
alkej-393	249	24	used	use	VERB
alkej-393	249	25	for	for	ADP
alkej-393	249	26	walking	walk	VERB
alkej-393	249	27	steps	step	NOUN
alkej-393	249	28	stability	stability	NOUN
alkej-393	249	29	validation	validation	NOUN
alkej-393	249	30	.	.	PUNCT
alkej-393	250	1	also	also	ADV
alkej-393	250	2	,	,	PUNCT
alkej-393	250	3	the	the	DET
alkej-393	250	4	interaction	interaction	NOUN
alkej-393	250	5	between	between	ADP
alkej-393	250	6	creeping	creep	VERB
alkej-393	250	7	gait	gait	ADJ
alkej-393	250	8	sequence	sequence	NOUN
alkej-393	250	9	made	make	VERB
alkej-393	250	10	for	for	ADP
alkej-393	250	11	this	this	DET
alkej-393	250	12	robot	robot	NOUN
alkej-393	250	13	and	and	CCONJ
alkej-393	250	14	the	the	DET
alkej-393	250	15	geometric	geometric	ADJ
alkej-393	250	16	modeling	modeling	NOUN
alkej-393	250	17	of	of	ADP
alkej-393	250	18	robot	robot	NOUN
alkej-393	250	19	legs	leg	NOUN
alkej-393	250	20	-	-	PUNCT
alkej-393	250	21	tip	tip	NOUN
alkej-393	250	22	has	have	AUX
alkej-393	250	23	been	be	AUX
alkej-393	250	24	fully	fully	ADV
alkej-393	250	25	derived	derive	VERB
alkej-393	250	26	for	for	ADP
alkej-393	250	27	finding	find	VERB
alkej-393	250	28	all	all	DET
alkej-393	250	29	the	the	DET
alkej-393	250	30	static	static	ADJ
alkej-393	250	31	stability	stability	NOUN
alkej-393	250	32	margins	margin	NOUN
alkej-393	250	33	during	during	ADP
alkej-393	250	34	walking	walk	VERB
alkej-393	250	35	.	.	PUNCT
alkej-393	251	1	the	the	DET
alkej-393	251	2	results	result	NOUN
alkej-393	251	3	clearly	clearly	ADV
alkej-393	251	4	prove	prove	VERB
alkej-393	251	5	that	that	SCONJ
alkej-393	251	6	the	the	DET
alkej-393	251	7	stability	stability	NOUN
alkej-393	251	8	margins	margin	NOUN
alkej-393	251	9	have	have	VERB
alkej-393	251	10	the	the	DET
alkej-393	251	11	positive	positive	ADJ
alkej-393	251	12	values	value	NOUN
alkej-393	251	13	which	which	PRON
alkej-393	251	14	guarantee	guarantee	VERB
alkej-393	251	15	to	to	PART
alkej-393	251	16	keep	keep	VERB
alkej-393	251	17	robot	robot	NOUN
alkej-393	251	18	cog	cog	PROPN
alkej-393	251	19	inside	inside	ADP
alkej-393	251	20	the	the	DET
alkej-393	251	21	supporting	support	VERB
alkej-393	251	22	triangle	triangle	NOUN
alkej-393	251	23	during	during	ADP
alkej-393	251	24	the	the	DET
alkej-393	251	25	swing	swing	NOUN
alkej-393	251	26	phase	phase	NOUN
alkej-393	251	27	of	of	ADP
alkej-393	251	28	one	one	NUM
alkej-393	251	29	leg	leg	NOUN
alkej-393	251	30	while	while	SCONJ
alkej-393	251	31	other	other	ADJ
alkej-393	251	32	legs	leg	NOUN
alkej-393	251	33	are	be	AUX
alkej-393	251	34	on	on	ADP
alkej-393	251	35	the	the	DET
alkej-393	251	36	ground	ground	NOUN
alkej-393	251	37	.	.	PUNCT
alkej-393	252	1	furthermore	furthermore	ADV
alkej-393	252	2	,	,	PUNCT
alkej-393	252	3	a	a	DET
alkej-393	252	4	future	future	ADJ
alkej-393	252	5	work	work	NOUN
alkej-393	252	6	development	development	NOUN
alkej-393	252	7	is	be	AUX
alkej-393	252	8	needed	need	VERB
alkej-393	252	9	to	to	PART
alkej-393	252	10	analyze	analyze	VERB
alkej-393	252	11	and	and	CCONJ
alkej-393	252	12	enhance	enhance	VERB
alkej-393	252	13	the	the	DET
alkej-393	252	14	quadruped	quadruped	NOUN
alkej-393	252	15	robot	robot	NOUN
alkej-393	252	16	walking	walk	VERB
alkej-393	252	17	on	on	ADP
alkej-393	252	18	the	the	DET
alkej-393	252	19	hard	hard	ADJ
alkej-393	252	20	and	and	CCONJ
alkej-393	252	21	rough	rough	ADJ
alkej-393	252	22	terrain	terrain	NOUN
alkej-393	252	23	.	.	PUNCT
alkej-393	253	1	notation	notation	NOUN
alkej-393	253	2	cog	cog	PROPN
alkej-393	253	3	center	center	PROPN
alkej-393	253	4	of	of	ADP
alkej-393	253	5	gravity	gravity	NOUN
alkej-393	253	6	�	�	PROPN
alkej-393	253	7	&	&	CCONJ
alkej-393	253	8	'	'	CCONJ
alkej-393	253	9	x	x	NOUN
alkej-393	253	10	center	center	NOUN
alkej-393	253	11	of	of	ADP
alkej-393	253	12	gravity	gravity	NOUN
alkej-393	253	13	in	in	ADP
alkej-393	253	14	x	x	ADJ
alkej-393	253	15	-	-	ADJ
alkej-393	253	16	axis	axis	ADJ
alkej-393	253	17	=	=	ADJ
alkej-393	253	18	&	&	CCONJ
alkej-393	253	19	'	'	CCONJ
alkej-393	253	20	x	x	NOUN
alkej-393	253	21	center	center	NOUN
alkej-393	253	22	of	of	ADP
alkej-393	253	23	gravity	gravity	NOUN
alkej-393	253	24	in	in	ADP
alkej-393	253	25	y	y	NOUN
alkej-393	253	26	-	-	PUNCT
alkej-393	253	27	axis	axis	NOUN
alkej-393	253	28	x1	x1	ADJ
alkej-393	253	29	leg1	leg1	NOUN
alkej-393	253	30	tip	tip	NOUN
alkej-393	253	31	in	in	ADP
alkej-393	253	32	x	x	ADJ
alkej-393	253	33	-	-	ADJ
alkej-393	253	34	axis	axis	ADJ
alkej-393	253	35	x2	x2	PROPN
alkej-393	253	36	leg2	leg2	NOUN
alkej-393	253	37	tip	tip	NOUN
alkej-393	253	38	in	in	ADP
alkej-393	253	39	x	x	ADJ
alkej-393	253	40	-	-	ADJ
alkej-393	253	41	axis	axis	ADJ
alkej-393	253	42	x3	x3	ADJ
alkej-393	253	43	leg3	leg3	ADJ
alkej-393	253	44	tip	tip	NOUN
alkej-393	253	45	in	in	ADP
alkej-393	253	46	x	x	ADJ
alkej-393	253	47	-	-	ADJ
alkej-393	253	48	axis	axis	ADJ
alkej-393	253	49	x4	x4	PROPN
alkej-393	253	50	leg4	leg4	PROPN
alkej-393	253	51	tip	tip	NOUN
alkej-393	253	52	in	in	ADP
alkej-393	253	53	x	x	ADJ
alkej-393	253	54	-	-	ADJ
alkej-393	253	55	axis	axis	ADJ
alkej-393	253	56	y1	y1	NOUN
alkej-393	253	57	leg1	leg1	NOUN
alkej-393	253	58	tip	tip	NOUN
alkej-393	253	59	in	in	ADP
alkej-393	253	60	y	y	NOUN
alkej-393	253	61	-	-	PUNCT
alkej-393	253	62	axis	axis	NOUN
alkej-393	253	63	y2	y2	NOUN
alkej-393	253	64	leg2	leg2	NOUN
alkej-393	253	65	tip	tip	NOUN
alkej-393	253	66	in	in	ADP
alkej-393	253	67	y	y	NOUN
alkej-393	253	68	-	-	PUNCT
alkej-393	253	69	axis	axis	NOUN
alkej-393	253	70	y3	y3	NOUN
alkej-393	253	71	leg3	leg3	ADJ
alkej-393	253	72	tip	tip	NOUN
alkej-393	253	73	in	in	ADP
alkej-393	253	74	y	y	NOUN
alkej-393	253	75	-	-	PUNCT
alkej-393	253	76	axis	axis	NOUN
alkej-393	253	77	y4	y4	PROPN
alkej-393	253	78	leg4	leg4	PROPN
alkej-393	253	79	tip	tip	NOUN
alkej-393	253	80	in	in	ADP
alkej-393	253	81	y	y	NOUN
alkej-393	253	82	-	-	PUNCT
alkej-393	253	83	axis	axis	NOUN
alkej-393	253	84	�	�	PROPN
alkej-393	253	85	�	�	PROPN
alkej-393	253	86	,	,	PUNCT
alkej-393	253	87	�	�	PROPN
alkej-393	253	88	�	�	PROPN
alkej-393	253	89	,	,	PUNCT
alkej-393	253	90	�	�	PROPN
alkej-393	253	91	distance	distance	NOUN
alkej-393	253	92	from	from	ADP
alkej-393	253	93	stability	stability	NOUN
alkej-393	253	94	margins	margin	NOUN
alkej-393	253	95	to	to	ADP
alkej-393	253	96	the	the	DET
alkej-393	253	97	cog	cog	PROPN
alkej-393	253	98	greek	greek	PROPN
alkej-393	253	99	letter	letter	NOUN
alkej-393	253	100	z	z	PROPN
alkej-393	253	101	stride	stride	PROPN
alkej-393	253	102	line	line	NOUN
alkej-393	253	103	firas	firas	PROPN
alkej-393	253	104	a.	a.	PROPN
alkej-393	253	105	raheem	raheem	PROPN
alkej-393	254	1	al	al	PROPN
alkej-393	254	2	-	-	PUNCT
alkej-393	254	3	khwarizmi	khwarizmi	PROPN
alkej-393	254	4	engineering	engineering	NOUN
alkej-393	254	5	journal	journal	PROPN
alkej-393	254	6	,	,	PUNCT
alkej-393	254	7	vol	vol	NOUN
alkej-393	254	8	.	.	PROPN
alkej-393	254	9	14	14	NUM
alkej-393	254	10	,	,	PUNCT
alkej-393	254	11	no	no	INTJ
alkej-393	254	12	.	.	NOUN
alkej-393	254	13	2	2	NUM
alkej-393	254	14	,	,	PUNCT
alkej-393	254	15	p.p	p.p	PROPN
alkej-393	254	16	.	.	NOUN
alkej-393	254	17	93106	93106	NUM
alkej-393	254	18	(	(	PUNCT
alkej-393	254	19	2018	2018	NUM
alkej-393	254	20	)	)	PUNCT
alkej-393	254	21	105	105	NUM
alkej-393	254	22	8	8	NUM
alkej-393	254	23	.	.	PUNCT
alkej-393	255	1	references	reference	NOUN
alkej-393	255	2	[	[	X
alkej-393	255	3	1	1	NUM
alkej-393	255	4	]	]	X
alkej-393	255	5	kumar	kumar	PROPN
alkej-393	255	6	,	,	PUNCT
alkej-393	255	7	t.	t.	PROPN
alkej-393	255	8	komal	komal	PROPN
alkej-393	255	9	,	,	PUNCT
alkej-393	255	10	r.	r.	PROPN
alkej-393	255	11	kumar	kumar	PROPN
alkej-393	255	12	,	,	PUNCT
alkej-393	255	13	s.	s.	PROPN
alkej-393	255	14	mogily	mogily	PROPN
alkej-393	255	15	,	,	PUNCT
alkej-393	255	16	d.	d.	PROPN
alkej-393	255	17	goel	goel	PROPN
alkej-393	255	18	,	,	PUNCT
alkej-393	255	19	n.	n.	PROPN
alkej-393	255	20	pareekutty	pareekutty	PROPN
alkej-393	255	21	,	,	PUNCT
alkej-393	255	22	s.	s.	PROPN
alkej-393	255	23	v.	v.	PROPN
alkej-393	255	24	shah	shah	PROPN
alkej-393	255	25	,	,	PUNCT
alkej-393	255	26	and	and	CCONJ
alkej-393	255	27	k.	k.	PROPN
alkej-393	255	28	madhava	madhava	PROPN
alkej-393	255	29	krishna	krishna	PROPN
alkej-393	255	30	.	.	PUNCT
alkej-393	256	1	"	"	PUNCT
alkej-393	256	2	implementation	implementation	NOUN
alkej-393	256	3	of	of	ADP
alkej-393	256	4	gaits	gait	NOUN
alkej-393	256	5	for	for	ADP
alkej-393	256	6	achieving	achieve	VERB
alkej-393	256	7	omnidirectional	omnidirectional	ADJ
alkej-393	256	8	walking	walking	NOUN
alkej-393	256	9	in	in	ADP
alkej-393	256	10	a	a	DET
alkej-393	256	11	quadruped	quadruped	NOUN
alkej-393	256	12	robot	robot	NOUN
alkej-393	256	13	.	.	PUNCT
alkej-393	257	1	"proceedings	"proceeding	NOUN
alkej-393	257	2	of	of	ADP
alkej-393	257	3	the	the	DET
alkej-393	257	4	2015	2015	NUM
alkej-393	257	5	conference	conference	NOUN
alkej-393	257	6	on	on	ADP
alkej-393	257	7	advances	advance	NOUN
alkej-393	257	8	in	in	ADP
alkej-393	257	9	robotics	robotic	NOUN
alkej-393	257	10	air	air	NOUN
alkej-393	257	11	'	'	PUNCT
alkej-393	257	12	15(2015	15(2015	NUM
alkej-393	257	13	)	)	PUNCT
alkej-393	257	14	.	.	PUNCT
alkej-393	258	1	[	[	X
alkej-393	258	2	2	2	NUM
alkej-393	258	3	]	]	PUNCT
alkej-393	258	4	rebula	rebula	NOUN
alkej-393	258	5	,	,	PUNCT
alkej-393	258	6	j.	j.	PROPN
alkej-393	258	7	r.	r.	PROPN
alkej-393	258	8	,	,	PUNCT
alkej-393	258	9	neuhaus	neuhaus	PROPN
alkej-393	258	10	,	,	PUNCT
alkej-393	258	11	p.	p.	PROPN
alkej-393	258	12	d.	d.	PROPN
alkej-393	258	13	,	,	PUNCT
alkej-393	258	14	bonnlander	bonnlander	PROPN
alkej-393	258	15	,	,	PUNCT
alkej-393	258	16	b.	b.	PROPN
alkej-393	258	17	v,.johnson	v,.johnson	PROPN
alkej-393	258	18	,	,	PUNCT
alkej-393	258	19	m.	m.	NOUN
alkej-393	258	20	j.	j.	PROPN
alkej-393	258	21	,	,	PUNCT
alkej-393	258	22	pratt	pratt	PROPN
alkej-393	258	23	,	,	PUNCT
alkej-393	258	24	j.	j.	PROPN
alkej-393	258	25	e.	e.	PROPN
alkej-393	258	26	(	(	PUNCT
alkej-393	258	27	2007	2007	NUM
alkej-393	258	28	)	)	PUNCT
alkej-393	258	29	.	.	PUNCT
alkej-393	259	1	“	"	PUNCT
alkej-393	259	2	a	a	DET
alkej-393	259	3	controller	controller	NOUN
alkej-393	259	4	forthe	forthe	DET
alkej-393	259	5	littledog	littledog	ADJ
alkej-393	259	6	quadruped	quadruped	NOUN
alkej-393	259	7	walking	walk	VERB
alkej-393	259	8	on	on	ADP
alkej-393	259	9	rough	rough	ADJ
alkej-393	259	10	terrain”.icra	terrain”.icra	ADP
alkej-393	259	11	,	,	PUNCT
alkej-393	259	12	1467	1467	NUM
alkej-393	259	13	-	-	SYM
alkej-393	259	14	1473	1473	NUM
alkej-393	259	15	.	.	PUNCT
alkej-393	260	1	[	[	X
alkej-393	260	2	3	3	NUM
alkej-393	260	3	]	]	X
alkej-393	260	4	raibert	raibert	NOUN
alkej-393	260	5	,	,	PUNCT
alkej-393	260	6	m.	m.	NOUN
alkej-393	260	7	,	,	PUNCT
alkej-393	260	8	blankespoor	blankespoor	NOUN
alkej-393	260	9	,	,	PUNCT
alkej-393	260	10	k.	k.	PROPN
alkej-393	260	11	,	,	PUNCT
alkej-393	260	12	nelson	nelson	PROPN
alkej-393	260	13	,	,	PUNCT
alkej-393	260	14	g.	g.	PROPN
alkej-393	260	15	,	,	PUNCT
alkej-393	260	16	playter	playter	NOUN
alkej-393	260	17	,	,	PUNCT
alkej-393	260	18	r.(2008	r.(2008	NOUN
alkej-393	260	19	)	)	PUNCT
alkej-393	260	20	.	.	PUNCT
alkej-393	261	1	bigdog	bigdog	PROPN
alkej-393	261	2	,	,	PUNCT
alkej-393	261	3	the	the	DET
alkej-393	261	4	rough	rough	ADJ
alkej-393	261	5	-	-	PUNCT
alkej-393	261	6	terrain	terrain	NOUN
alkej-393	261	7	quadruped	quadruped	NOUN
alkej-393	261	8	robot	robot	NOUN
alkej-393	261	9	.	.	PUNCT
alkej-393	262	1	inproc	inproc	PROPN
alkej-393	262	2	,	,	PUNCT
alkej-393	262	3	of	of	ADP
alkej-393	262	4	the	the	DET
alkej-393	262	5	17th	17th	ADJ
alkej-393	262	6	world	world	PROPN
alkej-393	262	7	congress	congress	PROPN
alkej-393	262	8	,	,	PUNCT
alkej-393	262	9	17(1	17(1	NUM
alkej-393	262	10	)	)	PUNCT
alkej-393	262	11	,	,	PUNCT
alkej-393	262	12	10822	10822	NUM
alkej-393	262	13	-	-	SYM
alkej-393	262	14	10825	10825	NUM
alkej-393	262	15	.	.	PUNCT
alkej-393	263	1	[	[	X
alkej-393	263	2	4	4	NUM
alkej-393	263	3	]	]	X
alkej-393	263	4	shimoyama	shimoyama	NOUN
alkej-393	263	5	,	,	PUNCT
alkej-393	263	6	i.	i.	PROPN
alkej-393	263	7	,	,	PUNCT
alkej-393	263	8	miura	miura	PROPN
alkej-393	263	9	,	,	PUNCT
alkej-393	263	10	h.	h.	PROPN
alkej-393	263	11	,	,	PUNCT
alkej-393	263	12	horita	horita	PROPN
alkej-393	263	13	,	,	PUNCT
alkej-393	263	14	m.	m.	NOUN
alkej-393	263	15	,	,	PUNCT
alkej-393	263	16	hattori	hattori	PROPN
alkej-393	263	17	,	,	PUNCT
alkej-393	263	18	y.	y.	PROPN
alkej-393	263	19	(	(	PUNCT
alkej-393	263	20	1991	1991	NUM
alkej-393	263	21	)	)	PUNCT
alkej-393	263	22	.	.	PUNCT
alkej-393	264	1	analysis	analysis	NOUN
alkej-393	264	2	of	of	ADP
alkej-393	264	3	walk	walk	NOUN
alkej-393	264	4	for	for	ADP
alkej-393	264	5	quadruped	quadruped	NOUN
alkej-393	264	6	.	.	PUNCT
alkej-393	265	1	iros,1541	iros,1541	PROPN
alkej-393	265	2	-	-	PUNCT
alkej-393	265	3	1544	1544	NUM
alkej-393	265	4	.	.	PUNCT
alkej-393	266	1	[	[	X
alkej-393	266	2	5	5	NUM
alkej-393	266	3	]	]	PUNCT
alkej-393	266	4	fukuoka	fukuoka	NOUN
alkej-393	266	5	,	,	PUNCT
alkej-393	266	6	y.	y.	NOUN
alkej-393	266	7	,	,	PUNCT
alkej-393	266	8	kimura	kimura	NOUN
alkej-393	266	9	,	,	PUNCT
alkej-393	266	10	h.	h.	PROPN
alkej-393	266	11	,	,	PUNCT
alkej-393	266	12	cohen	cohen	PROPN
alkej-393	266	13	,	,	PUNCT
alkej-393	266	14	a.	a.	PROPN
alkej-393	266	15	h.	h.	PROPN
alkej-393	266	16	(	(	PUNCT
alkej-393	266	17	2003	2003	NUM
alkej-393	266	18	)	)	PUNCT
alkej-393	266	19	.	.	PUNCT
alkej-393	267	1	adaptive	adaptive	ADJ
alkej-393	267	2	dynamic	dynamic	ADJ
alkej-393	267	3	walking	walking	NOUN
alkej-393	267	4	of	of	ADP
alkej-393	267	5	a	a	DET
alkej-393	267	6	quadruped	quadruped	NOUN
alkej-393	267	7	robot	robot	NOUN
alkej-393	267	8	onirregular	onirregular	ADJ
alkej-393	267	9	terrain	terrain	NOUN
alkej-393	267	10	based	base	VERB
alkej-393	267	11	on	on	ADP
alkej-393	267	12	biological	biological	ADJ
alkej-393	267	13	concepts	concept	NOUN
alkej-393	267	14	.	.	PUNCT
alkej-393	268	1	the	the	DET
alkej-393	268	2	int.j	int.j	PROPN
alkej-393	268	3	.	.	PROPN
alkej-393	268	4	of	of	ADP
alkej-393	268	5	robotics	robotic	NOUN
alkej-393	268	6	research	research	NOUN
alkej-393	268	7	,	,	PUNCT
alkej-393	268	8	22(3	22(3	NUM
alkej-393	268	9	-	-	SYM
alkej-393	268	10	4	4	NUM
alkej-393	268	11	)	)	PUNCT
alkej-393	268	12	,	,	PUNCT
alkej-393	268	13	187	187	NUM
alkej-393	268	14	-	-	SYM
alkej-393	268	15	202	202	NUM
alkej-393	268	16	.	.	PUNCT
alkej-393	269	1	[	[	X
alkej-393	269	2	6	6	NUM
alkej-393	269	3	]	]	SYM
alkej-393	269	4	ma	ma	PROPN
alkej-393	269	5	,	,	PUNCT
alkej-393	269	6	s.	s.	PROPN
alkej-393	269	7	,	,	PUNCT
alkej-393	269	8	tomiyama	tomiyama	PROPN
alkej-393	269	9	,	,	PUNCT
alkej-393	269	10	t.	t.	PROPN
alkej-393	269	11	,	,	PUNCT
alkej-393	269	12	wada	wada	PROPN
alkej-393	269	13	,	,	PUNCT
alkej-393	269	14	h.	h.	PROPN
alkej-393	269	15	(	(	PUNCT
alkej-393	269	16	2005	2005	NUM
alkej-393	269	17	)	)	PUNCT
alkej-393	269	18	.	.	PUNCT
alkej-393	270	1	omnidirectional	omnidirectional	ADJ
alkej-393	270	2	static	static	ADJ
alkej-393	270	3	walking	walking	NOUN
alkej-393	270	4	of	of	ADP
alkej-393	270	5	a	a	DET
alkej-393	270	6	quadrupedrobot.transactions	quadrupedrobot.transaction	NOUN
alkej-393	270	7	on	on	ADP
alkej-393	270	8	robotics	robotic	NOUN
alkej-393	270	9	,	,	PUNCT
alkej-393	270	10	21(2	21(2	NUM
alkej-393	270	11	)	)	PUNCT
alkej-393	270	12	,	,	PUNCT
alkej-393	270	13	152	152	NUM
alkej-393	270	14	-	-	SYM
alkej-393	270	15	161	161	NUM
alkej-393	270	16	.	.	PUNCT
alkej-393	271	1	[	[	X
alkej-393	271	2	7	7	NUM
alkej-393	271	3	]	]	X
alkej-393	271	4	lee	lee	PROPN
alkej-393	271	5	,	,	PUNCT
alkej-393	271	6	t.	t.	PROPN
alkej-393	271	7	t.	t.	PROPN
alkej-393	271	8	,	,	PUNCT
alkej-393	271	9	shih	shih	PROPN
alkej-393	271	10	,	,	PUNCT
alkej-393	271	11	c.	c.	PROPN
alkej-393	271	12	l.	l.	PROPN
alkej-393	271	13	(	(	PUNCT
alkej-393	271	14	1986	1986	NUM
alkej-393	271	15	)	)	PUNCT
alkej-393	271	16	.	.	PUNCT
alkej-393	272	1	a	a	DET
alkej-393	272	2	study	study	NOUN
alkej-393	272	3	of	of	ADP
alkej-393	272	4	the	the	DET
alkej-393	272	5	gaitcontrol	gaitcontrol	NOUN
alkej-393	272	6	of	of	ADP
alkej-393	272	7	a	a	DET
alkej-393	272	8	quadruped	quadruped	NOUN
alkej-393	272	9	walking	walk	VERB
alkej-393	272	10	vehicle	vehicle	NOUN
alkej-393	272	11	.	.	PUNCT
alkej-393	273	1	j.	j.	PROPN
alkej-393	273	2	of	of	ADP
alkej-393	273	3	roboticsand	roboticsand	PROPN
alkej-393	273	4	automation	automation	NOUN
alkej-393	273	5	,	,	PUNCT
alkej-393	273	6	2(2	2(2	NUM
alkej-393	273	7	)	)	PUNCT
alkej-393	273	8	,	,	PUNCT
alkej-393	273	9	61	61	NUM
alkej-393	273	10	-	-	SYM
alkej-393	273	11	69	69	NUM
alkej-393	273	12	.	.	PUNCT
alkej-393	274	1	[	[	X
alkej-393	274	2	8	8	NUM
alkej-393	274	3	]	]	X
alkej-393	274	4	kim	kim	PROPN
alkej-393	274	5	,	,	PUNCT
alkej-393	274	6	b.	b.	PROPN
alkej-393	274	7	h.	h.	PROPN
alkej-393	274	8	(	(	PUNCT
alkej-393	274	9	2009	2009	NUM
alkej-393	274	10	)	)	PUNCT
alkej-393	274	11	.	.	PUNCT
alkej-393	275	1	centroid	centroid	NOUN
alkej-393	275	2	-	-	PUNCT
alkej-393	275	3	based	base	VERB
alkej-393	275	4	analysis	analysis	NOUN
alkej-393	275	5	ofquadruped	ofquadrupe	VERB
alkej-393	275	6	-	-	PUNCT
alkej-393	275	7	robot	robot	NOUN
alkej-393	275	8	walking	walk	VERB
alkej-393	275	9	balance	balance	NOUN
alkej-393	275	10	.	.	PUNCT
alkej-393	276	1	int	int	NOUN
alkej-393	276	2	.	.	PUNCT
alkej-393	276	3	conf	conf	PROPN
alkej-393	276	4	.	.	PUNCT
alkej-393	277	1	onadvanced	onadvance	VERB
alkej-393	277	2	robotics	robotic	NOUN
alkej-393	277	3	,	,	PUNCT
alkej-393	277	4	1	1	NUM
alkej-393	277	5	-	-	SYM
alkej-393	277	6	6	6	NUM
alkej-393	277	7	.	.	PUNCT
alkej-393	278	1	[	[	X
alkej-393	278	2	9	9	NUM
alkej-393	278	3	]	]	X
alkej-393	278	4	firas	firas	PROPN
alkej-393	278	5	a.	a.	PROPN
alkej-393	278	6	raheem	raheem	PROPN
alkej-393	278	7	,	,	PUNCT
alkej-393	278	8	hind	hind	PROPN
alkej-393	278	9	z.	z.	PROPN
alkej-393	278	10	khaleel	khaleel	PROPN
alkej-393	278	11	,	,	PUNCT
alkej-393	278	12	"	"	PUNCT
alkej-393	278	13	hexapod	hexapod	ADJ
alkej-393	278	14	robot	robot	NOUN
alkej-393	278	15	static	static	ADJ
alkej-393	278	16	stability	stability	NOUN
alkej-393	278	17	enhancement	enhancement	NOUN
alkej-393	278	18	using	use	VERB
alkej-393	278	19	genetic	genetic	ADJ
alkej-393	278	20	algorithm	algorithm	NOUN
alkej-393	278	21	al	al	PROPN
alkej-393	278	22	-	-	PUNCT
alkej-393	278	23	khwarizmi	khwarizmi	PROPN
alkej-393	278	24	engineering	engineering	NOUN
alkej-393	278	25	journal	journal	NOUN
alkej-393	278	26	,	,	PUNCT
alkej-393	278	27	vol	vol	NOUN
alkej-393	278	28	.	.	PROPN
alkej-393	278	29	11	11	NUM
alkej-393	278	30	,	,	PUNCT
alkej-393	278	31	no	no	INTJ
alkej-393	278	32	.	.	NOUN
alkej-393	278	33	4	4	NUM
alkej-393	278	34	,	,	PUNCT
alkej-393	278	35	p.p	p.p	PROPN
alkej-393	278	36	.	.	NOUN
alkej-393	278	37	4459	4459	NUM
alkej-393	278	38	,	,	PUNCT
alkej-393	278	39	2015	2015	NUM
alkej-393	278	40	.	.	PUNCT
alkej-393	279	1	[	[	X
alkej-393	279	2	10	10	NUM
alkej-393	279	3	]	]	X
alkej-393	279	4	chen	chen	PROPN
alkej-393	279	5	,	,	PUNCT
alkej-393	279	6	binbin	binbin	PROPN
alkej-393	279	7	,	,	PUNCT
alkej-393	279	8	shaoyuan	shaoyuan	PROPN
alkej-393	279	9	li	li	PROPN
alkej-393	279	10	,	,	PUNCT
alkej-393	279	11	and	and	CCONJ
alkej-393	279	12	dan	dan	PROPN
alkej-393	279	13	huang	huang	PROPN
alkej-393	279	14	.	.	PUNCT
alkej-393	280	1	"	"	PUNCT
alkej-393	280	2	quadruped	quadrupe	VERB
alkej-393	280	3	robot	robot	NOUN
alkej-393	280	4	crawl	crawl	NOUN
alkej-393	280	5	gait	gait	PROPN
alkej-393	280	6	planning	planning	NOUN
alkej-393	280	7	based	base	VERB
alkej-393	280	8	on	on	ADP
alkej-393	280	9	dst	dst	PROPN
alkej-393	280	10	.	.	PUNCT
alkej-393	280	11	"	"	PUNCT
alkej-393	281	1	proceedings	proceeding	NOUN
alkej-393	281	2	of	of	ADP
alkej-393	281	3	the	the	DET
alkej-393	281	4	33rd	33rd	ADJ
alkej-393	281	5	chinese	chinese	ADJ
alkej-393	281	6	control	control	PROPN
alkej-393	281	7	conference	conference	PROPN
alkej-393	281	8	(	(	PUNCT
alkej-393	281	9	2014	2014	NUM
alkej-393	281	10	)	)	PUNCT
alkej-393	281	11	.	.	PUNCT
alkej-393	282	1	[	[	X
alkej-393	282	2	11	11	NUM
alkej-393	282	3	]	]	X
alkej-393	282	4	liu	liu	PROPN
alkej-393	282	5	,	,	PUNCT
alkej-393	282	6	fei	fei	PROPN
alkej-393	282	7	.	.	PUNCT
alkej-393	282	8	research	research	NOUN
alkej-393	282	9	about	about	ADP
alkej-393	282	10	"	"	PUNCT
alkej-393	282	11	gait	gait	ADJ
alkej-393	282	12	planning	planning	NOUN
alkej-393	282	13	and	and	CCONJ
alkej-393	282	14	balance	balance	NOUN
alkej-393	282	15	control	control	NOUN
alkej-393	282	16	ofquadruped	ofquadrupe	VERB
alkej-393	282	17	robot	robot	NOUN
alkej-393	282	18	"	"	PUNCT
alkej-393	282	19	,	,	PUNCT
alkej-393	282	20	doctoral	doctoral	ADJ
alkej-393	282	21	dissertation	dissertation	NOUN
alkej-393	282	22	,	,	PUNCT
alkej-393	282	23	university	university	NOUN
alkej-393	282	24	of	of	ADP
alkej-393	282	25	scienceand	scienceand	NOUN
alkej-393	282	26	technology	technology	NOUN
alkej-393	282	27	of	of	ADP
alkej-393	282	28	china	china	PROPN
alkej-393	282	29	,	,	PUNCT
alkej-393	282	30	2010	2010	NUM
alkej-393	282	31	.	.	PUNCT
alkej-393	283	1	[	[	X
alkej-393	283	2	12	12	NUM
alkej-393	283	3	]	]	X
alkej-393	283	4	buchli	buchli	NOUN
alkej-393	283	5	,	,	PUNCT
alkej-393	283	6	jonas	jonas	PROPN
alkej-393	283	7	and	and	CCONJ
alkej-393	283	8	kalakrishnan	kalakrishnan	PROPN
alkej-393	283	9	,	,	PUNCT
alkej-393	283	10	mrinal	mrinal	ADJ
alkej-393	283	11	and	and	CCONJ
alkej-393	283	12	mistry	mistry	PROPN
alkej-393	283	13	,	,	PUNCT
alkej-393	283	14	michaeland	michaeland	PROPN
alkej-393	283	15	pastor	pastor	PROPN
alkej-393	283	16	,	,	PUNCT
alkej-393	283	17	peter	peter	PROPN
alkej-393	283	18	and	and	CCONJ
alkej-393	283	19	schaal	schaal	PROPN
alkej-393	283	20	,	,	PUNCT
alkej-393	283	21	stefan	stefan	PROPN
alkej-393	283	22	,	,	PUNCT
alkej-393	283	23	compliant	compliant	ADJ
alkej-393	283	24	quadruped	quadrupe	VERB
alkej-393	283	25	locomotion	locomotion	NOUN
alkej-393	283	26	over	over	ADP
alkej-393	283	27	rough	rough	ADJ
alkej-393	283	28	terrain	terrain	NOUN
alkej-393	283	29	,	,	PUNCT
alkej-393	283	30	the	the	DET
alkej-393	283	31	2009	2009	NUM
alkej-393	283	32	ieee	ieee	NOUN
alkej-393	283	33	/	/	SYM
alkej-393	283	34	rsj	rsj	NOUN
alkej-393	283	35	international	international	ADJ
alkej-393	283	36	conference	conference	NOUN
alkej-393	283	37	on	on	ADP
alkej-393	283	38	intelligent	intelligent	ADJ
alkej-393	283	39	robots	robot	NOUN
alkej-393	283	40	and	and	CCONJ
alkej-393	283	41	systems	system	NOUN
alkej-393	283	42	:	:	PUNCT
alkej-393	283	43	814–820	814–820	NUM
alkej-393	283	44	,	,	PUNCT
alkej-393	283	45	2009	2009	NUM
alkej-393	283	46	.	.	PUNCT
alkej-393	284	1	[	[	X
alkej-393	284	2	13	13	NUM
alkej-393	284	3	]	]	X
alkej-393	284	4	liu	liu	PROPN
alkej-393	284	5	,	,	PUNCT
alkej-393	284	6	f.	f.	PROPN
alkej-393	284	7	,	,	PUNCT
alkej-393	284	8	d.	d.	PROPN
alkej-393	284	9	wu	wu	PROPN
alkej-393	284	10	,	,	PUNCT
alkej-393	284	11	and	and	CCONJ
alkej-393	284	12	k.	k.	PROPN
alkej-393	284	13	chen	chen	PROPN
alkej-393	284	14	.	.	PUNCT
alkej-393	285	1	"	"	PUNCT
alkej-393	285	2	the	the	DET
alkej-393	285	3	simplest	simple	ADJ
alkej-393	285	4	creeping	creeping	ADJ
alkej-393	285	5	gait	gait	NOUN
alkej-393	285	6	for	for	ADP
alkej-393	285	7	a	a	DET
alkej-393	285	8	quadruped	quadruped	NOUN
alkej-393	285	9	robot	robot	NOUN
alkej-393	285	10	"	"	PUNCT
alkej-393	285	11	.	.	PUNCT
alkej-393	286	1	proceedings	proceeding	NOUN
alkej-393	286	2	of	of	ADP
alkej-393	286	3	the	the	DET
alkej-393	286	4	institution	institution	NOUN
alkej-393	286	5	of	of	ADP
alkej-393	286	6	mechanical	mechanical	ADJ
alkej-393	286	7	engineers	engineer	NOUN
alkej-393	286	8	,	,	PUNCT
alkej-393	286	9	part	part	NOUN
alkej-393	286	10	c	c	NOUN
alkej-393	286	11	:	:	PUNCT
alkej-393	286	12	journal	journal	NOUN
alkej-393	286	13	of	of	ADP
alkej-393	286	14	mechanical	mechanical	ADJ
alkej-393	286	15	engineering	engineering	NOUN
alkej-393	286	16	science	science	NOUN
alkej-393	286	17	227.1	227.1	NUM
alkej-393	286	18	(	(	PUNCT
alkej-393	286	19	2012	2012	NUM
alkej-393	286	20	):	):	PUNCT
alkej-393	286	21	170	170	NUM
alkej-393	286	22	-	-	SYM
alkej-393	286	23	177	177	NUM
alkej-393	286	24	.	.	PUNCT
alkej-393	286	25	web	web	NOUN
alkej-393	286	26	.	.	PUNCT
alkej-393	287	1	[	[	X
alkej-393	287	2	14	14	NUM
alkej-393	287	3	]	]	PUNCT
alkej-393	287	4	pack	pack	NOUN
alkej-393	287	5	dj	dj	NOUN
alkej-393	287	6	and	and	CCONJ
alkej-393	287	7	kak	kak	PROPN
alkej-393	287	8	a.	a.	PROPN
alkej-393	287	9	a	a	DET
alkej-393	287	10	simplified	simplified	ADJ
alkej-393	287	11	forward	forward	ADJ
alkej-393	287	12	gait	gait	PROPN
alkej-393	287	13	control	control	PROPN
alkej-393	287	14	fora	fora	PROPN
alkej-393	287	15	quadruped	quadrupe	VERB
alkej-393	287	16	walking	walking	NOUN
alkej-393	287	17	robot	robot	NOUN
alkej-393	287	18	.	.	PUNCT
alkej-393	288	1	in	in	ADP
alkej-393	288	2	:	:	PUNCT
alkej-393	288	3	proceedings	proceeding	NOUN
alkej-393	288	4	of	of	ADP
alkej-393	288	5	the	the	DET
alkej-393	288	6	ieee	ieee	NOUN
alkej-393	288	7	/	/	SYM
alkej-393	288	8	rsj	rsj	NOUN
alkej-393	288	9	/	/	SYM
alkej-393	288	10	gi	gi	ADJ
alkej-393	288	11	international	international	ADJ
alkej-393	288	12	conference	conference	NOUN
alkej-393	288	13	on	on	ADP
alkej-393	288	14	intelligent	intelligent	ADJ
alkej-393	288	15	robots	robot	NOUN
alkej-393	288	16	and	and	CCONJ
alkej-393	288	17	systems	system	NOUN
alkej-393	288	18	,	,	PUNCT
alkej-393	288	19	munich	munich	PROPN
alkej-393	288	20	,	,	PUNCT
alkej-393	288	21	germany	germany	PROPN
alkej-393	288	22	,	,	PUNCT
alkej-393	288	23	12–16	12–16	NUM
alkej-393	288	24	september	september	PROPN
alkej-393	288	25	1994	1994	NUM
alkej-393	288	26	,	,	PUNCT
alkej-393	288	27	.١٠١٢	.١٠١٢	PROPN
alkej-393	288	28	pp.1011–1018	pp.1011–1018	PROPN
alkej-393	288	29	.	.	PUNCT
alkej-393	289	1	new	new	PROPN
alkej-393	289	2	york	york	PROPN
alkej-393	289	3	:	:	PUNCT
alkej-393	289	4	ieee	ieee	NOUN
alkej-393	289	5	.	.	PUNCT
alkej-393	290	1	[	[	X
alkej-393	290	2	15	15	NUM
alkej-393	290	3	]	]	X
alkej-393	290	4	mănoiu	mănoiu	NOUN
alkej-393	290	5	-	-	PUNCT
alkej-393	290	6	olarusorin	olarusorin	NOUN
alkej-393	290	7	,	,	PUNCT
alkej-393	290	8	niţulescumircea	niţulescumircea	NOUN
alkej-393	290	9	,	,	PUNCT
alkej-393	290	10	“	"	PUNCT
alkej-393	290	11	matlabsimulator	matlabsimulator	NOUN
alkej-393	290	12	for	for	ADP
alkej-393	290	13	gravitational	gravitational	ADJ
alkej-393	290	14	stability	stability	NOUN
alkej-393	290	15	analysis	analysis	NOUN
alkej-393	290	16	of	of	ADP
alkej-393	290	17	a	a	DET
alkej-393	290	18	hexapodrobot	hexapodrobot	NOUN
alkej-393	290	19	,	,	PUNCT
alkej-393	290	20	”	"	PUNCT
alkej-393	290	21	the	the	DET
alkej-393	290	22	romanian	romanian	ADJ
alkej-393	290	23	review	review	PROPN
alkej-393	290	24	precisionmechanics	precisionmechanic	NOUN
alkej-393	290	25	,	,	PUNCT
alkej-393	290	26	optics	optics	PROPN
alkej-393	290	27	&	&	CCONJ
alkej-393	290	28	mechatronics	mechatronic	NOUN
alkej-393	290	29	,	,	PUNCT
alkej-393	290	30	158	158	NUM
alkej-393	290	31	2011	2011	NUM
alkej-393	290	32	,	,	PUNCT
alkej-393	290	33	no	no	INTJ
alkej-393	290	34	.	.	NOUN
alkej-393	290	35	39	39	NUM
alkej-393	290	36	mechanics	mechanic	NOUN
alkej-393	290	37	,	,	PUNCT
alkej-393	290	38	optics	optic	NOUN
alkej-393	290	39	&	&	CCONJ
alkej-393	290	40	mechatronics	mechatronic	NOUN
alkej-393	290	41	,	,	PUNCT
alkej-393	290	42	2011	2011	NUM
alkej-393	290	43	.	.	PUNCT
alkej-393	291	1	[	[	X
alkej-393	291	2	16	16	NUM
alkej-393	291	3	]	]	PUNCT
alkej-393	291	4	freyrhardarson,"stability	freyrhardarson,"stability	NOUN
alkej-393	291	5	analysis	analysis	NOUN
alkej-393	291	6	and	and	CCONJ
alkej-393	291	7	synthesis	synthesis	NOUN
alkej-393	291	8	ofstatically	ofstatically	ADV
alkej-393	291	9	balanced	balanced	ADJ
alkej-393	291	10	walkingfor	walkingfor	ADP
alkej-393	291	11	quadruped	quadrupe	VERB
alkej-393	291	12	robots",doctoral	robots",doctoral	ADJ
alkej-393	291	13	thesismechatronics	thesismechatronic	NOUN
alkej-393	291	14	labdepartment	labdepartment	NOUN
alkej-393	291	15	of	of	ADP
alkej-393	291	16	machine	machine	NOUN
alkej-393	291	17	designroyal	designroyal	PROPN
alkej-393	291	18	institute	institute	PROPN
alkej-393	291	19	of	of	ADP
alkej-393	291	20	technology	technology	PROPN
alkej-393	291	21	,	,	PUNCT
alkej-393	291	22	kths-100	kths-100	PROPN
alkej-393	291	23	44	44	NUM
alkej-393	291	24	stockholm	stockholm	PROPN
alkej-393	291	25	,	,	PUNCT
alkej-393	291	26	sweden,2002	sweden,2002	NOUN
alkej-393	291	27	.	.	PUNCT
alkej-393	292	1	[	[	X
alkej-393	292	2	17	17	NUM
alkej-393	292	3	]	]	X
alkej-393	292	4	y.	y.	PROPN
alkej-393	292	5	ito	ito	PROPN
alkej-393	292	6	,	,	PUNCT
alkej-393	292	7	s.	s.	PROPN
alkej-393	292	8	nozawa	nozawa	PROPN
alkej-393	292	9	,	,	PUNCT
alkej-393	292	10	j.	j.	PROPN
alkej-393	292	11	urata	urata	PROPN
alkej-393	292	12	,	,	PUNCT
alkej-393	292	13	t.	t.	PROPN
alkej-393	292	14	nakaoka	nakaoka	PROPN
alkej-393	292	15	,	,	PUNCT
alkej-393	292	16	k.	k.	PROPN
alkej-393	292	17	kobayashi	kobayashi	PROPN
alkej-393	292	18	,	,	PUNCT
alkej-393	292	19	y.	y.	PROPN
alkej-393	292	20	nakanishi	nakanishi	PROPN
alkej-393	292	21	,	,	PUNCT
alkej-393	292	22	k.	k.	PROPN
alkej-393	292	23	okada	okada	PROPN
alkej-393	292	24	,	,	PUNCT
alkej-393	292	25	and	and	CCONJ
alkej-393	292	26	m.	m.	NOUN
alkej-393	292	27	inaba	inaba	PROPN
alkej-393	292	28	,	,	PUNCT
alkej-393	292	29	“	"	PUNCT
alkej-393	292	30	development	development	NOUN
alkej-393	292	31	and	and	CCONJ
alkej-393	292	32	verification	verification	NOUN
alkej-393	292	33	of	of	ADP
alkej-393	292	34	lifesize	lifesize	NOUN
alkej-393	292	35	humanoid	humanoid	NOUN
alkej-393	292	36	with	with	ADP
alkej-393	292	37	high	high	ADJ
alkej-393	292	38	-	-	PUNCT
alkej-393	292	39	output	output	NOUN
alkej-393	292	40	actuation	actuation	NOUN
alkej-393	292	41	system	system	NOUN
alkej-393	292	42	,	,	PUNCT
alkej-393	292	43	”	"	PUNCT
alkej-393	292	44	in	in	ADP
alkej-393	292	45	ieee	ieee	PROPN
alkej-393	292	46	international	international	ADJ
alkej-393	292	47	conference	conference	NOUN
alkej-393	292	48	on	on	ADP
alkej-393	292	49	robotics	robotic	NOUN
alkej-393	292	50	and	and	CCONJ
alkej-393	292	51	automation(icra	automation(icra	NOUN
alkej-393	292	52	)	)	PUNCT
alkej-393	292	53	,	,	PUNCT
alkej-393	292	54	2014	2014	NUM
alkej-393	292	55	,	,	PUNCT
alkej-393	292	56	pp	pp	ADJ
alkej-393	292	57	.	.	PUNCT
alkej-393	293	1	3433–3438	3433–3438	NUM
alkej-393	293	2	.	.	PUNCT
alkej-393	294	1	[	[	X
alkej-393	294	2	18	18	NUM
alkej-393	294	3	]	]	X
alkej-393	294	4	h.	h.	PROPN
alkej-393	294	5	khan	khan	PROPN
alkej-393	294	6	,	,	PUNCT
alkej-393	294	7	s.	s.	PROPN
alkej-393	294	8	kitano	kitano	PROPN
alkej-393	294	9	,	,	PUNCT
alkej-393	294	10	m.	m.	PROPN
alkej-393	294	11	frigerio	frigerio	PROPN
alkej-393	294	12	,	,	PUNCT
alkej-393	294	13	m.	m.	NOUN
alkej-393	294	14	camurri	camurri	PROPN
alkej-393	294	15	,	,	PUNCT
alkej-393	294	16	v.	v.	PROPN
alkej-393	294	17	barasuol	barasuol	PROPN
alkej-393	294	18	,	,	PUNCT
alkej-393	294	19	r.	r.	PROPN
alkej-393	294	20	featherstone	featherstone	PROPN
alkej-393	294	21	,	,	PUNCT
alkej-393	294	22	d.	d.	PROPN
alkej-393	294	23	g.	g.	PROPN
alkej-393	294	24	caldwell	caldwell	PROPN
alkej-393	294	25	,	,	PUNCT
alkej-393	294	26	and	and	CCONJ
alkej-393	294	27	c.	c.	PROPN
alkej-393	294	28	semini	semini	PROPN
alkej-393	294	29	,	,	PUNCT
alkej-393	294	30	“	"	PUNCT
alkej-393	294	31	development	development	NOUN
alkej-393	294	32	of	of	ADP
alkej-393	294	33	the	the	DET
alkej-393	294	34	lightweight	lightweight	ADJ
alkej-393	294	35	hydraulic	hydraulic	ADJ
alkej-393	294	36	quadruped	quadruped	NOUN
alkej-393	294	37	robot	robot	NOUN
alkej-393	294	38	minihyq	minihyq	PROPN
alkej-393	294	39	,	,	PUNCT
alkej-393	294	40	”	"	PUNCT
alkej-393	294	41	in	in	ADP
alkej-393	294	42	ieee	ieee	PROPN
alkej-393	294	43	international	international	ADJ
alkej-393	294	44	conference	conference	NOUN
alkej-393	294	45	on	on	ADP
alkej-393	294	46	technologies	technology	NOUN
alkej-393	294	47	for	for	ADP
alkej-393	294	48	practical	practical	ADJ
alkej-393	294	49	robot	robot	NOUN
alkej-393	294	50	applications	application	NOUN
alkej-393	294	51	(	(	PUNCT
alkej-393	294	52	tepra	tepra	NUM
alkej-393	294	53	)	)	PUNCT
alkej-393	294	54	,	,	PUNCT
alkej-393	294	55	2015	2015	NUM
alkej-393	294	56	.	.	PUNCT
alkej-393	295	1	[	[	X
alkej-393	295	2	19	19	NUM
alkej-393	295	3	]	]	PUNCT
alkej-393	295	4	a.	a.	NOUN
alkej-393	295	5	winkler	winkler	PROPN
alkej-393	295	6	,	,	PUNCT
alkej-393	295	7	c.	c.	PROPN
alkej-393	295	8	mastalli	mastalli	PROPN
alkej-393	295	9	,	,	PUNCT
alkej-393	295	10	i.	i.	PROPN
alkej-393	295	11	havoutis	havoutis	PROPN
alkej-393	295	12	,	,	PUNCT
alkej-393	295	13	m.	m.	NOUN
alkej-393	295	14	focchi	focchi	PROPN
alkej-393	295	15	,	,	PUNCT
alkej-393	295	16	d.	d.	PROPN
alkej-393	295	17	g.	g.	PROPN
alkej-393	295	18	caldwell	caldwell	PROPN
alkej-393	295	19	,	,	PUNCT
alkej-393	295	20	and	and	CCONJ
alkej-393	295	21	c.	c.	PROPN
alkej-393	295	22	semini	semini	PROPN
alkej-393	295	23	,	,	PUNCT
alkej-393	295	24	“	"	PUNCT
alkej-393	295	25	planning	planning	NOUN
alkej-393	295	26	and	and	CCONJ
alkej-393	295	27	execution	execution	NOUN
alkej-393	295	28	of	of	ADP
alkej-393	295	29	dynamic	dynamic	ADJ
alkej-393	295	30	wholebody	wholebody	NOUN
alkej-393	295	31	locomotion	locomotion	NOUN
alkej-393	295	32	for	for	ADP
alkej-393	295	33	a	a	DET
alkej-393	295	34	hydraulic	hydraulic	ADJ
alkej-393	295	35	quadruped	quadruped	NOUN
alkej-393	295	36	on	on	ADP
alkej-393	295	37	challenging	challenging	ADJ
alkej-393	295	38	terrain	terrain	NOUN
alkej-393	295	39	,	,	PUNCT
alkej-393	295	40	”	"	PUNCT
alkej-393	295	41	in	in	ADP
alkej-393	295	42	ieee	ieee	PROPN
alkej-393	295	43	international	international	ADJ
alkej-393	295	44	conference	conference	NOUN
alkej-393	295	45	on	on	ADP
alkej-393	295	46	robotics	robotic	NOUN
alkej-393	295	47	and	and	CCONJ
alkej-393	295	48	automation	automation	NOUN
alkej-393	295	49	(	(	PUNCT
alkej-393	295	50	icra	icra	PROPN
alkej-393	295	51	)	)	PUNCT
alkej-393	295	52	,	,	PUNCT
alkej-393	295	53	may	may	PROPN
alkej-393	295	54	2015	2015	NUM
alkej-393	295	55	.	.	PUNCT
alkej-393	296	1	[	[	X
alkej-393	296	2	20	20	NUM
alkej-393	296	3	]	]	X
alkej-393	296	4	v.	v.	CCONJ
alkej-393	296	5	barasuol	barasuol	PROPN
alkej-393	296	6	,	,	PUNCT
alkej-393	296	7	j.	j.	PROPN
alkej-393	296	8	buchli	buchli	PROPN
alkej-393	296	9	,	,	PUNCT
alkej-393	296	10	c.	c.	PROPN
alkej-393	296	11	semini	semini	PROPN
alkej-393	296	12	,	,	PUNCT
alkej-393	296	13	m.	m.	NOUN
alkej-393	296	14	frigerio	frigerio	PROPN
alkej-393	296	15	,	,	PUNCT
alkej-393	296	16	e.	e.	PROPN
alkej-393	296	17	r.	r.	PROPN
alkej-393	296	18	d.	d.	PROPN
alkej-393	296	19	pieri	pieri	PROPN
alkej-393	296	20	,	,	PUNCT
alkej-393	296	21	and	and	CCONJ
alkej-393	296	22	d.	d.	PROPN
alkej-393	296	23	g.	g.	PROPN
alkej-393	296	24	caldwell	caldwell	PROPN
alkej-393	296	25	,	,	PUNCT
alkej-393	296	26	“	"	PUNCT
alkej-393	296	27	areactive	areactive	ADJ
alkej-393	296	28	controller	controller	NOUN
alkej-393	296	29	framework	framework	NOUN
alkej-393	296	30	for	for	ADP
alkej-393	296	31	quadrupedal	quadrupedal	NOUN
alkej-393	296	32	locomotion	locomotion	NOUN
alkej-393	296	33	on	on	ADP
alkej-393	296	34	challenging	challenge	VERB
alkej-393	296	35	terrain	terrain	NOUN
alkej-393	296	36	,	,	PUNCT
alkej-393	296	37	”	"	PUNCT
alkej-393	296	38	in	in	ADP
alkej-393	296	39	ieee	ieee	PROPN
alkej-393	296	40	international	international	ADJ
alkej-393	296	41	conference	conference	NOUN
alkej-393	296	42	on	on	ADP
alkej-393	296	43	robotics	robotic	NOUN
alkej-393	296	44	and	and	CCONJ
alkej-393	296	45	automation	automation	NOUN
alkej-393	296	46	(	(	PUNCT
alkej-393	296	47	icra	icra	PROPN
alkej-393	296	48	)	)	PUNCT
alkej-393	296	49	,	,	PUNCT
alkej-393	296	50	2013	2013	NUM
alkej-393	296	51	.	.	PUNCT
alkej-393	297	1	[	[	X
alkej-393	297	2	21	21	NUM
alkej-393	297	3	]	]	X
alkej-393	297	4	yang	yang	PROPN
alkej-393	297	5	,	,	PUNCT
alkej-393	297	6	chenguang	chenguang	PROPN
alkej-393	297	7	,	,	PUNCT
alkej-393	297	8	et	et	PROPN
alkej-393	297	9	al	al	PROPN
alkej-393	297	10	.	.	PROPN
alkej-393	298	1	advanced	advanced	ADJ
alkej-393	298	2	technologies	technology	NOUN
alkej-393	298	3	in	in	ADP
alkej-393	298	4	modern	modern	ADJ
alkej-393	298	5	robotic	robotic	ADJ
alkej-393	298	6	applications	application	NOUN
alkej-393	298	7	.	.	PUNCT
alkej-393	299	1	springer	springer	PROPN
alkej-393	299	2	singapore	singapore	PROPN
alkej-393	299	3	,	,	PUNCT
alkej-393	299	4	2016	2016	NUM
alkej-393	299	5	.	.	PUNCT
alkej-393	299	6	)	)	PUNCT
alkej-393	299	7	2018	2018	NUM
alkej-393	299	8	(	(	PUNCT
alkej-393	299	9	93	93	NUM
alkej-393	299	10	-	-	SYM
alkej-393	299	11	106	106	NUM
alkej-393	299	12	،	،	PROPN
alkej-393	299	13	صفحة	صفحة	PROPN
alkej-393	299	14	2د	2د	PROPN
alkej-393	299	15	،	،	PROPN
alkej-393	299	16	العد14دجلة	العد14دجلة	PROPN
alkej-393	299	17	الخوارزمي	الخوارزمي	PROPN
alkej-393	299	18	الهندسية	الهندسية	PROPN
alkej-393	299	19	المجلمفراس	المجلمفراس	PROPN
alkej-393	299	20	عبد	عبد	VERB
alkej-393	299	21	الرزاق	الرزاق	NOUN
alkej-393	299	22	رحيم	رحيم	NOUN
alkej-393	299	23	106	106	NUM
alkej-393	300	1	تحليل	تحليل	NOUN
alkej-393	300	2	و	و	PRON
alkej-393	300	3	محاكاة	محاكاة	ADJ
alkej-393	300	4	روبوت	روبوت	PROPN
alkej-393	300	5	رباعي	رباعي	PROPN
alkej-393	300	6	االرجل	االرجل	ADP
alkej-393	300	7	في	في	ADP
alkej-393	300	8	حالة	حالة	NOUN
alkej-393	300	9	المشي	المشي	NOUN
alkej-393	300	10	*	*	PUNCT
alkej-393	300	11	*	*	PUNCT
alkej-393	300	12	مرتضى	مرتضى	NOUN
alkej-393	300	13	خضير	خضير	NOUN
alkej-393	300	14	فليح	فليح	PROPN
alkej-393	300	15	*	*	PUNCT
alkej-393	300	16	فراس	فراس	PROPN
alkej-393	300	17	عبد	عبد	ADJ
alkej-393	300	18	الرزاق	الرزاق	NOUN
alkej-393	300	19	رحيم	رحيم	NOUN
alkej-393	300	20	الجامعة	الجامعة	VERB
alkej-393	300	21	التكنلوجية	التكنلوجية	NOUN
alkej-393	300	22	/هندسة	/هندسة	PUNCT
alkej-393	301	1	السيطرة	السيطرة	PROPN
alkej-393	301	2	والنظمقسم	والنظمقسم	PROPN
alkej-393	301	3	*	*	PUNCT
alkej-393	301	4	,	,	PUNCT
alkej-393	301	5	*	*	PUNCT
alkej-393	301	6	*	*	PUNCT
alkej-393	301	7	uotechnology.edu.iq60124@البريد	uotechnology.edu.iq60124@البريد	NOUN
alkej-393	301	8	االلكتروني	االلكتروني	PROPN
alkej-393	301	9	:*	:*	PROPN
alkej-393	301	10	.uotechnology.edu.iq60354cse@البريد	.uotechnology.edu.iq60354cse@البريد	PROPN
alkej-393	301	11	االلكتروني	االلكتروني	PROPN
alkej-393	301	12	:*	:*	PROPN
alkej-393	301	13	*	*	PROPN
alkej-393	301	14	الخالصة	الخالصة	PROPN
alkej-393	301	15	على	على	NOUN
alkej-393	301	16	قدرته	قدرته	PROPN
alkej-393	301	17	فضال	فضال	NOUN
alkej-393	301	18	عنعلى	عنعلى	PROPN
alkej-393	301	19	االرض	االرض	PROPN
alkej-393	301	20	المسطحة	المسطحة	PROPN
alkej-393	301	21	واالنتقال	واالنتقال	PROPN
alkej-393	301	22	المشيروبوت	المشيروبوت	PROPN
alkej-393	301	23	رباعي	رباعي	PROPN
alkej-393	301	24	االرجل	االرجل	PROPN
alkej-393	301	25	له	له	ADP
alkej-393	301	26	القابلية	القابلية	PROPN
alkej-393	301	27	على	على	NOUN
alkej-393	301	28	القيام	القيام	NOUN
alkej-393	301	29	بمهمات	بمهمات	VERB
alkej-393	301	30	عديدة	عديدة	NOUN
alkej-393	301	31	منها	منها	NOUN
alkej-393	301	32	ربوت	ربوت	PROPN
alkej-393	301	33	هوالكوادروبيد	هوالكوادروبيد	PROPN
alkej-393	301	34	على	على	PROPN
alkej-393	301	35	محاكاة	محاكاة	PROPN
alkej-393	301	36	الحيوانات	الحيوانات	NOUN
alkej-393	301	37	او	او	NOUN
alkej-393	301	38	الحشرات	الحشرات	NOUN
alkej-393	301	39	رباعية	رباعية	PROPN
alkej-393	301	40	االرجل	االرجل	PROPN
alkej-393	302	1	من	من	PRON
alkej-393	302	2	خالل	خالل	PROPN
alkej-393	302	3	تقليد	تقليد	NOUN
alkej-393	302	4	الحركات	الحركات	PROPN
alkej-393	302	5	التي	التي	PROPN
alkej-393	302	6	تقوم	تقوم	VERB
alkej-393	302	7	بها	بها	ADJ
alkej-393	302	8	هذه	هذه	PROPN
alkej-393	302	9	الحيوانات	الحيوانات	ADJ
alkej-393	302	10	.	.	PUNCT
alkej-393	303	1	إن	إن	PROPN
alkej-393	303	2	المشي	المشي	PROPN
alkej-393	303	3	على	على	PROPN
alkej-393	303	4	االرض	االرض	PROPN
alkej-393	303	5	الوعرة	الوعرة	PROPN
alkej-393	303	6	.	.	PUNCT
alkej-393	304	1	يقوم	يقوم	ADJ
alkej-393	304	2	هذا	هذا	NOUN
alkej-393	304	3	الروبت	الروبت	NOUN
alkej-393	304	4	القفز	القفز	PROPN
alkej-393	304	5	.	.	PUNCT
alkej-393	305	1	ان	ان	AUX
alkej-393	305	2	حركة	حركة	VERB
alkej-393	305	3	المشي	المشي	PROPN
alkej-393	305	4	التي	التي	PROPN
alkej-393	305	5	تم	تم	PROPN
alkej-393	305	6	تنفيذها	تنفيذها	PROPN
alkej-393	306	1	في	في	DET
alkej-393	306	2	هذه	هذه	PROPN
alkej-393	306	3	الورقة	الورقة	PROPN
alkej-393	306	4	هي	هي	PROPN
alkej-393	306	5	والركض	والركض	PROPN
alkej-393	306	6	معالحركات	معالحركات	PROPN
alkej-393	306	7	التي	التي	PROPN
alkej-393	306	8	يستخدمها	يستخدمها	PROPN
alkej-393	306	9	هذا	هذا	PROPN
alkej-393	306	10	الروبوت	الروبوت	PROPN
alkej-393	306	11	في	في	ADP
alkej-393	306	12	االنتقال	االنتقال	PROPN
alkej-393	306	13	هي	هي	PROPN
alkej-393	306	14	:	:	PUNCT
alkej-393	306	15	المشي	المشي	PROPN
alkej-393	306	16	والركض	والركض	PROPN
alkej-393	306	17	أشهرمن	أشهرمن	VERB
alkej-393	306	18	واحدة	واحدة	PROPN
alkej-393	306	19	بعد	بعد	PROPN
alkej-393	306	20	االخرى	االخرى	PROPN
alkej-393	306	21	خالل	خالل	PROPN
alkej-393	306	22	مدة	مدة	PROPN
alkej-393	306	23	زمنية	زمنية	NOUN
alkej-393	306	24	معينة	معينة	VERB
alkej-393	306	25	وبعد	وبعد	PROPN
alkej-393	306	26	وصول	وصول	PROPN
alkej-393	306	27	الرجل	الرجل	PROPN
alkej-393	306	28	الى	الى	PROPN
alkej-393	306	29	المكان	المكان	PROPN
alkej-393	306	30	المناسب	المناسب	PROPN
alkej-393	306	31	تبدأ	تبدأ	NOUN
alkej-393	306	32	رجل	رجل	VERB
alkej-393	306	33	اخرى	اخرى	VERB
alkej-393	306	34	بالحركة	بالحركة	NOUN
alkej-393	306	35	.	.	PUNCT
alkej-393	307	1	يستخدم	يستخدم	PROPN
alkej-393	307	2	هذا	هذا	NOUN
alkej-393	307	3	االيقاع	االيقاع	PROPN
alkej-393	307	4	في	في	DET
alkej-393	307	5	عبارة	عبارة	PROPN
alkej-393	307	6	عن	عن	PROPN
alkej-393	307	7	تحريك	تحريك	NOUN
alkej-393	307	8	رجل	رجل	NOUN
alkej-393	307	9	االرجل	االرجل	VERB
alkej-393	307	10	سوفرفع	سوفرفع	PROPN
alkej-393	307	11	احدى	احدى	PROPN
alkej-393	307	12	خالل	خالل	PROPN
alkej-393	307	13	عمليةانتقال	عمليةانتقال	PROPN
alkej-393	307	14	الرجل	الرجل	PROPN
alkej-393	307	15	المرفوعة	المرفوعة	PROPN
alkej-393	307	16	.	.	PUNCT
alkej-393	308	1	مدةصقة	مدةصقة	PROPN
alkej-393	308	2	على	على	PROPN
alkej-393	308	3	االرض	االرض	PROPN
alkej-393	308	4	لتحقيق	لتحقيق	PROPN
alkej-393	308	5	االستقرارية	االستقرارية	PROPN
alkej-393	308	6	خالل	خالل	PROPN
alkej-393	308	7	لتم	لتم	PROPN
alkej-393	308	8	أرجلالحركة	أرجلالحركة	PROPN
alkej-393	308	9	لكي	لكي	VERB
alkej-393	308	10	نضمن	نضمن	ADP
alkej-393	308	11	بقاء	بقاء	PROPN
alkej-393	308	12	ثالثة	ثالثة	PROPN
alkej-393	308	13	خالل	خالل	PROPN
alkej-393	308	14	هذه	هذه	PROPN
alkej-393	308	15	الحركات	الحركات	ADJ
alkej-393	308	16	لذلك	لذلك	PROPN
alkej-393	308	17	اثلث	اثلث	ADJ
alkej-393	308	18	ناتج	ناتج	NOUN
alkej-393	308	19	من	من	PRON
alkej-393	308	20	اسقاط	اسقاط	PROPN
alkej-393	308	21	نقاط	نقاط	PROPN
alkej-393	308	22	تثبيت	تثبيت	VERB
alkej-393	308	23	بقية	بقية	NOUN
alkej-393	308	24	االرجل	االرجل	VERB
alkej-393	308	25	الثالث	الثالث	PROPN
alkej-393	309	1	مع	مع	PROPN
alkej-393	309	2	سنتر	سنتر	PROPN
alkej-393	309	3	الروبوت	الروبوت	PROPN
alkej-393	309	4	على	على	PROPN
alkej-393	309	5	االرض.ان	االرض.ان	PROPN
alkej-393	309	6	مهمة	مهمة	NOUN
alkej-393	309	7	هذا	هذا	PROPN
alkej-393	309	8	الروبوت	الروبوت	PROPN
alkej-393	309	9	هو	هو	DET
alkej-393	309	10	البقاء	البقاء	PROPN
alkej-393	309	11	مستقريتكون	مستقريتكون	VERB
alkej-393	309	12	م	م	NOUN
alkej-393	309	13	)	)	PUNCT
alkej-393	309	14	في	في	VERB
alkej-393	309	15	هذه	هذه	PROPN
alkej-393	309	16	الورقة	الورقة	AUX
alkej-393	309	17	ايضا	ايضا	PROPN
alkej-393	309	18	تم	تم	PUNCT
alkej-393	309	19	تحليل	تحليل	PROPN
alkej-393	309	20	حركة	حركة	PROPN
alkej-393	309	21	الروبوت	الروبوت	PROPN
alkej-393	309	22	بالنسبة	بالنسبة	NOUN
alkej-393	309	23	للمشي	للمشي	PROPN
alkej-393	309	24	stability	stability	PROPN
alkej-393	309	25	marginsيحتاج	marginsيحتاج	ADP
alkej-393	309	26	الى	الى	VERB
alkej-393	309	27	تحليل	تحليل	PROPN
alkej-393	309	28	االستقرارية	االستقرارية	NOUN
alkej-393	309	29	عن	عن	PROPN
alkej-393	309	30	طريق	طريق	PROPN
alkej-393	309	31	حساب	حساب	PROPN
alkej-393	309	32	الـ	الـ	PROPN
alkej-393	309	33	(	(	PUNCT
alkej-393	309	34	)	)	PUNCT
alkej-393	309	35	ومن	ومن	VERB
alkej-393	309	36	ثم	ثم	ADP
alkej-393	309	37	حساب	حساب	PROPN
alkej-393	309	38	معادالت	معادالت	ADJ
alkej-393	309	39	الكاينماتيك	الكاينماتيك	NOUN
alkej-393	309	40	الخاصة	الخاصة	PROPN
alkej-393	309	41	للحصول	للحصول	NOUN
alkej-393	309	42	على	على	NOUN
alkej-393	309	43	موقع	موقع	NOUN
alkej-393	309	44	االرجل	االرجل	VERB
alkej-393	310	1	على	على	PROPN
alkej-393	310	2	االرض	االرض	PROPN
alkej-393	310	3	والالزمة	والالزمة	PROPN
alkej-393	310	4	لتحقيق	لتحقيق	PROPN
alkej-393	310	5	االستقرارية	االستقرارية	PROPN
alkej-393	310	6	الثابتة	الثابتة	PROPN
alkej-393	310	7	creeping	creep	VERB
alkej-393	310	8	gaitطيء(الب	gaitطيء(الب	PROPN
alkej-393	310	9	للروبوت	للروبوت	PROPN
alkej-393	310	10	اثناء	اثناء	PROPN
alkej-393	310	11	المشي	المشي	PROPN
alkej-393	310	12	.	.	PUNCT
alkej-393	311	1	ومن	ومن	PROPN
alkej-393	311	2	بعدها	بعدها	PROPN
alkej-393	311	3	تم	تم	PROPN
alkej-393	311	4	الحصول	الحصول	PROPN
alkej-393	311	5	على	على	PROPN
alkej-393	311	6	النتائج	النتائج	PROPN
alkej-393	311	7	الالزمة	الالزمة	PROPN
alkej-393	311	8	لتحقيق	لتحقيق	PROPN
alkej-393	311	9	هذه	هذه	PROPN
alkej-393	311	10	االستقرارية	االستقرارية	NOUN
alkej-393	312	1	من	من	PROPN
alkej-393	312	2	خالل	خالل	PROPN
alkej-393	312	3	مواقع	مواقع	VERB
alkej-393	312	4	االرجل	االرجل	VERB
alkej-393	312	5	على	على	NOUN
alkej-393	312	6	االرض	االرض	NOUN
alkej-393	312	7	.	.	PUNCT