id	sid	tid	token	lemma	pos
alkej-949	1	1	this	this	PRON
alkej-949	1	2	is	be	AUX
alkej-949	1	3	an	an	DET
alkej-949	1	4	open	open	ADJ
alkej-949	1	5	access	access	NOUN
alkej-949	1	6	article	article	NOUN
alkej-949	1	7	under	under	ADP
alkej-949	1	8	the	the	DET
alkej-949	1	9	cc	cc	NOUN
alkej-949	1	10	by	by	ADP
alkej-949	1	11	license	license	NOUN
alkej-949	1	12	:	:	PUNCT
alkej-949	1	13	al	al	PROPN
alkej-949	1	14	-	-	PUNCT
alkej-949	1	15	khwarizmi	khwarizmi	PROPN
alkej-949	1	16	engineering	engineering	PROPN
alkej-949	1	17	journal	journal	PROPN
alkej-949	1	18	al	al	PROPN
alkej-949	1	19	-	-	PUNCT
alkej-949	1	20	khwarizmi	khwarizmi	PROPN
alkej-949	1	21	engineering	engineering	PROPN
alkej-949	1	22	journal	journal	PROPN
alkej-949	1	23	issn	issn	PROPN
alkej-949	1	24	(	(	PUNCT
alkej-949	1	25	printed	print	VERB
alkej-949	1	26	):	):	PUNCT
alkej-949	1	27	1818	1818	NUM
alkej-949	1	28	–	–	PUNCT
alkej-949	1	29	1171	1171	NUM
alkej-949	1	30	,	,	PUNCT
alkej-949	1	31	issn	issn	PROPN
alkej-949	1	32	(	(	PUNCT
alkej-949	1	33	online	online	ADJ
alkej-949	1	34	):	):	PUNCT
alkej-949	1	35	2312	2312	NUM
alkej-949	1	36	–	–	PUNCT
alkej-949	1	37	0789	0789	NUM
alkej-949	1	38	vol	vol	NOUN
alkej-949	1	39	.	.	PROPN
alkej-949	1	40	20	20	NUM
alkej-949	1	41	,	,	PUNCT
alkej-949	1	42	no	no	INTJ
alkej-949	1	43	.	.	NOUN
alkej-949	1	44	3	3	NUM
alkej-949	1	45	,	,	PUNCT
alkej-949	1	46	september	september	PROPN
alkej-949	1	47	,	,	PUNCT
alkej-949	1	48	(	(	PUNCT
alkej-949	1	49	2024	2024	NUM
alkej-949	1	50	)	)	PUNCT
alkej-949	1	51	,	,	PUNCT
alkej-949	1	52	pp	pp	ADP
alkej-949	1	53	.	.	PUNCT
alkej-949	1	54	2035	2035	NUM
alkej-949	1	55	a	a	DET
alkej-949	1	56	comprehensive	comprehensive	ADJ
alkej-949	1	57	survey	survey	NOUN
alkej-949	1	58	of	of	ADP
alkej-949	1	59	push	push	NOUN
alkej-949	1	60	recovery	recovery	NOUN
alkej-949	1	61	techniques	technique	NOUN
alkej-949	1	62	for	for	ADP
alkej-949	1	63	standing	stand	VERB
alkej-949	1	64	and	and	CCONJ
alkej-949	1	65	walking	walk	VERB
alkej-949	1	66	bipedal	bipedal	ADJ
alkej-949	1	67	robots	robot	NOUN
alkej-949	1	68	ibrahim	ibrahim	PROPN
alkej-949	1	69	altameemi	altameemi	VERB
alkej-949	1	70	*	*	PROPN
alkej-949	2	1	*	*	PUNCT
alkej-949	2	2	robotics	robotic	NOUN
alkej-949	2	3	engineering	engineering	NOUN
alkej-949	2	4	department	department	PROPN
alkej-949	2	5	,	,	PUNCT
alkej-949	2	6	worcester	worcester	PROPN
alkej-949	2	7	polytechnic	polytechnic	PROPN
alkej-949	2	8	institute	institute	PROPN
alkej-949	2	9	(	(	PUNCT
alkej-949	2	10	wpi	wpi	PROPN
alkej-949	2	11	)	)	PUNCT
alkej-949	2	12	*	*	PUNCT
alkej-949	2	13	email	email	NOUN
alkej-949	2	14	:	:	PUNCT
alkej-949	2	15	ialtameemi@wpi.edu	ialtameemi@wpi.edu	VERB
alkej-949	2	16	(	(	PUNCT
alkej-949	2	17	received	receive	VERB
alkej-949	2	18	12	12	NUM
alkej-949	2	19	may	may	NOUN
alkej-949	2	20	2024	2024	NUM
alkej-949	2	21	;	;	PUNCT
alkej-949	2	22	revised	revise	VERB
alkej-949	2	23	23	23	NUM
alkej-949	2	24	july	july	PROPN
alkej-949	2	25	2024	2024	NUM
alkej-949	2	26	;	;	PUNCT
alkej-949	2	27	accepted	accept	VERB
alkej-949	2	28	29	29	NUM
alkej-949	2	29	july	july	PROPN
alkej-949	2	30	2024	2024	NUM
alkej-949	2	31	;	;	PUNCT
alkej-949	2	32	published	publish	VERB
alkej-949	2	33	1	1	NUM
alkej-949	2	34	september	september	PROPN
alkej-949	2	35	2024	2024	NUM
alkej-949	2	36	)	)	PUNCT
alkej-949	2	37	https://doi.org/10.22153/kej.2024.07.002	https://doi.org/10.22153/kej.2024.07.002	PROPN
alkej-949	2	38	abstract	abstract	ADJ
alkej-949	2	39	bipedal	bipedal	ADJ
alkej-949	2	40	robots	robot	NOUN
alkej-949	2	41	,	,	PUNCT
alkej-949	2	42	which	which	PRON
alkej-949	2	43	mimic	mimic	VERB
alkej-949	2	44	human	human	ADJ
alkej-949	2	45	or	or	CCONJ
alkej-949	2	46	animal	animal	NOUN
alkej-949	2	47	motion	motion	NOUN
alkej-949	2	48	,	,	PUNCT
alkej-949	2	49	are	be	AUX
alkej-949	2	50	expected	expect	VERB
alkej-949	2	51	to	to	PART
alkej-949	2	52	perform	perform	VERB
alkej-949	2	53	numerous	numerous	ADJ
alkej-949	2	54	tasks	task	NOUN
alkej-949	2	55	,	,	PUNCT
alkej-949	2	56	such	such	ADJ
alkej-949	2	57	as	as	ADP
alkej-949	2	58	delivering	deliver	VERB
alkej-949	2	59	healthcare	healthcare	NOUN
alkej-949	2	60	,	,	PUNCT
alkej-949	2	61	conducting	conduct	VERB
alkej-949	2	62	search	search	NOUN
alkej-949	2	63	and	and	CCONJ
alkej-949	2	64	rescue	rescue	NOUN
alkej-949	2	65	missions	mission	NOUN
alkej-949	2	66	in	in	ADP
alkej-949	2	67	dangerous	dangerous	ADJ
alkej-949	2	68	environments	environment	NOUN
alkej-949	2	69	and	and	CCONJ
alkej-949	2	70	serving	serve	VERB
alkej-949	2	71	industrial	industrial	ADJ
alkej-949	2	72	applications	application	NOUN
alkej-949	2	73	.	.	PUNCT
alkej-949	3	1	bipedal	bipedal	ADJ
alkej-949	3	2	robots	robot	NOUN
alkej-949	3	3	are	be	AUX
alkej-949	3	4	required	require	VERB
alkej-949	3	5	to	to	PART
alkej-949	3	6	interact	interact	VERB
alkej-949	3	7	with	with	ADP
alkej-949	3	8	objects	object	NOUN
alkej-949	3	9	or	or	CCONJ
alkej-949	3	10	people	people	NOUN
alkej-949	3	11	in	in	ADP
alkej-949	3	12	their	their	PRON
alkej-949	3	13	surroundings	surrounding	NOUN
alkej-949	3	14	while	while	SCONJ
alkej-949	3	15	performing	perform	VERB
alkej-949	3	16	their	their	PRON
alkej-949	3	17	planned	plan	VERB
alkej-949	3	18	tasks	task	NOUN
alkej-949	3	19	.	.	PUNCT
alkej-949	4	1	the	the	DET
alkej-949	4	2	main	main	ADJ
alkej-949	4	3	challenge	challenge	NOUN
alkej-949	4	4	faced	face	VERB
alkej-949	4	5	by	by	ADP
alkej-949	4	6	these	these	DET
alkej-949	4	7	robots	robot	NOUN
alkej-949	4	8	is	be	AUX
alkej-949	4	9	their	their	PRON
alkej-949	4	10	ability	ability	NOUN
alkej-949	4	11	to	to	PART
alkej-949	4	12	maintain	maintain	VERB
alkej-949	4	13	balance	balance	NOUN
alkej-949	4	14	in	in	ADP
alkej-949	4	15	the	the	DET
alkej-949	4	16	presence	presence	NOUN
alkej-949	4	17	of	of	ADP
alkej-949	4	18	disturbances	disturbance	NOUN
alkej-949	4	19	,	,	PUNCT
alkej-949	4	20	such	such	ADJ
alkej-949	4	21	as	as	ADP
alkej-949	4	22	external	external	ADJ
alkej-949	4	23	pushing	push	VERB
alkej-949	4	24	forces	force	NOUN
alkej-949	4	25	applied	apply	VERB
alkej-949	4	26	to	to	ADP
alkej-949	4	27	them	they	PRON
alkej-949	4	28	and	and	CCONJ
alkej-949	4	29	uneven	uneven	ADJ
alkej-949	4	30	terrains	terrain	NOUN
alkej-949	4	31	.	.	PUNCT
alkej-949	5	1	therefore	therefore	ADV
alkej-949	5	2	,	,	PUNCT
alkej-949	5	3	a	a	DET
alkej-949	5	4	push	push	NOUN
alkej-949	5	5	recovery	recovery	NOUN
alkej-949	5	6	control	control	NOUN
alkej-949	5	7	system	system	NOUN
alkej-949	5	8	that	that	PRON
alkej-949	5	9	enables	enable	VERB
alkej-949	5	10	these	these	DET
alkej-949	5	11	robots	robot	NOUN
alkej-949	5	12	to	to	PART
alkej-949	5	13	preserve	preserve	VERB
alkej-949	5	14	stability	stability	NOUN
alkej-949	5	15	while	while	SCONJ
alkej-949	5	16	executing	execute	VERB
alkej-949	5	17	their	their	PRON
alkej-949	5	18	intended	intend	VERB
alkej-949	5	19	tasks	task	NOUN
alkej-949	5	20	must	must	AUX
alkej-949	5	21	be	be	AUX
alkej-949	5	22	developed	develop	VERB
alkej-949	5	23	.	.	PUNCT
alkej-949	6	1	this	this	DET
alkej-949	6	2	study	study	NOUN
alkej-949	6	3	investigates	investigate	VERB
alkej-949	6	4	several	several	ADJ
alkej-949	6	5	push	push	NOUN
alkej-949	6	6	recovery	recovery	NOUN
alkej-949	6	7	control	control	NOUN
alkej-949	6	8	algorithms	algorithm	NOUN
alkej-949	6	9	for	for	ADP
alkej-949	6	10	bipedal	bipedal	ADJ
alkej-949	6	11	robots	robot	NOUN
alkej-949	6	12	operating	operate	VERB
alkej-949	6	13	in	in	ADP
alkej-949	6	14	static	static	ADJ
alkej-949	6	15	(	(	PUNCT
alkej-949	6	16	standing	standing	NOUN
alkej-949	6	17	)	)	PUNCT
alkej-949	6	18	or	or	CCONJ
alkej-949	6	19	dynamic	dynamic	ADJ
alkej-949	6	20	(	(	PUNCT
alkej-949	6	21	walking	walking	NOUN
alkej-949	6	22	)	)	PUNCT
alkej-949	6	23	modes	mode	NOUN
alkej-949	6	24	when	when	SCONJ
alkej-949	6	25	faced	face	VERB
alkej-949	6	26	with	with	ADP
alkej-949	6	27	disturbances	disturbance	NOUN
alkej-949	6	28	.	.	PUNCT
alkej-949	7	1	the	the	DET
alkej-949	7	2	study	study	NOUN
alkej-949	7	3	further	far	ADV
alkej-949	7	4	assesses	assess	VERB
alkej-949	7	5	the	the	DET
alkej-949	7	6	literature	literature	NOUN
alkej-949	7	7	based	base	VERB
alkej-949	7	8	on	on	ADP
alkej-949	7	9	three	three	NUM
alkej-949	7	10	factors	factor	NOUN
alkej-949	7	11	:	:	PUNCT
alkej-949	7	12	1	1	X
alkej-949	7	13	)	)	PUNCT
alkej-949	7	14	the	the	DET
alkej-949	7	15	dynamic	dynamic	ADJ
alkej-949	7	16	model	model	NOUN
alkej-949	7	17	used	use	VERB
alkej-949	7	18	to	to	PART
alkej-949	7	19	represent	represent	VERB
alkej-949	7	20	the	the	DET
alkej-949	7	21	robot	robot	NOUN
alkej-949	7	22	’s	’s	PART
alkej-949	7	23	behaviour	behaviour	NOUN
alkej-949	7	24	,	,	PUNCT
alkej-949	7	25	2	2	X
alkej-949	7	26	)	)	PUNCT
alkej-949	7	27	the	the	DET
alkej-949	7	28	control	control	NOUN
alkej-949	7	29	methods	method	NOUN
alkej-949	7	30	and	and	CCONJ
alkej-949	7	31	3	3	NUM
alkej-949	7	32	)	)	PUNCT
alkej-949	7	33	the	the	DET
alkej-949	7	34	required	require	VERB
alkej-949	7	35	sensors	sensor	NOUN
alkej-949	7	36	.	.	PUNCT
alkej-949	8	1	moreover	moreover	ADV
alkej-949	8	2	,	,	PUNCT
alkej-949	8	3	this	this	DET
alkej-949	8	4	review	review	NOUN
alkej-949	8	5	paper	paper	NOUN
alkej-949	8	6	emphasises	emphasise	VERB
alkej-949	8	7	the	the	DET
alkej-949	8	8	challenges	challenge	NOUN
alkej-949	8	9	that	that	PRON
alkej-949	8	10	must	must	AUX
alkej-949	8	11	be	be	AUX
alkej-949	8	12	tackled	tackle	VERB
alkej-949	8	13	in	in	ADP
alkej-949	8	14	future	future	ADJ
alkej-949	8	15	research	research	NOUN
alkej-949	8	16	.	.	PUNCT
alkej-949	9	1	these	these	DET
alkej-949	9	2	issues	issue	NOUN
alkej-949	9	3	include	include	VERB
alkej-949	9	4	the	the	DET
alkej-949	9	5	ability	ability	NOUN
alkej-949	9	6	of	of	ADP
alkej-949	9	7	bipedal	bipedal	ADJ
alkej-949	9	8	robots	robot	NOUN
alkej-949	9	9	to	to	PART
alkej-949	9	10	adapt	adapt	VERB
alkej-949	9	11	rapidly	rapidly	ADV
alkej-949	9	12	to	to	ADP
alkej-949	9	13	changing	change	VERB
alkej-949	9	14	conditions	condition	NOUN
alkej-949	9	15	in	in	ADP
alkej-949	9	16	dynamic	dynamic	ADJ
alkej-949	9	17	scenarios	scenario	NOUN
alkej-949	9	18	,	,	PUNCT
alkej-949	9	19	the	the	DET
alkej-949	9	20	substantial	substantial	ADJ
alkej-949	9	21	energy	energy	NOUN
alkej-949	9	22	consumption	consumption	NOUN
alkej-949	9	23	they	they	PRON
alkej-949	9	24	require	require	VERB
alkej-949	9	25	and	and	CCONJ
alkej-949	9	26	the	the	DET
alkej-949	9	27	delays	delay	NOUN
alkej-949	9	28	that	that	PRON
alkej-949	9	29	arise	arise	VERB
alkej-949	9	30	from	from	ADP
alkej-949	9	31	the	the	DET
alkej-949	9	32	complex	complex	ADJ
alkej-949	9	33	and	and	CCONJ
alkej-949	9	34	nonlinear	nonlinear	ADJ
alkej-949	9	35	structure	structure	NOUN
alkej-949	9	36	of	of	ADP
alkej-949	9	37	their	their	PRON
alkej-949	9	38	movements	movement	NOUN
alkej-949	9	39	.	.	PUNCT
alkej-949	10	1	hence	hence	ADV
alkej-949	10	2	,	,	PUNCT
alkej-949	10	3	this	this	DET
alkej-949	10	4	research	research	NOUN
alkej-949	10	5	suggests	suggest	VERB
alkej-949	10	6	some	some	DET
alkej-949	10	7	recommendations	recommendation	NOUN
alkej-949	10	8	for	for	ADP
alkej-949	10	9	effectively	effectively	ADV
alkej-949	10	10	tackling	tackle	VERB
alkej-949	10	11	these	these	DET
alkej-949	10	12	difficulties	difficulty	NOUN
alkej-949	10	13	.	.	PUNCT
alkej-949	11	1	1	1	X
alkej-949	11	2	)	)	PUNCT
alkej-949	11	3	sensory	sensory	ADJ
alkej-949	11	4	feedback	feedback	NOUN
alkej-949	11	5	approaches	approach	NOUN
alkej-949	11	6	with	with	ADP
alkej-949	11	7	machine	machine	NOUN
alkej-949	11	8	learning	learn	VERB
alkej-949	11	9	algorithms	algorithm	NOUN
alkej-949	11	10	should	should	AUX
alkej-949	11	11	be	be	AUX
alkej-949	11	12	employed	employ	VERB
alkej-949	11	13	to	to	PART
alkej-949	11	14	develop	develop	VERB
alkej-949	11	15	adaptable	adaptable	ADJ
alkej-949	11	16	balance	balance	NOUN
alkej-949	11	17	control	control	NOUN
alkej-949	11	18	systems	system	NOUN
alkej-949	11	19	that	that	PRON
alkej-949	11	20	quickly	quickly	ADV
alkej-949	11	21	learn	learn	VERB
alkej-949	11	22	from	from	ADP
alkej-949	11	23	and	and	CCONJ
alkej-949	11	24	react	react	VERB
alkej-949	11	25	to	to	ADP
alkej-949	11	26	different	different	ADJ
alkej-949	11	27	disturbances	disturbance	NOUN
alkej-949	11	28	in	in	ADP
alkej-949	11	29	real	real	ADJ
alkej-949	11	30	time	time	NOUN
alkej-949	11	31	.	.	PUNCT
alkej-949	12	1	2	2	X
alkej-949	12	2	)	)	PUNCT
alkej-949	12	3	control	control	NOUN
alkej-949	12	4	algorithms	algorithm	NOUN
alkej-949	12	5	that	that	PRON
alkej-949	12	6	optimally	optimally	ADV
alkej-949	12	7	balance	balance	VERB
alkej-949	12	8	stability	stability	NOUN
alkej-949	12	9	and	and	CCONJ
alkej-949	12	10	energy	energy	NOUN
alkej-949	12	11	efficiency	efficiency	NOUN
alkej-949	12	12	,	,	PUNCT
alkej-949	12	13	such	such	ADJ
alkej-949	12	14	as	as	ADP
alkej-949	12	15	predictive	predictive	ADJ
alkej-949	12	16	control	control	NOUN
alkej-949	12	17	algorithms	algorithm	NOUN
alkej-949	12	18	that	that	PRON
alkej-949	12	19	emulate	emulate	VERB
alkej-949	12	20	the	the	DET
alkej-949	12	21	natural	natural	ADJ
alkej-949	12	22	reflexes	reflex	NOUN
alkej-949	12	23	of	of	ADP
alkej-949	12	24	humans	human	NOUN
alkej-949	12	25	,	,	PUNCT
alkej-949	12	26	should	should	AUX
alkej-949	12	27	be	be	AUX
alkej-949	12	28	developed	develop	VERB
alkej-949	12	29	.	.	PUNCT
alkej-949	13	1	3	3	X
alkej-949	13	2	)	)	PUNCT
alkej-949	13	3	hierarchical	hierarchical	ADJ
alkej-949	13	4	control	control	NOUN
alkej-949	13	5	systems	system	NOUN
alkej-949	13	6	should	should	AUX
alkej-949	13	7	be	be	AUX
alkej-949	13	8	used	use	VERB
alkej-949	13	9	to	to	PART
alkej-949	13	10	partition	partition	VERB
alkej-949	13	11	the	the	DET
alkej-949	13	12	balance	balance	NOUN
alkej-949	13	13	control	control	NOUN
alkej-949	13	14	problem	problem	NOUN
alkej-949	13	15	into	into	ADP
alkej-949	13	16	smaller	small	ADJ
alkej-949	13	17	stages	stage	NOUN
alkej-949	13	18	,	,	PUNCT
alkej-949	13	19	thus	thus	ADV
alkej-949	13	20	reducing	reduce	VERB
alkej-949	13	21	the	the	DET
alkej-949	13	22	latency	latency	NOUN
alkej-949	13	23	issues	issue	NOUN
alkej-949	13	24	related	relate	VERB
alkej-949	13	25	to	to	ADP
alkej-949	13	26	solving	solve	VERB
alkej-949	13	27	complex	complex	ADJ
alkej-949	13	28	nonlinear	nonlinear	ADJ
alkej-949	13	29	equations	equation	NOUN
alkej-949	13	30	.	.	PUNCT
alkej-949	14	1	keywords	keyword	NOUN
alkej-949	14	2	:	:	PUNCT
alkej-949	14	3	push	push	VERB
alkej-949	14	4	recovery	recovery	NOUN
alkej-949	14	5	control	control	NOUN
alkej-949	14	6	;	;	PUNCT
alkej-949	14	7	bipedal	bipedal	ADJ
alkej-949	14	8	robots	robot	NOUN
alkej-949	14	9	,	,	PUNCT
alkej-949	14	10	cop	cop	NOUN
alkej-949	14	11	;	;	PUNCT
alkej-949	14	12	zmp	zmp	NOUN
alkej-949	14	13	,	,	PUNCT
alkej-949	14	14	centroidal	centroidal	ADJ
alkej-949	14	15	moment	moment	NOUN
alkej-949	14	16	pivot	pivot	NOUN
alkej-949	14	17	;	;	PUNCT
alkej-949	14	18	dynamic	dynamic	ADJ
alkej-949	14	19	stability	stability	NOUN
alkej-949	14	20	;	;	PUNCT
alkej-949	14	21	lipm	lipm	NOUN
alkej-949	14	22	;	;	PUNCT
alkej-949	14	23	whole	whole	ADJ
alkej-949	14	24	-	-	PUNCT
alkej-949	14	25	body	body	NOUN
alkej-949	14	26	dynamics	dynamic	NOUN
alkej-949	14	27	1	1	NUM
alkej-949	14	28	.	.	PUNCT
alkej-949	15	1	introduction	introduction	NOUN
alkej-949	15	2	ongoing	ongoing	ADJ
alkej-949	15	3	and	and	CCONJ
alkej-949	15	4	comprehensive	comprehensive	ADJ
alkej-949	15	5	research	research	NOUN
alkej-949	15	6	has	have	AUX
alkej-949	15	7	been	be	AUX
alkej-949	15	8	undertaken	undertake	VERB
alkej-949	15	9	on	on	ADP
alkej-949	15	10	bipedal	bipedal	ADJ
alkej-949	15	11	robots	robot	NOUN
alkej-949	15	12	because	because	SCONJ
alkej-949	15	13	of	of	ADP
alkej-949	15	14	their	their	PRON
alkej-949	15	15	versatile	versatile	ADJ
alkej-949	15	16	capabilities	capability	NOUN
alkej-949	15	17	in	in	ADP
alkej-949	15	18	performing	perform	VERB
alkej-949	15	19	a	a	DET
alkej-949	15	20	wide	wide	ADJ
alkej-949	15	21	range	range	NOUN
alkej-949	15	22	of	of	ADP
alkej-949	15	23	tasks	task	NOUN
alkej-949	15	24	,	,	PUNCT
alkej-949	15	25	including	include	VERB
alkej-949	15	26	search	search	NOUN
alkej-949	15	27	and	and	CCONJ
alkej-949	15	28	rescue	rescue	NOUN
alkej-949	15	29	missions	mission	NOUN
alkej-949	15	30	,	,	PUNCT
alkej-949	15	31	healthcare	healthcare	NOUN
alkej-949	15	32	delivery	delivery	NOUN
alkej-949	15	33	and	and	CCONJ
alkej-949	15	34	industrial	industrial	ADJ
alkej-949	15	35	applications	application	NOUN
alkej-949	15	36	.	.	PUNCT
alkej-949	16	1	these	these	DET
alkej-949	16	2	tasks	task	NOUN
alkej-949	16	3	necessitate	necessitate	ADJ
alkej-949	16	4	the	the	DET
alkej-949	16	5	engagement	engagement	NOUN
alkej-949	16	6	of	of	ADP
alkej-949	16	7	bipedal	bipedal	ADJ
alkej-949	16	8	robots	robot	NOUN
alkej-949	16	9	with	with	ADP
alkej-949	16	10	their	their	PRON
alkej-949	16	11	surroundings	surrounding	NOUN
alkej-949	16	12	,	,	PUNCT
alkej-949	16	13	which	which	PRON
alkej-949	16	14	encompass	encompass	VERB
alkej-949	16	15	objects	object	NOUN
alkej-949	16	16	and	and	CCONJ
alkej-949	16	17	people	people	NOUN
alkej-949	16	18	.	.	PUNCT
alkej-949	17	1	the	the	DET
alkej-949	17	2	main	main	ADJ
alkej-949	17	3	challenge	challenge	NOUN
alkej-949	17	4	that	that	PRON
alkej-949	17	5	these	these	DET
alkej-949	17	6	robots	robot	NOUN
alkej-949	17	7	encounter	encounter	VERB
alkej-949	17	8	is	be	AUX
alkej-949	17	9	performing	perform	VERB
alkej-949	17	10	specified	specify	VERB
alkej-949	17	11	tasks	task	NOUN
alkej-949	17	12	while	while	SCONJ
alkej-949	17	13	maintaining	maintain	VERB
alkej-949	17	14	balance	balance	NOUN
alkej-949	17	15	in	in	ADP
alkej-949	17	16	the	the	DET
alkej-949	17	17	presence	presence	NOUN
alkej-949	17	18	of	of	ADP
alkej-949	17	19	external	external	ADJ
alkej-949	17	20	disturbances	disturbance	NOUN
alkej-949	17	21	,	,	PUNCT
alkej-949	17	22	such	such	ADJ
alkej-949	17	23	as	as	ADP
alkej-949	17	24	a	a	DET
alkej-949	17	25	pushing	push	VERB
alkej-949	17	26	force	force	NOUN
alkej-949	17	27	,	,	PUNCT
alkej-949	17	28	uneven	uneven	ADJ
alkej-949	17	29	terrains	terrain	NOUN
alkej-949	17	30	or	or	CCONJ
alkej-949	17	31	other	other	ADJ
alkej-949	17	32	factors	factor	NOUN
alkej-949	17	33	.	.	PUNCT
alkej-949	18	1	hence	hence	ADV
alkej-949	18	2	,	,	PUNCT
alkej-949	18	3	a	a	DET
alkej-949	18	4	push	push	NOUN
alkej-949	18	5	recovery	recovery	NOUN
alkej-949	18	6	control	control	NOUN
alkej-949	18	7	system	system	NOUN
alkej-949	18	8	that	that	PRON
alkej-949	18	9	allows	allow	VERB
alkej-949	18	10	bipedal	bipedal	ADJ
alkej-949	18	11	robots	robot	NOUN
alkej-949	18	12	to	to	PART
alkej-949	18	13	preserve	preserve	VERB
alkej-949	18	14	stability	stability	NOUN
alkej-949	18	15	must	must	AUX
alkej-949	18	16	be	be	AUX
alkej-949	18	17	developed	develop	VERB
alkej-949	18	18	.	.	PUNCT
alkej-949	19	1	figure	figure	NOUN
alkej-949	19	2	1	1	NUM
alkej-949	19	3	demonstrates	demonstrate	VERB
alkej-949	19	4	the	the	DET
alkej-949	19	5	push	push	NOUN
alkej-949	19	6	recovery	recovery	NOUN
alkej-949	19	7	control	control	NOUN
alkej-949	19	8	in	in	ADP
alkej-949	19	9	which	which	PRON
alkej-949	19	10	a	a	DET
alkej-949	19	11	humanoid	humanoid	NOUN
alkej-949	19	12	robot	robot	NOUN
alkej-949	19	13	counteracts	counteract	VERB
alkej-949	19	14	a	a	DET
alkej-949	19	15	pushing	push	VERB
alkej-949	19	16	force	force	NOUN
alkej-949	19	17	by	by	ADP
alkej-949	19	18	executing	execute	VERB
alkej-949	19	19	a	a	DET
alkej-949	19	20	wider	wide	ADJ
alkej-949	19	21	lateral	lateral	ADJ
alkej-949	19	22	step	step	NOUN
alkej-949	19	23	than	than	ADP
alkej-949	19	24	existing	exist	VERB
alkej-949	19	25	models	model	NOUN
alkej-949	19	26	.	.	PUNCT
alkej-949	20	1	this	this	DET
alkej-949	20	2	review	review	NOUN
alkej-949	20	3	paper	paper	NOUN
alkej-949	20	4	aims	aim	VERB
alkej-949	20	5	to	to	PART
alkej-949	20	6	conduct	conduct	VERB
alkej-949	20	7	a	a	DET
alkej-949	20	8	comprehensive	comprehensive	ADJ
alkej-949	20	9	examination	examination	NOUN
alkej-949	20	10	of	of	ADP
alkej-949	20	11	the	the	DET
alkej-949	20	12	current	current	ADJ
alkej-949	20	13	push	push	NOUN
alkej-949	20	14	recovery	recovery	NOUN
alkej-949	20	15	control	control	NOUN
alkej-949	20	16	techniques	technique	NOUN
alkej-949	20	17	employed	employ	VERB
alkej-949	20	18	in	in	ADP
alkej-949	20	19	bipedal	bipedal	ADJ
alkej-949	20	20	mailto:ialtameemi@wpi.edu	mailto:ialtameemi@wpi.edu	PROPN
alkej-949	20	21	https://doi.org/10.22153/kej.2024.07.002	https://doi.org/10.22153/kej.2024.07.002	PROPN
alkej-949	20	22	https://doi.org/10.22153/kej.2024.07.002	https://doi.org/10.22153/kej.2024.07.002	PROPN
alkej-949	20	23	ibrahim	ibrahim	PROPN
alkej-949	20	24	altameemi	altameemi	VERB
alkej-949	20	25	al	al	PROPN
alkej-949	20	26	-	-	PUNCT
alkej-949	20	27	khwarizmi	khwarizmi	PROPN
alkej-949	20	28	engineering	engineering	NOUN
alkej-949	20	29	journal	journal	PROPN
alkej-949	20	30	,	,	PUNCT
alkej-949	20	31	vol	vol	NOUN
alkej-949	20	32	.	.	PROPN
alkej-949	20	33	20	20	NUM
alkej-949	20	34	,	,	PUNCT
alkej-949	20	35	no.3	no.3	VERB
alkej-949	20	36	,	,	PUNCT
alkej-949	20	37	p.p	p.p	PROPN
alkej-949	20	38	.	.	PROPN
alkej-949	20	39	2035	2035	NUM
alkej-949	20	40	(	(	PUNCT
alkej-949	20	41	2024	2024	NUM
alkej-949	20	42	)	)	PUNCT
alkej-949	20	43	21	21	NUM
alkej-949	20	44	robots	robot	NOUN
alkej-949	20	45	under	under	ADP
alkej-949	20	46	static	static	NOUN
alkej-949	20	47	(	(	PUNCT
alkej-949	20	48	standing	standing	NOUN
alkej-949	20	49	)	)	PUNCT
alkej-949	20	50	or	or	CCONJ
alkej-949	20	51	dynamic	dynamic	ADJ
alkej-949	20	52	(	(	PUNCT
alkej-949	20	53	walking	walking	NOUN
alkej-949	20	54	)	)	PUNCT
alkej-949	20	55	conditions	condition	NOUN
alkej-949	20	56	while	while	SCONJ
alkej-949	20	57	accounting	account	VERB
alkej-949	20	58	for	for	ADP
alkej-949	20	59	environmental	environmental	ADJ
alkej-949	20	60	disturbances	disturbance	NOUN
alkej-949	20	61	.	.	PUNCT
alkej-949	21	1	this	this	DET
alkej-949	21	2	research	research	NOUN
alkej-949	21	3	conducts	conduct	VERB
alkej-949	21	4	a	a	DET
alkej-949	21	5	comparative	comparative	ADJ
alkej-949	21	6	analysis	analysis	NOUN
alkej-949	21	7	and	and	CCONJ
alkej-949	21	8	categorisation	categorisation	NOUN
alkej-949	21	9	of	of	ADP
alkej-949	21	10	studies	study	NOUN
alkej-949	21	11	by	by	ADP
alkej-949	21	12	focusing	focus	VERB
alkej-949	21	13	on	on	ADP
alkej-949	21	14	three	three	NUM
alkej-949	21	15	primary	primary	ADJ
alkej-949	21	16	factors	factor	NOUN
alkej-949	21	17	:	:	PUNCT
alkej-949	21	18	the	the	DET
alkej-949	21	19	dynamic	dynamic	ADJ
alkej-949	21	20	model	model	NOUN
alkej-949	21	21	employed	employ	VERB
alkej-949	21	22	to	to	PART
alkej-949	21	23	depict	depict	VERB
alkej-949	21	24	the	the	DET
alkej-949	21	25	robot	robot	NOUN
alkej-949	21	26	’s	’s	PART
alkej-949	21	27	movement	movement	NOUN
alkej-949	21	28	,	,	PUNCT
alkej-949	21	29	the	the	DET
alkej-949	21	30	method	method	NOUN
alkej-949	21	31	utilised	utilise	VERB
alkej-949	21	32	for	for	ADP
alkej-949	21	33	balance	balance	NOUN
alkej-949	21	34	control	control	NOUN
alkej-949	21	35	and	and	CCONJ
alkej-949	21	36	the	the	DET
alkej-949	21	37	sensors	sensor	NOUN
alkej-949	21	38	necessary	necessary	ADJ
alkej-949	21	39	for	for	ADP
alkej-949	21	40	operation	operation	NOUN
alkej-949	21	41	.	.	PUNCT
alkej-949	22	1	this	this	DET
alkej-949	22	2	study	study	NOUN
alkej-949	22	3	examines	examine	NOUN
alkej-949	22	4	and	and	CCONJ
alkej-949	22	5	analyses	analyse	VERB
alkej-949	22	6	previous	previous	ADJ
alkej-949	22	7	research	research	NOUN
alkej-949	22	8	to	to	PART
alkej-949	22	9	identify	identify	VERB
alkej-949	22	10	the	the	DET
alkej-949	22	11	obstacles	obstacle	NOUN
alkej-949	22	12	that	that	PRON
alkej-949	22	13	prevent	prevent	VERB
alkej-949	22	14	bipedal	bipedal	ADJ
alkej-949	22	15	robots	robot	NOUN
alkej-949	22	16	from	from	ADP
alkej-949	22	17	performing	perform	VERB
alkej-949	22	18	actual	actual	ADJ
alkej-949	22	19	tasks	task	NOUN
alkej-949	22	20	in	in	ADP
alkej-949	22	21	real	real	ADJ
alkej-949	22	22	-	-	PUNCT
alkej-949	22	23	world	world	NOUN
alkej-949	22	24	settings	setting	NOUN
alkej-949	22	25	.	.	PUNCT
alkej-949	23	1	these	these	DET
alkej-949	23	2	issues	issue	NOUN
alkej-949	23	3	encompass	encompass	VERB
alkej-949	23	4	the	the	DET
alkej-949	23	5	ability	ability	NOUN
alkej-949	23	6	of	of	ADP
alkej-949	23	7	bipeds	biped	NOUN
alkej-949	23	8	to	to	PART
alkej-949	23	9	adjust	adjust	VERB
alkej-949	23	10	quickly	quickly	ADV
alkej-949	23	11	to	to	ADP
alkej-949	23	12	unanticipated	unanticipated	ADJ
alkej-949	23	13	dynamic	dynamic	ADJ
alkej-949	23	14	environments	environment	NOUN
alkej-949	23	15	,	,	PUNCT
alkej-949	23	16	the	the	DET
alkej-949	23	17	significant	significant	ADJ
alkej-949	23	18	energy	energy	NOUN
alkej-949	23	19	consumption	consumption	NOUN
alkej-949	23	20	and	and	CCONJ
alkej-949	23	21	the	the	DET
alkej-949	23	22	nonlinearity	nonlinearity	NOUN
alkej-949	23	23	and	and	CCONJ
alkej-949	23	24	complexity	complexity	NOUN
alkej-949	23	25	of	of	ADP
alkej-949	23	26	dynamics	dynamic	NOUN
alkej-949	23	27	.	.	PUNCT
alkej-949	24	1	moreover	moreover	ADV
alkej-949	24	2	,	,	PUNCT
alkej-949	24	3	this	this	DET
alkej-949	24	4	study	study	NOUN
alkej-949	24	5	proposes	propose	VERB
alkej-949	24	6	recommendations	recommendation	NOUN
alkej-949	24	7	for	for	ADP
alkej-949	24	8	future	future	ADJ
alkej-949	24	9	research	research	NOUN
alkej-949	24	10	to	to	PART
alkej-949	24	11	tackle	tackle	VERB
alkej-949	24	12	the	the	DET
alkej-949	24	13	challenges	challenge	NOUN
alkej-949	24	14	and	and	CCONJ
alkej-949	24	15	improve	improve	VERB
alkej-949	24	16	the	the	DET
alkej-949	24	17	functionality	functionality	NOUN
alkej-949	24	18	of	of	ADP
alkej-949	24	19	bipedal	bipedal	ADJ
alkej-949	24	20	robots	robot	NOUN
alkej-949	24	21	in	in	ADP
alkej-949	24	22	performing	perform	VERB
alkej-949	24	23	real	real	ADJ
alkej-949	24	24	-	-	PUNCT
alkej-949	24	25	world	world	NOUN
alkej-949	24	26	tasks	task	NOUN
alkej-949	24	27	.	.	PUNCT
alkej-949	25	1	this	this	DET
alkej-949	25	2	review	review	NOUN
alkej-949	25	3	paper	paper	NOUN
alkej-949	25	4	seeks	seek	VERB
alkej-949	25	5	to	to	PART
alkej-949	25	6	contribute	contribute	VERB
alkej-949	25	7	to	to	ADP
alkej-949	25	8	the	the	DET
alkej-949	25	9	continuous	continuous	ADJ
alkej-949	25	10	progress	progress	NOUN
alkej-949	25	11	and	and	CCONJ
alkej-949	25	12	innovation	innovation	NOUN
alkej-949	25	13	in	in	ADP
alkej-949	25	14	bipedal	bipedal	ADJ
alkej-949	25	15	robotics	robotic	NOUN
alkej-949	25	16	by	by	ADP
alkej-949	25	17	clarifying	clarify	VERB
alkej-949	25	18	previous	previous	ADJ
alkej-949	25	19	accomplishments	accomplishment	NOUN
alkej-949	25	20	,	,	PUNCT
alkej-949	25	21	highlighting	highlight	VERB
alkej-949	25	22	obstacles	obstacle	NOUN
alkej-949	25	23	and	and	CCONJ
alkej-949	25	24	suggesting	suggest	VERB
alkej-949	25	25	future	future	ADJ
alkej-949	25	26	research	research	NOUN
alkej-949	25	27	areas	area	NOUN
alkej-949	25	28	.	.	PUNCT
alkej-949	26	1	fig	fig	NOUN
alkej-949	26	2	.	.	PUNCT
alkej-949	27	1	1	1	X
alkej-949	27	2	.	.	X
alkej-949	27	3	a	a	DET
alkej-949	27	4	humanoid	humanoid	NOUN
alkej-949	27	5	robot	robot	NOUN
alkej-949	27	6	recovers	recover	NOUN
alkej-949	27	7	from	from	ADP
alkej-949	27	8	a	a	DET
alkej-949	27	9	push	push	NOUN
alkej-949	27	10	(	(	PUNCT
alkej-949	27	11	the	the	DET
alkej-949	27	12	red	red	ADJ
alkej-949	27	13	arrow	arrow	NOUN
alkej-949	27	14	)	)	PUNCT
alkej-949	28	1	[	[	X
alkej-949	28	2	1	1	NUM
alkej-949	28	3	]	]	PUNCT
alkej-949	28	4	.	.	PUNCT
alkej-949	29	1	2	2	X
alkej-949	29	2	.	.	X
alkej-949	29	3	background	background	NOUN
alkej-949	29	4	2.1	2.1	NUM
alkej-949	29	5	.	.	PUNCT
alkej-949	30	1	principles	principle	NOUN
alkej-949	30	2	of	of	ADP
alkej-949	30	3	balancing	balancing	NOUN
alkej-949	30	4	of	of	ADP
alkej-949	30	5	bipedal	bipedal	ADJ
alkej-949	30	6	robots	robot	NOUN
alkej-949	30	7	the	the	DET
alkej-949	30	8	zero	zero	NUM
alkej-949	30	9	moment	moment	NOUN
alkej-949	30	10	point	point	NOUN
alkej-949	30	11	(	(	PUNCT
alkej-949	30	12	zmp	zmp	NOUN
alkej-949	30	13	)	)	PUNCT
alkej-949	30	14	is	be	AUX
alkej-949	30	15	the	the	DET
alkej-949	30	16	point	point	NOUN
alkej-949	30	17	where	where	SCONJ
alkej-949	30	18	the	the	DET
alkej-949	30	19	sum	sum	NOUN
alkej-949	30	20	of	of	ADP
alkej-949	30	21	moments	moment	NOUN
alkej-949	30	22	about	about	ADP
alkej-949	30	23	the	the	DET
alkej-949	30	24	centre	centre	NOUN
alkej-949	30	25	of	of	ADP
alkej-949	30	26	pressure	pressure	NOUN
alkej-949	30	27	(	(	PUNCT
alkej-949	30	28	cop	cop	NOUN
alkej-949	30	29	)	)	PUNCT
alkej-949	30	30	is	be	AUX
alkej-949	30	31	equal	equal	ADJ
alkej-949	30	32	to	to	ADP
alkej-949	30	33	zero	zero	NUM
alkej-949	30	34	,	,	PUNCT
alkej-949	30	35	whereas	whereas	SCONJ
alkej-949	30	36	the	the	DET
alkej-949	30	37	cop	cop	NOUN
alkej-949	30	38	is	be	AUX
alkej-949	30	39	the	the	DET
alkej-949	30	40	point	point	NOUN
alkej-949	30	41	at	at	ADP
alkej-949	30	42	which	which	PRON
alkej-949	30	43	the	the	DET
alkej-949	30	44	resultant	resultant	NOUN
alkej-949	30	45	ground	ground	NOUN
alkej-949	30	46	reaction	reaction	NOUN
alkej-949	30	47	force	force	NOUN
alkej-949	30	48	is	be	AUX
alkej-949	30	49	normal	normal	ADJ
alkej-949	30	50	[	[	X
alkej-949	30	51	2	2	NUM
alkej-949	30	52	-	-	SYM
alkej-949	30	53	4	4	NUM
alkej-949	30	54	]	]	PUNCT
alkej-949	30	55	.	.	PUNCT
alkej-949	31	1	a	a	DET
alkej-949	31	2	bipedal	bipedal	ADJ
alkej-949	31	3	robot	robot	NOUN
alkej-949	31	4	is	be	AUX
alkej-949	31	5	stable	stable	ADJ
alkej-949	31	6	if	if	SCONJ
alkej-949	31	7	the	the	DET
alkej-949	31	8	zmp	zmp	NOUN
alkej-949	31	9	remains	remain	VERB
alkej-949	31	10	within	within	ADP
alkej-949	31	11	the	the	DET
alkej-949	31	12	boundaries	boundary	NOUN
alkej-949	31	13	of	of	ADP
alkej-949	31	14	the	the	DET
alkej-949	31	15	support	support	NOUN
alkej-949	31	16	polygon	polygon	NOUN
alkej-949	31	17	.	.	PUNCT
alkej-949	32	1	the	the	DET
alkej-949	32	2	zmp	zmp	NOUN
alkej-949	32	3	and	and	CCONJ
alkej-949	32	4	cop	cop	NOUN
alkej-949	32	5	coincide	coincide	NOUN
alkej-949	32	6	when	when	SCONJ
alkej-949	32	7	they	they	PRON
alkej-949	32	8	are	be	AUX
alkej-949	32	9	inside	inside	ADP
alkej-949	32	10	the	the	DET
alkej-949	32	11	support	support	NOUN
alkej-949	32	12	polygon	polygon	NOUN
alkej-949	32	13	.	.	PUNCT
alkej-949	33	1	notably	notably	ADV
alkej-949	33	2	,	,	PUNCT
alkej-949	33	3	cop	cop	NOUN
alkej-949	33	4	is	be	AUX
alkej-949	33	5	always	always	ADV
alkej-949	33	6	within	within	ADP
alkej-949	33	7	the	the	DET
alkej-949	33	8	boundaries	boundary	NOUN
alkej-949	33	9	of	of	ADP
alkej-949	33	10	the	the	DET
alkej-949	33	11	support	support	NOUN
alkej-949	33	12	polygon	polygon	NOUN
alkej-949	33	13	.	.	PUNCT
alkej-949	34	1	if	if	SCONJ
alkej-949	34	2	it	it	PRON
alkej-949	34	3	reaches	reach	VERB
alkej-949	34	4	the	the	DET
alkej-949	34	5	edge	edge	NOUN
alkej-949	34	6	,	,	PUNCT
alkej-949	34	7	the	the	DET
alkej-949	34	8	foot	foot	NOUN
alkej-949	34	9	will	will	AUX
alkej-949	34	10	initiate	initiate	VERB
alkej-949	34	11	rotation	rotation	NOUN
alkej-949	34	12	,	,	PUNCT
alkej-949	34	13	thus	thus	ADV
alkej-949	34	14	causing	cause	VERB
alkej-949	34	15	the	the	DET
alkej-949	34	16	robot	robot	NOUN
alkej-949	34	17	to	to	PART
alkej-949	34	18	be	be	AUX
alkej-949	34	19	on	on	ADP
alkej-949	34	20	the	the	DET
alkej-949	34	21	edge	edge	NOUN
alkej-949	34	22	of	of	ADP
alkej-949	34	23	balance	balance	NOUN
alkej-949	34	24	.	.	PUNCT
alkej-949	35	1	meanwhile	meanwhile	ADV
alkej-949	35	2	,	,	PUNCT
alkej-949	35	3	the	the	DET
alkej-949	35	4	zmp	zmp	NOUN
alkej-949	35	5	can	can	AUX
alkej-949	35	6	go	go	VERB
alkej-949	35	7	beyond	beyond	ADP
alkej-949	35	8	the	the	DET
alkej-949	35	9	support	support	NOUN
alkej-949	35	10	polygon	polygon	NOUN
alkej-949	35	11	;	;	PUNCT
alkej-949	35	12	in	in	ADP
alkej-949	35	13	this	this	DET
alkej-949	35	14	case	case	NOUN
alkej-949	35	15	,	,	PUNCT
alkej-949	35	16	it	it	PRON
alkej-949	35	17	would	would	AUX
alkej-949	35	18	be	be	AUX
alkej-949	35	19	called	call	VERB
alkej-949	35	20	a	a	DET
alkej-949	35	21	fictitious	fictitious	ADJ
alkej-949	35	22	zmp	zmp	NOUN
alkej-949	35	23	[	[	X
alkej-949	35	24	5	5	NUM
alkej-949	35	25	]	]	PUNCT
alkej-949	35	26	.	.	PUNCT
alkej-949	36	1	these	these	DET
alkej-949	36	2	terms	term	NOUN
alkej-949	36	3	are	be	AUX
alkej-949	36	4	crucial	crucial	ADJ
alkej-949	36	5	stability	stability	NOUN
alkej-949	36	6	criteria	criterion	NOUN
alkej-949	36	7	in	in	ADP
alkej-949	36	8	bipedal	bipedal	ADJ
alkej-949	36	9	robotics	robotic	NOUN
alkej-949	36	10	that	that	PRON
alkej-949	36	11	guide	guide	VERB
alkej-949	36	12	the	the	DET
alkej-949	36	13	development	development	NOUN
alkej-949	36	14	of	of	ADP
alkej-949	36	15	control	control	NOUN
alkej-949	36	16	techniques	technique	NOUN
alkej-949	36	17	and	and	CCONJ
alkej-949	36	18	algorithms	algorithm	NOUN
alkej-949	36	19	for	for	ADP
alkej-949	36	20	maintaining	maintain	VERB
alkej-949	36	21	balance	balance	NOUN
alkej-949	36	22	.	.	PUNCT
alkej-949	37	1	the	the	DET
alkej-949	37	2	centroidal	centroidal	ADJ
alkej-949	37	3	moment	moment	NOUN
alkej-949	37	4	pivot	pivot	NOUN
alkej-949	37	5	(	(	PUNCT
alkej-949	37	6	cmp	cmp	NOUN
alkej-949	37	7	)	)	PUNCT
alkej-949	37	8	point	point	NOUN
alkej-949	38	1	[	[	X
alkej-949	38	2	6	6	NUM
alkej-949	38	3	]	]	PUNCT
alkej-949	38	4	denotes	denote	VERB
alkej-949	38	5	the	the	DET
alkej-949	38	6	point	point	NOUN
alkej-949	38	7	at	at	ADP
alkej-949	38	8	which	which	PRON
alkej-949	38	9	the	the	DET
alkej-949	38	10	ground	ground	NOUN
alkej-949	38	11	reaction	reaction	NOUN
alkej-949	38	12	force	force	NOUN
alkej-949	38	13	vector	vector	NOUN
alkej-949	38	14	must	must	AUX
alkej-949	38	15	act	act	VERB
alkej-949	38	16	to	to	PART
alkej-949	38	17	produce	produce	VERB
alkej-949	38	18	no	no	DET
alkej-949	38	19	torque	torque	NOUN
alkej-949	38	20	about	about	ADP
alkej-949	38	21	the	the	DET
alkej-949	38	22	centre	centre	NOUN
alkej-949	38	23	of	of	ADP
alkej-949	38	24	mass	mass	NOUN
alkej-949	38	25	(	(	PUNCT
alkej-949	38	26	com	com	NOUN
alkej-949	38	27	)	)	PUNCT
alkej-949	38	28	.	.	PUNCT
alkej-949	39	1	as	as	ADP
alkej-949	39	2	a	a	DET
alkej-949	39	3	result	result	NOUN
alkej-949	39	4	,	,	PUNCT
alkej-949	39	5	the	the	DET
alkej-949	39	6	rate	rate	NOUN
alkej-949	39	7	of	of	ADP
alkej-949	39	8	change	change	NOUN
alkej-949	39	9	of	of	ADP
alkej-949	39	10	the	the	DET
alkej-949	39	11	angular	angular	ADJ
alkej-949	39	12	momentum	momentum	NOUN
alkej-949	39	13	is	be	AUX
alkej-949	39	14	strongly	strongly	ADV
alkej-949	39	15	correlated	correlate	VERB
alkej-949	39	16	with	with	ADP
alkej-949	39	17	the	the	DET
alkej-949	39	18	distance	distance	NOUN
alkej-949	39	19	between	between	ADP
alkej-949	39	20	cmp	cmp	PROPN
alkej-949	39	21	and	and	CCONJ
alkej-949	39	22	zmp	zmp	PROPN
alkej-949	39	23	.	.	PUNCT
alkej-949	40	1	when	when	SCONJ
alkej-949	40	2	the	the	DET
alkej-949	40	3	moment	moment	NOUN
alkej-949	40	4	about	about	ADP
alkej-949	40	5	the	the	DET
alkej-949	40	6	com	com	NOUN
alkej-949	40	7	is	be	AUX
alkej-949	40	8	zero	zero	NUM
alkej-949	40	9	,	,	PUNCT
alkej-949	40	10	the	the	DET
alkej-949	40	11	cmp	cmp	NOUN
alkej-949	40	12	coincides	coincide	VERB
alkej-949	40	13	with	with	ADP
alkej-949	40	14	the	the	DET
alkej-949	40	15	zmp	zmp	NOUN
alkej-949	40	16	.	.	PUNCT
alkej-949	41	1	however	however	ADV
alkej-949	41	2	,	,	PUNCT
alkej-949	41	3	when	when	SCONJ
alkej-949	41	4	the	the	DET
alkej-949	41	5	com	com	NOUN
alkej-949	41	6	moment	moment	NOUN
alkej-949	41	7	is	be	AUX
alkej-949	41	8	nonzero	nonzero	ADJ
alkej-949	41	9	,	,	PUNCT
alkej-949	41	10	the	the	DET
alkej-949	41	11	extent	extent	NOUN
alkej-949	41	12	of	of	ADP
alkej-949	41	13	separation	separation	NOUN
alkej-949	41	14	between	between	ADP
alkej-949	41	15	the	the	DET
alkej-949	41	16	cmp	cmp	NOUN
alkej-949	41	17	and	and	CCONJ
alkej-949	41	18	zmp	zmp	NOUN
alkej-949	41	19	is	be	AUX
alkej-949	41	20	equal	equal	ADJ
alkej-949	41	21	to	to	ADP
alkej-949	41	22	the	the	DET
alkej-949	41	23	magnitude	magnitude	NOUN
alkej-949	41	24	of	of	ADP
alkej-949	41	25	the	the	DET
alkej-949	41	26	horizontal	horizontal	ADJ
alkej-949	41	27	component	component	NOUN
alkej-949	41	28	of	of	ADP
alkej-949	41	29	the	the	DET
alkej-949	41	30	moment	moment	NOUN
alkej-949	41	31	about	about	ADP
alkej-949	41	32	the	the	DET
alkej-949	41	33	com	com	NOUN
alkej-949	41	34	divided	divide	VERB
alkej-949	41	35	by	by	ADP
alkej-949	41	36	the	the	DET
alkej-949	41	37	normal	normal	ADJ
alkej-949	41	38	component	component	NOUN
alkej-949	41	39	of	of	ADP
alkej-949	41	40	the	the	DET
alkej-949	41	41	ground	ground	NOUN
alkej-949	41	42	reaction	reaction	NOUN
alkej-949	41	43	force	force	NOUN
alkej-949	41	44	[	[	X
alkej-949	41	45	6	6	NUM
alkej-949	41	46	]	]	PUNCT
alkej-949	41	47	.	.	PUNCT
alkej-949	42	1	2.2	2.2	NUM
alkej-949	42	2	.	.	PUNCT
alkej-949	42	3	dynamics	dynamic	NOUN
alkej-949	42	4	modelling	modelling	NOUN
alkej-949	42	5	in	in	ADP
alkej-949	42	6	bipedal	bipedal	ADJ
alkej-949	42	7	robots	robot	NOUN
alkej-949	42	8	many	many	ADJ
alkej-949	42	9	dynamic	dynamic	ADJ
alkej-949	42	10	modelling	modelling	NOUN
alkej-949	42	11	methods	method	NOUN
alkej-949	42	12	for	for	ADP
alkej-949	42	13	bipedal	bipedal	ADJ
alkej-949	42	14	robots	robot	NOUN
alkej-949	42	15	provide	provide	VERB
alkej-949	42	16	significant	significant	ADJ
alkej-949	42	17	insights	insight	NOUN
alkej-949	42	18	at	at	ADP
alkej-949	42	19	different	different	ADJ
alkej-949	42	20	levels	level	NOUN
alkej-949	42	21	of	of	ADP
alkej-949	42	22	complexity	complexity	NOUN
alkej-949	42	23	.	.	PUNCT
alkej-949	43	1	the	the	DET
alkej-949	43	2	linear	linear	ADJ
alkej-949	43	3	inverted	inverted	ADJ
alkej-949	43	4	pendulum	pendulum	NOUN
alkej-949	43	5	model	model	NOUN
alkej-949	43	6	(	(	PUNCT
alkej-949	43	7	lipm	lipm	PROPN
alkej-949	43	8	)	)	PUNCT
alkej-949	44	1	[	[	X
alkej-949	44	2	7,8	7,8	NUM
alkej-949	44	3	]	]	PUNCT
alkej-949	44	4	and	and	CCONJ
alkej-949	44	5	its	its	PRON
alkej-949	44	6	extensions	extension	NOUN
alkej-949	44	7	,	,	PUNCT
alkej-949	44	8	such	such	ADJ
alkej-949	44	9	as	as	ADP
alkej-949	44	10	the	the	DET
alkej-949	44	11	lipm	lipm	NOUN
alkej-949	44	12	with	with	ADP
alkej-949	44	13	a	a	DET
alkej-949	44	14	flywheel	flywheel	NOUN
alkej-949	44	15	(	(	PUNCT
alkej-949	44	16	lipfm	lipfm	NOUN
alkej-949	44	17	)	)	PUNCT
alkej-949	44	18	,	,	PUNCT
alkej-949	44	19	help	help	VERB
alkej-949	44	20	explain	explain	VERB
alkej-949	44	21	basic	basic	ADJ
alkej-949	44	22	locomotion	locomotion	NOUN
alkej-949	44	23	principles	principle	NOUN
alkej-949	44	24	.	.	PUNCT
alkej-949	45	1	centroidal	centroidal	ADJ
alkej-949	45	2	dynamics	dynamic	NOUN
alkej-949	45	3	models	model	NOUN
alkej-949	45	4	[	[	X
alkej-949	45	5	9	9	X
alkej-949	45	6	]	]	PUNCT
alkej-949	45	7	explain	explain	VERB
alkej-949	45	8	robot	robot	NOUN
alkej-949	45	9	motion	motion	NOUN
alkej-949	45	10	more	more	ADV
alkej-949	45	11	accurately	accurately	ADV
alkej-949	45	12	by	by	ADP
alkej-949	45	13	considering	consider	VERB
alkej-949	45	14	mass	mass	ADJ
alkej-949	45	15	distribution	distribution	NOUN
alkej-949	45	16	and	and	CCONJ
alkej-949	45	17	its	its	PRON
alkej-949	45	18	influence	influence	NOUN
alkej-949	45	19	on	on	ADP
alkej-949	45	20	movement	movement	NOUN
alkej-949	45	21	.	.	PUNCT
alkej-949	46	1	the	the	DET
alkej-949	46	2	maximum	maximum	ADJ
alkej-949	46	3	level	level	NOUN
alkej-949	46	4	of	of	ADP
alkej-949	46	5	reliability	reliability	NOUN
alkej-949	46	6	is	be	AUX
alkej-949	46	7	achieved	achieve	VERB
alkej-949	46	8	through	through	ADP
alkej-949	46	9	whole	whole	ADJ
alkej-949	46	10	-	-	PUNCT
alkej-949	46	11	body	body	NOUN
alkej-949	46	12	dynamics	dynamic	NOUN
alkej-949	46	13	[	[	X
alkej-949	46	14	10	10	NUM
alkej-949	46	15	]	]	PUNCT
alkej-949	46	16	,	,	PUNCT
alkej-949	46	17	which	which	PRON
alkej-949	46	18	considers	consider	VERB
alkej-949	46	19	the	the	DET
alkej-949	46	20	complex	complex	ADJ
alkej-949	46	21	interactions	interaction	NOUN
alkej-949	46	22	among	among	ADP
alkej-949	46	23	all	all	DET
alkej-949	46	24	body	body	NOUN
alkej-949	46	25	parts	part	NOUN
alkej-949	46	26	.	.	PUNCT
alkej-949	47	1	this	this	DET
alkej-949	47	2	approach	approach	NOUN
alkej-949	47	3	allows	allow	VERB
alkej-949	47	4	for	for	ADP
alkej-949	47	5	accurate	accurate	ADJ
alkej-949	47	6	simulations	simulation	NOUN
alkej-949	47	7	and	and	CCONJ
alkej-949	47	8	precise	precise	ADJ
alkej-949	47	9	control	control	NOUN
alkej-949	47	10	methods	method	NOUN
alkej-949	47	11	.	.	PUNCT
alkej-949	48	1	2.2.1	2.2.1	NUM
alkej-949	48	2	.	.	PUNCT
alkej-949	48	3	simplified	simplify	VERB
alkej-949	48	4	models	model	NOUN
alkej-949	48	5	linear	linear	VERB
alkej-949	48	6	inverted	invert	VERB
alkej-949	48	7	pendulum	pendulum	NOUN
alkej-949	48	8	model	model	NOUN
alkej-949	48	9	(	(	PUNCT
alkej-949	48	10	lipm	lipm	NOUN
alkej-949	48	11	):	):	PUNCT
alkej-949	48	12	lipm	lipm	NOUN
alkej-949	48	13	has	have	AUX
alkej-949	48	14	been	be	AUX
alkej-949	48	15	extensively	extensively	ADV
alkej-949	48	16	employed	employ	VERB
alkej-949	48	17	as	as	ADP
alkej-949	48	18	a	a	DET
alkej-949	48	19	simplified	simplified	ADJ
alkej-949	48	20	model	model	NOUN
alkej-949	48	21	for	for	ADP
alkej-949	48	22	analysing	analyse	VERB
alkej-949	48	23	the	the	DET
alkej-949	48	24	dynamics	dynamic	NOUN
alkej-949	48	25	of	of	ADP
alkej-949	48	26	robots	robot	NOUN
alkej-949	48	27	in	in	ADP
alkej-949	48	28	the	the	DET
alkej-949	48	29	field	field	NOUN
alkej-949	48	30	of	of	ADP
alkej-949	48	31	push	push	NOUN
alkej-949	48	32	recovery	recovery	NOUN
alkej-949	48	33	control	control	NOUN
alkej-949	49	1	[	[	X
alkej-949	49	2	7,8	7,8	NUM
alkej-949	49	3	,	,	PUNCT
alkej-949	49	4	11,12	11,12	NOUN
alkej-949	49	5	]	]	PUNCT
alkej-949	49	6	.	.	PUNCT
alkej-949	50	1	in	in	ADP
alkej-949	50	2	lipm	lipm	PROPN
alkej-949	50	3	modelling	modelling	NOUN
alkej-949	50	4	,	,	PUNCT
alkej-949	50	5	a	a	DET
alkej-949	50	6	set	set	NOUN
alkej-949	50	7	of	of	ADP
alkej-949	50	8	multiple	multiple	ADJ
alkej-949	50	9	rigid	rigid	ADJ
alkej-949	50	10	bodies	body	NOUN
alkej-949	50	11	can	can	AUX
alkej-949	50	12	be	be	AUX
alkej-949	50	13	simplified	simplify	VERB
alkej-949	50	14	and	and	CCONJ
alkej-949	50	15	treated	treat	VERB
alkej-949	50	16	as	as	ADP
alkej-949	50	17	a	a	DET
alkej-949	50	18	single	single	ADJ
alkej-949	50	19	mass	mass	NOUN
alkej-949	50	20	.	.	PUNCT
alkej-949	51	1	the	the	DET
alkej-949	51	2	total	total	ADJ
alkej-949	51	3	forces	force	NOUN
alkej-949	51	4	exerted	exert	VERB
alkej-949	51	5	on	on	ADP
alkej-949	51	6	a	a	DET
alkej-949	51	7	system	system	NOUN
alkej-949	51	8	result	result	NOUN
alkej-949	51	9	in	in	ADP
alkej-949	51	10	a	a	DET
alkej-949	51	11	change	change	NOUN
alkej-949	51	12	in	in	ADP
alkej-949	51	13	linear	linear	ADJ
alkej-949	51	14	momentum	momentum	NOUN
alkej-949	51	15	�	�	PROPN
alkej-949	51	16	̇	̇	PROPN
alkej-949	51	17	�	�	PROPN
alkej-949	51	18	,	,	PUNCT
alkej-949	51	19	which	which	PRON
alkej-949	51	20	is	be	AUX
alkej-949	51	21	equivalent	equivalent	ADJ
alkej-949	51	22	to	to	ADP
alkej-949	51	23	the	the	DET
alkej-949	51	24	acceleration	acceleration	NOUN
alkej-949	51	25	of	of	ADP
alkej-949	51	26	the	the	DET
alkej-949	51	27	system	system	NOUN
alkej-949	51	28	’s	’s	PART
alkej-949	51	29	com	com	NOUN
alkej-949	51	30	(	(	PUNCT
alkej-949	51	31	according	accord	VERB
alkej-949	51	32	to	to	ADP
alkej-949	51	33	newton	newton	PROPN
alkej-949	51	34	’s	’s	PART
alkej-949	51	35	law	law	NOUN
alkej-949	51	36	)	)	PUNCT
alkej-949	51	37	.	.	PUNCT
alkej-949	52	1	at	at	ADP
alkej-949	52	2	the	the	DET
alkej-949	52	3	same	same	ADJ
alkej-949	52	4	time	time	NOUN
alkej-949	52	5	,	,	PUNCT
alkej-949	52	6	when	when	SCONJ
alkej-949	52	7	the	the	DET
alkej-949	52	8	moments	moment	NOUN
alkej-949	52	9	around	around	ADP
alkej-949	52	10	the	the	DET
alkej-949	52	11	com	com	NOUN
alkej-949	52	12	are	be	AUX
alkej-949	52	13	added	add	VERB
alkej-949	52	14	together	together	ADV
alkej-949	52	15	,	,	PUNCT
alkej-949	52	16	the	the	DET
alkej-949	52	17	system	system	NOUN
alkej-949	52	18	’s	’s	PART
alkej-949	52	19	angular	angular	ADJ
alkej-949	52	20	momentum	momentum	NOUN
alkej-949	52	21	�	�	PROPN
alkej-949	52	22	̇	̇	PROPN
alkej-949	52	23	�	�	PROPN
alkej-949	52	24	around	around	ADP
alkej-949	52	25	the	the	DET
alkej-949	52	26	com	com	NOUN
alkej-949	52	27	changes	change	NOUN
alkej-949	52	28	.	.	PUNCT
alkej-949	53	1	in	in	ADP
alkej-949	53	2	the	the	DET
alkej-949	53	3	lipm	lipm	NOUN
alkej-949	53	4	in	in	ADP
alkej-949	53	5	the	the	DET
alkej-949	53	6	𝑥𝑧	𝑥𝑧	PROPN
alkej-949	53	7	plane	plane	NOUN
alkej-949	53	8	,	,	PUNCT
alkej-949	53	9	the	the	DET
alkej-949	53	10	system	system	NOUN
alkej-949	53	11	is	be	AUX
alkej-949	53	12	assumed	assume	VERB
alkej-949	53	13	to	to	PART
alkej-949	53	14	have	have	VERB
alkej-949	53	15	zero	zero	NUM
alkej-949	53	16	angular	angular	ADJ
alkej-949	53	17	momentum	momentum	NOUN
alkej-949	53	18	𝐻𝐶𝑜𝑀,𝑦	𝐻𝐶𝑜𝑀,𝑦	ADJ
alkej-949	53	19	=	=	SYM
alkej-949	53	20	0	0	NUM
alkej-949	53	21	,	,	PUNCT
alkej-949	53	22	and	and	CCONJ
alkej-949	53	23	the	the	DET
alkej-949	53	24	rate	rate	NOUN
alkej-949	53	25	of	of	ADP
alkej-949	53	26	change	change	NOUN
alkej-949	53	27	of	of	ADP
alkej-949	53	28	angular	angular	ADJ
alkej-949	53	29	momentum	momentum	NOUN
alkej-949	53	30	�	�	PROPN
alkej-949	53	31	̇	̇	PROPN
alkej-949	53	32	�	�	PROPN
alkej-949	53	33	𝐶𝑜𝑀,𝑦	𝐶𝑜𝑀,𝑦	PROPN
alkej-949	53	34	is	be	AUX
alkej-949	53	35	also	also	ADV
alkej-949	53	36	zero	zero	NUM
alkej-949	53	37	.	.	PUNCT
alkej-949	54	1	this	this	DET
alkej-949	54	2	condition	condition	NOUN
alkej-949	54	3	implies	imply	VERB
alkej-949	54	4	that	that	SCONJ
alkej-949	54	5	the	the	DET
alkej-949	54	6	forces	force	NOUN
alkej-949	54	7	exerted	exert	VERB
alkej-949	54	8	by	by	ADP
alkej-949	54	9	the	the	DET
alkej-949	54	10	system	system	NOUN
alkej-949	54	11	do	do	AUX
alkej-949	54	12	not	not	PART
alkej-949	54	13	create	create	VERB
alkej-949	54	14	any	any	DET
alkej-949	54	15	rotational	rotational	ADJ
alkej-949	54	16	effects	effect	NOUN
alkej-949	54	17	around	around	ADP
alkej-949	54	18	ibrahim	ibrahim	PROPN
alkej-949	54	19	altameemi	altameemi	ADP
alkej-949	54	20	al	al	PROPN
alkej-949	54	21	-	-	PUNCT
alkej-949	54	22	khwarizmi	khwarizmi	PROPN
alkej-949	54	23	engineering	engineering	NOUN
alkej-949	54	24	journal	journal	PROPN
alkej-949	54	25	,	,	PUNCT
alkej-949	54	26	vol	vol	NOUN
alkej-949	54	27	.	.	PROPN
alkej-949	54	28	20	20	NUM
alkej-949	54	29	,	,	PUNCT
alkej-949	54	30	no.3	no.3	VERB
alkej-949	54	31	,	,	PUNCT
alkej-949	54	32	p.p	p.p	PROPN
alkej-949	54	33	.	.	PROPN
alkej-949	54	34	2035	2035	NUM
alkej-949	54	35	(	(	PUNCT
alkej-949	54	36	2024	2024	NUM
alkej-949	54	37	)	)	PUNCT
alkej-949	54	38	22	22	NUM
alkej-949	54	39	the	the	DET
alkej-949	54	40	com	com	NOUN
alkej-949	54	41	.	.	PUNCT
alkej-949	55	1	furthermore	furthermore	ADV
alkej-949	55	2	,	,	PUNCT
alkej-949	55	3	in	in	ADP
alkej-949	55	4	the	the	DET
alkej-949	55	5	lipm	lipm	NOUN
alkej-949	55	6	,	,	PUNCT
alkej-949	55	7	the	the	DET
alkej-949	55	8	height	height	NOUN
alkej-949	55	9	of	of	ADP
alkej-949	55	10	the	the	DET
alkej-949	55	11	com	com	NOUN
alkej-949	55	12	is	be	AUX
alkej-949	55	13	assumed	assume	VERB
alkej-949	55	14	to	to	PART
alkej-949	55	15	remain	remain	VERB
alkej-949	55	16	constant	constant	ADJ
alkej-949	55	17	.	.	PUNCT
alkej-949	56	1	the	the	DET
alkej-949	56	2	motion	motion	NOUN
alkej-949	56	3	characteristics	characteristic	NOUN
alkej-949	56	4	of	of	ADP
alkej-949	56	5	the	the	DET
alkej-949	56	6	planar	planar	ADJ
alkej-949	56	7	lipm	lipm	NOUN
alkej-949	56	8	in	in	ADP
alkej-949	56	9	the	the	DET
alkej-949	56	10	forward	forward	ADJ
alkej-949	56	11	-	-	PUNCT
alkej-949	56	12	backward	backward	ADJ
alkej-949	56	13	direction	direction	NOUN
alkej-949	56	14	,	,	PUNCT
alkej-949	56	15	as	as	SCONJ
alkej-949	56	16	shown	show	VERB
alkej-949	56	17	in	in	ADP
alkej-949	56	18	figure	figure	NOUN
alkej-949	56	19	2	2	NUM
alkej-949	56	20	(	(	PUNCT
alkej-949	56	21	a	a	NOUN
alkej-949	56	22	)	)	PUNCT
alkej-949	56	23	,	,	PUNCT
alkej-949	56	24	can	can	AUX
alkej-949	56	25	be	be	AUX
alkej-949	56	26	mathematically	mathematically	ADV
alkej-949	56	27	represented	represent	VERB
alkej-949	56	28	as	as	ADP
alkej-949	56	29	𝑚	𝑚	PROPN
alkej-949	56	30	�	�	NOUN
alkej-949	56	31	̈	̈	X
alkej-949	56	32	�	�	NOUN
alkej-949	56	33	𝐶𝑜𝑀	𝐶𝑜𝑀	ADJ
alkej-949	56	34	=	=	PUNCT
alkej-949	56	35	𝑚𝑔	𝑚𝑔	PROPN
alkej-949	56	36	𝑧0	𝑧0	PROPN
alkej-949	56	37	(	(	PUNCT
alkej-949	56	38	𝑥𝐶𝑜𝑀	𝑥𝐶𝑜𝑀	ADV
alkej-949	56	39	−	−	PROPN
alkej-949	56	40	𝑥𝐶𝑜𝑃	𝑥𝐶𝑜𝑃	NUM
alkej-949	56	41	)	)	PUNCT
alkej-949	56	42	…	…	PUNCT
alkej-949	56	43	(	(	PUNCT
alkej-949	56	44	1	1	X
alkej-949	56	45	)	)	PUNCT
alkej-949	56	46	�	�	PROPN
alkej-949	56	47	̇	̇	VERB
alkej-949	56	48	�	�	PROPN
alkej-949	56	49	𝐶𝑜𝑃	𝐶𝑜𝑃	PROPN
alkej-949	56	50	=	=	SYM
alkej-949	56	51	𝑢	𝑢	NOUN
alkej-949	56	52	…	…	PUNCT
alkej-949	56	53	(	(	PUNCT
alkej-949	56	54	2	2	NUM
alkej-949	56	55	)	)	PUNCT
alkej-949	56	56	where	where	SCONJ
alkej-949	56	57	𝑥𝐶𝑜𝑀	𝑥𝐶𝑜𝑀	PRON
alkej-949	56	58	is	be	AUX
alkej-949	56	59	the	the	DET
alkej-949	56	60	com	com	NOUN
alkej-949	56	61	horizontal	horizontal	ADJ
alkej-949	56	62	position	position	NOUN
alkej-949	56	63	at	at	ADP
alkej-949	56	64	a	a	DET
alkej-949	56	65	constant	constant	ADJ
alkej-949	56	66	height	height	NOUN
alkej-949	56	67	𝑧0	𝑧0	PROPN
alkej-949	56	68	,	,	PUNCT
alkej-949	56	69	𝑚	𝑚	PROPN
alkej-949	56	70	is	be	AUX
alkej-949	56	71	the	the	DET
alkej-949	56	72	system	system	NOUN
alkej-949	56	73	’s	’s	PART
alkej-949	56	74	total	total	ADJ
alkej-949	56	75	mass	mass	NOUN
alkej-949	56	76	,	,	PUNCT
alkej-949	56	77	𝑥𝐶𝑜𝑃	𝑥𝐶𝑜𝑃	PROPN
alkej-949	56	78	is	be	AUX
alkej-949	56	79	the	the	DET
alkej-949	56	80	cop	cop	NOUN
alkej-949	56	81	position	position	NOUN
alkej-949	56	82	,	,	PUNCT
alkej-949	56	83	𝑔	𝑔	PROPN
alkej-949	56	84	is	be	AUX
alkej-949	56	85	the	the	DET
alkej-949	56	86	gravitational	gravitational	ADJ
alkej-949	56	87	acceleration	acceleration	NOUN
alkej-949	56	88	,	,	PUNCT
alkej-949	56	89	and	and	CCONJ
alkej-949	56	90	𝑢	𝑢	PRON
alkej-949	56	91	is	be	AUX
alkej-949	56	92	the	the	DET
alkej-949	56	93	control	control	NOUN
alkej-949	56	94	input	input	NOUN
alkej-949	56	95	for	for	ADP
alkej-949	56	96	the	the	DET
alkej-949	56	97	cop	cop	NOUN
alkej-949	56	98	.	.	PUNCT
alkej-949	57	1	as	as	SCONJ
alkej-949	57	2	shown	show	VERB
alkej-949	57	3	in	in	ADP
alkej-949	57	4	figure	figure	NOUN
alkej-949	57	5	2	2	NUM
alkej-949	57	6	(	(	PUNCT
alkej-949	57	7	a	a	NOUN
alkej-949	57	8	)	)	PUNCT
alkej-949	57	9	,	,	PUNCT
alkej-949	57	10	to	to	PART
alkej-949	57	11	satisfy	satisfy	VERB
alkej-949	57	12	the	the	DET
alkej-949	57	13	assumption	assumption	NOUN
alkej-949	57	14	that	that	SCONJ
alkej-949	57	15	(	(	PUNCT
alkej-949	57	16	�	�	PROPN
alkej-949	57	17	̇	̇	PROPN
alkej-949	57	18	�	�	NOUN
alkej-949	57	19	𝐶𝑜𝑀,𝑦	𝐶𝑜𝑀,𝑦	NUM
alkej-949	57	20	=	=	SYM
alkej-949	57	21	0	0	NUM
alkej-949	57	22	)	)	PUNCT
alkej-949	57	23	,	,	PUNCT
alkej-949	57	24	the	the	DET
alkej-949	57	25	ground	ground	NOUN
alkej-949	57	26	reaction	reaction	NOUN
alkej-949	57	27	force	force	NOUN
alkej-949	57	28	(	(	PUNCT
alkej-949	57	29	grf	grf	NOUN
alkej-949	57	30	)	)	PUNCT
alkej-949	57	31	must	must	AUX
alkej-949	57	32	point	point	VERB
alkej-949	57	33	from	from	ADP
alkej-949	57	34	the	the	DET
alkej-949	57	35	cop	cop	NOUN
alkej-949	57	36	in	in	ADP
alkej-949	57	37	the	the	DET
alkej-949	57	38	direction	direction	NOUN
alkej-949	57	39	of	of	ADP
alkej-949	57	40	the	the	DET
alkej-949	57	41	com	com	PROPN
alkej-949	57	42	.	.	PUNCT
alkej-949	57	43	fig	fig	NOUN
alkej-949	57	44	.	.	PUNCT
alkej-949	58	1	2	2	X
alkej-949	58	2	.	.	NUM
alkej-949	58	3	simplified	simplify	VERB
alkej-949	58	4	models	model	NOUN
alkej-949	58	5	(	(	PUNCT
alkej-949	58	6	a	a	X
alkej-949	58	7	)	)	PUNCT
alkej-949	58	8	linear	linear	ADJ
alkej-949	58	9	inverted	invert	VERB
alkej-949	58	10	pendulum	pendulum	NOUN
alkej-949	58	11	model	model	NOUN
alkej-949	58	12	(	(	PUNCT
alkej-949	58	13	lipm	lipm	PROPN
alkej-949	58	14	)	)	PUNCT
alkej-949	58	15	,	,	PUNCT
alkej-949	58	16	(	(	PUNCT
alkej-949	58	17	b	b	X
alkej-949	58	18	)	)	PUNCT
alkej-949	58	19	linear	linear	ADJ
alkej-949	58	20	inverted	invert	VERB
alkej-949	58	21	pendulum	pendulum	NOUN
alkej-949	58	22	plus	plus	CCONJ
alkej-949	58	23	flywheel	flywheel	NOUN
alkej-949	58	24	model	model	NOUN
alkej-949	58	25	(	(	PUNCT
alkej-949	58	26	lipfm	lipfm	NOUN
alkej-949	58	27	)	)	PUNCT
alkej-949	58	28	.	.	PUNCT
alkej-949	59	1	linear	linear	PROPN
alkej-949	59	2	inverted	invert	VERB
alkej-949	59	3	pendulum	pendulum	NOUN
alkej-949	59	4	plus	plus	CCONJ
alkej-949	59	5	flywheel	flywheel	NOUN
alkej-949	59	6	model	model	NOUN
alkej-949	59	7	(	(	PUNCT
alkej-949	59	8	lipfm	lipfm	NOUN
alkej-949	59	9	):	):	PUNCT
alkej-949	59	10	the	the	DET
alkej-949	59	11	torque	torque	NOUN
alkej-949	59	12	generated	generate	VERB
alkej-949	59	13	around	around	ADP
alkej-949	59	14	the	the	DET
alkej-949	59	15	com	com	NOUN
alkej-949	59	16	,	,	PUNCT
alkej-949	59	17	which	which	PRON
alkej-949	59	18	is	be	AUX
alkej-949	59	19	equal	equal	ADJ
alkej-949	59	20	to	to	ADP
alkej-949	59	21	the	the	DET
alkej-949	59	22	rate	rate	NOUN
alkej-949	59	23	of	of	ADP
alkej-949	59	24	change	change	NOUN
alkej-949	59	25	of	of	ADP
alkej-949	59	26	angular	angular	ADJ
alkej-949	59	27	momentum	momentum	NOUN
alkej-949	59	28	,	,	PUNCT
alkej-949	59	29	can	can	AUX
alkej-949	59	30	have	have	VERB
alkej-949	59	31	a	a	DET
alkej-949	59	32	substantial	substantial	ADJ
alkej-949	59	33	effect	effect	NOUN
alkej-949	59	34	on	on	ADP
alkej-949	59	35	push	push	NOUN
alkej-949	59	36	recovery	recovery	NOUN
alkej-949	59	37	.	.	PUNCT
alkej-949	60	1	the	the	DET
alkej-949	60	2	torque	torque	NOUN
alkej-949	60	3	measured	measure	VERB
alkej-949	60	4	is	be	AUX
alkej-949	60	5	a	a	DET
alkej-949	60	6	consequence	consequence	NOUN
alkej-949	60	7	of	of	ADP
alkej-949	60	8	the	the	DET
alkej-949	60	9	rotating	rotate	VERB
alkej-949	60	10	motion	motion	NOUN
alkej-949	60	11	of	of	ADP
alkej-949	60	12	the	the	DET
alkej-949	60	13	upper	upper	ADJ
alkej-949	60	14	body	body	NOUN
alkej-949	60	15	,	,	PUNCT
alkej-949	60	16	which	which	PRON
alkej-949	60	17	includes	include	VERB
alkej-949	60	18	the	the	DET
alkej-949	60	19	torso	torso	NOUN
alkej-949	60	20	and	and	CCONJ
alkej-949	60	21	the	the	DET
alkej-949	60	22	arms	arm	NOUN
alkej-949	60	23	.	.	PUNCT
alkej-949	61	1	hence	hence	ADV
alkej-949	61	2	,	,	PUNCT
alkej-949	61	3	in	in	ADP
alkej-949	61	4	the	the	DET
alkej-949	61	5	simplified	simplified	ADJ
alkej-949	61	6	model	model	NOUN
alkej-949	61	7	depicted	depict	VERB
alkej-949	61	8	in	in	ADP
alkej-949	61	9	figure	figure	NOUN
alkej-949	61	10	2	2	NUM
alkej-949	61	11	(	(	PUNCT
alkej-949	61	12	b	b	NOUN
alkej-949	61	13	)	)	PUNCT
alkej-949	61	14	,	,	PUNCT
alkej-949	61	15	a	a	DET
alkej-949	61	16	flywheel	flywheel	NOUN
alkej-949	61	17	positioned	position	VERB
alkej-949	61	18	on	on	ADP
alkej-949	61	19	the	the	DET
alkej-949	61	20	com	com	NOUN
alkej-949	61	21	should	should	AUX
alkej-949	61	22	be	be	AUX
alkej-949	61	23	employed	employ	VERB
alkej-949	61	24	as	as	ADP
alkej-949	61	25	an	an	DET
alkej-949	61	26	approximation	approximation	NOUN
alkej-949	61	27	for	for	ADP
alkej-949	61	28	the	the	DET
alkej-949	61	29	upper	upper	ADJ
alkej-949	61	30	body	body	NOUN
alkej-949	61	31	.	.	PUNCT
alkej-949	62	1	the	the	DET
alkej-949	62	2	system	system	NOUN
alkej-949	62	3	’s	’s	PART
alkej-949	62	4	behaviour	behaviour	NOUN
alkej-949	62	5	in	in	ADP
alkej-949	62	6	the	the	DET
alkej-949	62	7	sagittal	sagittal	ADJ
alkej-949	62	8	plane	plane	NOUN
alkej-949	62	9	can	can	AUX
alkej-949	62	10	be	be	AUX
alkej-949	62	11	mathematically	mathematically	ADV
alkej-949	62	12	represented	represent	VERB
alkej-949	62	13	as	as	SCONJ
alkej-949	62	14	follows	follow	VERB
alkej-949	62	15	:	:	PUNCT
alkej-949	62	16	𝑚	𝑚	X
alkej-949	62	17	�	�	PROPN
alkej-949	62	18	̈	̈	X
alkej-949	62	19	�	�	NOUN
alkej-949	62	20	𝐶𝑜𝑀	𝐶𝑜𝑀	ADJ
alkej-949	62	21	=	=	PUNCT
alkej-949	62	22	𝑚𝑔	𝑚𝑔	PROPN
alkej-949	62	23	𝑧0	𝑧0	PROPN
alkej-949	62	24	(	(	PUNCT
alkej-949	62	25	𝑥𝐶𝑜𝑀	𝑥𝐶𝑜𝑀	ADV
alkej-949	62	26	−	−	PROPN
alkej-949	62	27	𝑥𝐶𝑜𝑃	𝑥𝐶𝑜𝑃	NUM
alkej-949	62	28	)	)	PUNCT
alkej-949	62	29	−	−	PROPN
alkej-949	62	30	𝜏𝑦	𝜏𝑦	PROPN
alkej-949	62	31	𝑧0	𝑧0	NOUN
alkej-949	62	32	…	…	PUNCT
alkej-949	62	33	(	(	PUNCT
alkej-949	62	34	3	3	X
alkej-949	62	35	)	)	PUNCT
alkej-949	62	36	𝐼𝑦	𝐼𝑦	PROPN
alkej-949	62	37	�	�	PROPN
alkej-949	62	38	̈	̈	X
alkej-949	62	39	�	�	NOUN
alkej-949	62	40	𝑦	𝑦	NOUN
alkej-949	62	41	=	=	SYM
alkej-949	62	42	𝜏𝑦	𝜏𝑦	PROPN
alkej-949	62	43	…	…	PUNCT
alkej-949	62	44	(	(	PUNCT
alkej-949	62	45	4	4	X
alkej-949	62	46	)	)	PUNCT
alkej-949	62	47	where	where	SCONJ
alkej-949	62	48	𝜏𝑦	𝜏𝑦	PROPN
alkej-949	62	49	is	be	AUX
alkej-949	62	50	the	the	DET
alkej-949	62	51	torque	torque	NOUN
alkej-949	62	52	generated	generate	VERB
alkej-949	62	53	by	by	ADP
alkej-949	62	54	the	the	DET
alkej-949	62	55	flywheel	flywheel	NOUN
alkej-949	62	56	about	about	ADP
alkej-949	62	57	the	the	DET
alkej-949	62	58	com	com	PROPN
alkej-949	62	59	,	,	PUNCT
alkej-949	62	60	�	�	PROPN
alkej-949	62	61	̈	̈	X
alkej-949	62	62	�	�	NOUN
alkej-949	62	63	𝑦	𝑦	NOUN
alkej-949	62	64	is	be	AUX
alkej-949	62	65	the	the	DET
alkej-949	62	66	acceleration	acceleration	NOUN
alkej-949	62	67	of	of	ADP
alkej-949	62	68	the	the	DET
alkej-949	62	69	flywheel	flywheel	NOUN
alkej-949	62	70	,	,	PUNCT
alkej-949	62	71	and	and	CCONJ
alkej-949	62	72	𝐼𝑦	𝐼𝑦	PROPN
alkej-949	62	73	is	be	AUX
alkej-949	62	74	the	the	DET
alkej-949	62	75	inertia	inertia	NOUN
alkej-949	62	76	of	of	ADP
alkej-949	62	77	the	the	DET
alkej-949	62	78	flywheel	flywheel	NOUN
alkej-949	62	79	.	.	PUNCT
alkej-949	63	1	centroidal	centroidal	ADJ
alkej-949	63	2	dynamic	dynamic	ADJ
alkej-949	63	3	model	model	NOUN
alkej-949	63	4	:	:	PUNCT
alkej-949	63	5	the	the	DET
alkej-949	63	6	com	com	NOUN
alkej-949	63	7	dynamic	dynamic	ADJ
alkej-949	63	8	equation	equation	NOUN
alkej-949	63	9	of	of	ADP
alkej-949	63	10	bipedal	bipedal	ADJ
alkej-949	63	11	robots	robot	NOUN
alkej-949	63	12	can	can	AUX
alkej-949	63	13	be	be	AUX
alkej-949	63	14	formulated	formulate	VERB
alkej-949	63	15	as	as	ADP
alkej-949	63	16	[	[	PUNCT
alkej-949	63	17	𝐴𝐶𝑜𝑀,1	𝐴𝐶𝑜𝑀,1	NOUN
alkej-949	63	18	𝐴𝐶𝑜𝑀,2	𝐴𝐶𝑜𝑀,2	ADJ
alkej-949	63	19	]	]	PUNCT
alkej-949	64	1	𝐹𝐶𝑜𝑛𝑡𝑎𝑐𝑡	𝐹𝐶𝑜𝑛𝑡𝑎𝑐𝑡	NOUN
alkej-949	64	2	=	=	SYM
alkej-949	64	3	𝑏𝐶𝑜𝑀	𝑏𝐶𝑜𝑀	NOUN
alkej-949	64	4	…	…	PUNCT
alkej-949	64	5	(	(	PUNCT
alkej-949	64	6	5	5	NUM
alkej-949	64	7	)	)	PUNCT
alkej-949	64	8	where	where	SCONJ
alkej-949	64	9	𝐴𝐶𝑜𝑀,1	𝐴𝐶𝑜𝑀,1	PROPN
alkej-949	64	10	=	=	PUNCT
alkej-949	65	1	[	[	PUNCT
alkej-949	65	2	𝐼3×3	𝐼3×3	PROPN
alkej-949	65	3	𝐼3×3	𝐼3×3	PROPN
alkej-949	65	4	03×3	03×3	PROPN
alkej-949	65	5	03×3	03×3	PROPN
alkej-949	65	6	]	]	PUNCT
alkej-949	65	7	…	…	PUNCT
alkej-949	65	8	(	(	PUNCT
alkej-949	65	9	6	6	X
alkej-949	65	10	)	)	PUNCT
alkej-949	65	11	𝐴𝐶𝑜𝑀,2	𝐴𝐶𝑜𝑀,2	ADJ
alkej-949	65	12	=	=	PUNCT
alkej-949	66	1	[	[	X
alkej-949	66	2	(	(	PUNCT
alkej-949	66	3	𝑝𝑅	𝑝𝑅	NOUN
alkej-949	66	4	−	−	NOUN
alkej-949	66	5	𝑐	𝑐	NOUN
alkej-949	66	6	)	)	PUNCT
alkej-949	66	7	(	(	PUNCT
alkej-949	66	8	𝑝𝐿	𝑝𝐿	NOUN
alkej-949	66	9	−	−	NOUN
alkej-949	66	10	𝑐	𝑐	NOUN
alkej-949	66	11	)	)	PUNCT
alkej-949	66	12	𝐼3×3	𝐼3×3	PROPN
alkej-949	66	13	𝐼3×3	𝐼3×3	PROPN
alkej-949	66	14	]	]	PUNCT
alkej-949	66	15	…	…	PUNCT
alkej-949	66	16	(	(	PUNCT
alkej-949	66	17	7	7	X
alkej-949	66	18	)	)	PUNCT
alkej-949	66	19	𝐹𝐶𝑜𝑛𝑡𝑎𝑐𝑡	𝐹𝐶𝑜𝑛𝑡𝑎𝑐𝑡	NOUN
alkej-949	66	20	=	=	PUNCT
alkej-949	66	21	[	[	PUNCT
alkej-949	66	22	𝐹𝑅	𝐹𝑅	NOUN
alkej-949	66	23	𝐹𝐿	𝐹𝐿	PROPN
alkej-949	66	24	𝑀𝑅	𝑀𝑅	PROPN
alkej-949	66	25	𝑀𝐿	𝑀𝐿	PROPN
alkej-949	66	26	]	]	PUNCT
alkej-949	66	27	…	…	PUNCT
alkej-949	66	28	(	(	PUNCT
alkej-949	66	29	8)	8)	NUM
alkej-949	66	30	𝑏𝐶𝑜𝑀	𝑏𝐶𝑜𝑀	NOUN
alkej-949	66	31	=	=	PUNCT
alkej-949	66	32	[	[	PUNCT
alkej-949	66	33	𝑚(𝑔	𝑚(𝑔	PROPN
alkej-949	66	34	+	+	NUM
alkej-949	66	35	�	�	PROPN
alkej-949	66	36	̈	̈	SYM
alkej-949	66	37	�	�	PROPN
alkej-949	66	38	)	)	PUNCT
alkej-949	66	39	�	�	PROPN
alkej-949	66	40	̇	̇	VERB
alkej-949	66	41	�	�	PROPN
alkej-949	66	42	]	]	PUNCT
alkej-949	66	43	…	…	PUNCT
alkej-949	66	44	(	(	PUNCT
alkej-949	66	45	9	9	X
alkej-949	66	46	)	)	PUNCT
alkej-949	66	47	𝑝	𝑝	NOUN
alkej-949	66	48	is	be	AUX
alkej-949	66	49	the	the	DET
alkej-949	66	50	position	position	NOUN
alkej-949	66	51	of	of	ADP
alkej-949	66	52	the	the	DET
alkej-949	66	53	foot	foot	NOUN
alkej-949	66	54	,	,	PUNCT
alkej-949	66	55	𝐹	𝐹	PROPN
alkej-949	66	56	is	be	AUX
alkej-949	66	57	the	the	DET
alkej-949	66	58	foot	foot	NOUN
alkej-949	66	59	contact	contact	NOUN
alkej-949	66	60	force	force	NOUN
alkej-949	66	61	,	,	PUNCT
alkej-949	66	62	𝑀	𝑀	PROPN
alkej-949	66	63	is	be	AUX
alkej-949	66	64	the	the	DET
alkej-949	66	65	foot	foot	NOUN
alkej-949	66	66	contact	contact	NOUN
alkej-949	66	67	moment	moment	NOUN
alkej-949	66	68	,	,	PUNCT
alkej-949	66	69	𝐻	𝐻	PROPN
alkej-949	66	70	is	be	AUX
alkej-949	66	71	the	the	DET
alkej-949	66	72	com	com	NOUN
alkej-949	66	73	angular	angular	ADJ
alkej-949	66	74	momentum	momentum	NOUN
alkej-949	66	75	,	,	PUNCT
alkej-949	66	76	and	and	CCONJ
alkej-949	66	77	𝑐	𝑐	PROPN
alkej-949	66	78	is	be	AUX
alkej-949	66	79	the	the	DET
alkej-949	66	80	position	position	NOUN
alkej-949	66	81	of	of	ADP
alkej-949	66	82	the	the	DET
alkej-949	66	83	com	com	NOUN
alkej-949	66	84	.	.	PUNCT
alkej-949	67	1	the	the	DET
alkej-949	67	2	subscript	subscript	NOUN
alkej-949	67	3	𝐿	𝐿	PROPN
alkej-949	67	4	represents	represent	VERB
alkej-949	67	5	the	the	DET
alkej-949	67	6	left	left	ADJ
alkej-949	67	7	foot	foot	NOUN
alkej-949	67	8	,	,	PUNCT
alkej-949	67	9	and	and	CCONJ
alkej-949	67	10	𝑅	𝑅	PROPN
alkej-949	67	11	represents	represent	VERB
alkej-949	67	12	the	the	DET
alkej-949	67	13	right	right	ADJ
alkej-949	67	14	foot	foot	NOUN
alkej-949	68	1	[	[	X
alkej-949	68	2	13	13	NUM
alkej-949	68	3	]	]	PUNCT
alkej-949	69	1	[	[	X
alkej-949	69	2	14	14	NUM
alkej-949	69	3	]	]	SYM
alkej-949	69	4	.	.	PUNCT
alkej-949	70	1	2.2.2	2.2.2	X
alkej-949	70	2	.	.	PUNCT
alkej-949	70	3	whole	whole	ADJ
alkej-949	70	4	-	-	PUNCT
alkej-949	70	5	body	body	NOUN
alkej-949	70	6	dynamic	dynamic	ADJ
alkej-949	70	7	model	model	NOUN
alkej-949	70	8	bipedal	bipedal	NOUN
alkej-949	70	9	robots	robot	NOUN
alkej-949	70	10	are	be	AUX
alkej-949	70	11	floating	float	VERB
alkej-949	70	12	base	base	NOUN
alkej-949	70	13	systems	system	NOUN
alkej-949	70	14	in	in	ADP
alkej-949	70	15	which	which	PRON
alkej-949	70	16	the	the	DET
alkej-949	70	17	robot	robot	NOUN
alkej-949	70	18	’s	’s	PART
alkej-949	70	19	base	base	NOUN
alkej-949	70	20	(	(	PUNCT
alkej-949	70	21	torso	torso	NOUN
alkej-949	70	22	or	or	CCONJ
alkej-949	70	23	pelvis	pelvis	NOUN
alkej-949	70	24	)	)	PUNCT
alkej-949	70	25	is	be	AUX
alkej-949	70	26	not	not	PART
alkej-949	70	27	fixed	fix	VERB
alkej-949	70	28	to	to	ADP
alkej-949	70	29	the	the	DET
alkej-949	70	30	ground	ground	NOUN
alkej-949	70	31	and	and	CCONJ
alkej-949	70	32	is	be	AUX
alkej-949	70	33	capable	capable	ADJ
alkej-949	70	34	of	of	ADP
alkej-949	70	35	moving	move	VERB
alkej-949	70	36	flexibly	flexibly	ADV
alkej-949	70	37	[	[	X
alkej-949	70	38	15	15	NUM
alkej-949	70	39	]	]	PUNCT
alkej-949	70	40	.	.	PUNCT
alkej-949	71	1	the	the	DET
alkej-949	71	2	floating	float	VERB
alkej-949	71	3	base	base	NOUN
alkej-949	71	4	dynamics	dynamic	NOUN
alkej-949	71	5	must	must	AUX
alkej-949	71	6	consider	consider	VERB
alkej-949	71	7	the	the	DET
alkej-949	71	8	base	base	NOUN
alkej-949	71	9	motion	motion	NOUN
alkej-949	71	10	as	as	ADP
alkej-949	71	11	a	a	DET
alkej-949	71	12	component	component	NOUN
alkej-949	71	13	of	of	ADP
alkej-949	71	14	the	the	DET
alkej-949	71	15	overall	overall	ADJ
alkej-949	71	16	system	system	NOUN
alkej-949	71	17	dynamics	dynamic	NOUN
alkej-949	71	18	.	.	PUNCT
alkej-949	72	1	the	the	DET
alkej-949	72	2	joint	joint	ADJ
alkej-949	72	3	-	-	PUNCT
alkej-949	72	4	space	space	NOUN
alkej-949	72	5	whole	whole	ADJ
alkej-949	72	6	-	-	PUNCT
alkej-949	72	7	body	body	NOUN
alkej-949	72	8	dynamics	dynamic	NOUN
alkej-949	72	9	of	of	ADP
alkej-949	72	10	floating	float	VERB
alkej-949	72	11	-	-	PUNCT
alkej-949	72	12	base	base	NOUN
alkej-949	72	13	bipedal	bipedal	ADJ
alkej-949	72	14	robots	robot	NOUN
alkej-949	72	15	can	can	AUX
alkej-949	72	16	be	be	AUX
alkej-949	72	17	described	describe	VERB
alkej-949	72	18	as	as	ADP
alkej-949	72	19	follows	follow	VERB
alkej-949	72	20	:	:	PUNCT
alkej-949	72	21	𝑀(𝑞)	𝑀(𝑞)	X
alkej-949	72	22	�	�	SYM
alkej-949	72	23	̈	̈	SYM
alkej-949	72	24	�	�	PROPN
alkej-949	72	25	+	+	CCONJ
alkej-949	72	26	𝑁(𝑞	𝑁(𝑞	X
alkej-949	72	27	,	,	PUNCT
alkej-949	72	28	�	�	PROPN
alkej-949	72	29	̇	̇	PROPN
alkej-949	72	30	�	�	PROPN
alkej-949	72	31	)	)	PUNCT
alkej-949	72	32	=	=	PUNCT
alkej-949	73	1	𝐵𝜏𝑞	𝐵𝜏𝑞	PROPN
alkej-949	73	2	+	+	CCONJ
alkej-949	73	3	𝐽(𝑞)𝑇𝐹𝑓	𝐽(𝑞)𝑇𝐹𝑓	PROPN
alkej-949	73	4	…	…	PUNCT
alkej-949	73	5	(	(	PUNCT
alkej-949	73	6	10	10	NUM
alkej-949	73	7	)	)	PUNCT
alkej-949	73	8	where	where	SCONJ
alkej-949	73	9	𝑞	𝑞	PROPN
alkej-949	73	10	∈	∈	PROPN
alkej-949	73	11	𝑅𝑛+6	𝑅𝑛+6	NOUN
alkej-949	73	12	denotes	denote	VERB
alkej-949	73	13	the	the	DET
alkej-949	73	14	generalised	generalise	VERB
alkej-949	73	15	coordinates	coordinate	NOUN
alkej-949	73	16	(	(	PUNCT
alkej-949	73	17	𝑞	𝑞	X
alkej-949	73	18	=	=	PUNCT
alkej-949	74	1	[	[	X
alkej-949	74	2	𝑞𝑏𝑎𝑠𝑒	𝑞𝑏𝑎𝑠𝑒	ADJ
alkej-949	74	3	,	,	PUNCT
alkej-949	74	4	𝑞𝑗𝑜𝑖𝑛𝑡𝑠	𝑞𝑗𝑜𝑖𝑛𝑡𝑠	ADJ
alkej-949	74	5	]	]	PUNCT
alkej-949	74	6	)	)	PUNCT
alkej-949	74	7	and	and	CCONJ
alkej-949	74	8	𝑞𝑏𝑎𝑠𝑒	𝑞𝑏𝑎𝑠𝑒	ADJ
alkej-949	74	9	=	=	PUNCT
alkej-949	74	10	[	[	X
alkej-949	74	11	𝑥	𝑥	X
alkej-949	74	12	,	,	PUNCT
alkej-949	74	13	𝑦	𝑦	NOUN
alkej-949	74	14	,	,	PUNCT
alkej-949	74	15	𝑧	𝑧	PRON
alkej-949	74	16	,	,	PUNCT
alkej-949	74	17	∅	∅	NOUN
alkej-949	74	18	,	,	PUNCT
alkej-949	74	19	𝜃	𝜃	NOUN
alkej-949	74	20	,	,	PUNCT
alkej-949	74	21	𝜑	𝜑	X
alkej-949	74	22	]	]	X
alkej-949	74	23	,	,	PUNCT
alkej-949	74	24	which	which	PRON
alkej-949	74	25	represent	represent	VERB
alkej-949	74	26	the	the	DET
alkej-949	74	27	position	position	NOUN
alkej-949	74	28	and	and	CCONJ
alkej-949	74	29	orientation	orientation	NOUN
alkej-949	74	30	of	of	ADP
alkej-949	74	31	the	the	DET
alkej-949	74	32	robot	robot	NOUN
alkej-949	74	33	’s	’s	PART
alkej-949	74	34	base	base	NOUN
alkej-949	74	35	.	.	PUNCT
alkej-949	75	1	𝑀(𝑞	𝑀(𝑞	X
alkej-949	75	2	)	)	PUNCT
alkej-949	75	3	∈	∈	PROPN
alkej-949	75	4	𝑅(𝑛+6)×(𝑛+6	𝑅(𝑛+6)×(𝑛+6	PROPN
alkej-949	75	5	)	)	PUNCT
alkej-949	75	6	is	be	AUX
alkej-949	75	7	the	the	DET
alkej-949	75	8	rigid	rigid	ADJ
alkej-949	75	9	body	body	NOUN
alkej-949	75	10	dynamic	dynamic	ADJ
alkej-949	75	11	inertial	inertial	NOUN
alkej-949	75	12	matrix	matrix	NOUN
alkej-949	75	13	,	,	PUNCT
alkej-949	75	14	𝑁(𝑞	𝑁(𝑞	X
alkej-949	75	15	,	,	PUNCT
alkej-949	75	16	�	�	PROPN
alkej-949	75	17	̇	̇	PROPN
alkej-949	75	18	�	�	PROPN
alkej-949	75	19	)	)	PUNCT
alkej-949	75	20	∈	∈	NOUN
alkej-949	75	21	𝑅𝑛+6	𝑅𝑛+6	NOUN
alkej-949	75	22	is	be	AUX
alkej-949	75	23	the	the	DET
alkej-949	75	24	generalised	generalised	ADJ
alkej-949	75	25	force	force	NOUN
alkej-949	75	26	vector	vector	NOUN
alkej-949	75	27	of	of	ADP
alkej-949	75	28	all	all	DET
alkej-949	75	29	modelled	model	VERB
alkej-949	75	30	forces	force	NOUN
alkej-949	75	31	including	include	VERB
alkej-949	75	32	the	the	DET
alkej-949	75	33	coriolis	coriolis	PROPN
alkej-949	75	34	force	force	NOUN
alkej-949	75	35	,	,	PUNCT
alkej-949	75	36	centrifugal	centrifugal	ADJ
alkej-949	75	37	force	force	NOUN
alkej-949	75	38	and	and	CCONJ
alkej-949	75	39	gravity	gravity	NOUN
alkej-949	75	40	,	,	PUNCT
alkej-949	75	41	𝜏𝑞	𝜏𝑞	X
alkej-949	75	42	∈	∈	NOUN
alkej-949	75	43	𝑅𝑛	𝑅𝑛	PROPN
alkej-949	75	44	is	be	AUX
alkej-949	75	45	the	the	DET
alkej-949	75	46	driving	drive	VERB
alkej-949	75	47	torque	torque	NOUN
alkej-949	75	48	vector	vector	NOUN
alkej-949	75	49	,	,	PUNCT
alkej-949	75	50	𝐵	𝐵	NOUN
alkej-949	75	51	=	=	PUNCT
alkej-949	76	1	[	[	X
alkej-949	76	2	0𝑛×6	0𝑛×6	NUM
alkej-949	76	3	𝐼𝑛×𝑛	𝐼𝑛×𝑛	PROPN
alkej-949	76	4	]	]	PUNCT
alkej-949	76	5	is	be	AUX
alkej-949	76	6	the	the	DET
alkej-949	76	7	select	select	ADJ
alkej-949	76	8	matrix	matrix	NOUN
alkej-949	76	9	,	,	PUNCT
alkej-949	76	10	𝐼𝑛×𝑛	𝐼𝑛×𝑛	PROPN
alkej-949	76	11	is	be	AUX
alkej-949	76	12	the	the	DET
alkej-949	76	13	𝑛-dimensional	𝑛-dimensional	ADJ
alkej-949	76	14	identity	identity	NOUN
alkej-949	76	15	matrix	matrix	NOUN
alkej-949	76	16	,	,	PUNCT
alkej-949	76	17	𝐽(𝑞	𝐽(𝑞	NOUN
alkej-949	76	18	)	)	PUNCT
alkej-949	76	19	∈	∈	PROPN
alkej-949	76	20	𝑅𝑘×(𝑛+6	𝑅𝑘×(𝑛+6	NOUN
alkej-949	76	21	)	)	PUNCT
alkej-949	76	22	is	be	AUX
alkej-949	76	23	the	the	DET
alkej-949	76	24	force	force	NOUN
alkej-949	76	25	jacobian	jacobian	ADJ
alkej-949	76	26	matrix	matrix	NOUN
alkej-949	76	27	,	,	PUNCT
alkej-949	76	28	𝐹𝑓	𝐹𝑓	PROPN
alkej-949	76	29	∈	∈	NOUN
alkej-949	76	30	𝑅𝑘	𝑅𝑘	NOUN
alkej-949	76	31	is	be	AUX
alkej-949	76	32	the	the	DET
alkej-949	76	33	foot	foot	NOUN
alkej-949	76	34	contact	contact	NOUN
alkej-949	76	35	force	force	NOUN
alkej-949	76	36	,	,	PUNCT
alkej-949	76	37	and	and	CCONJ
alkej-949	76	38	𝑛	𝑛	PROPN
alkej-949	76	39	is	be	AUX
alkej-949	76	40	the	the	DET
alkej-949	76	41	number	number	NOUN
alkej-949	76	42	of	of	ADP
alkej-949	76	43	joints	joint	NOUN
alkej-949	76	44	of	of	ADP
alkej-949	76	45	the	the	DET
alkej-949	76	46	robot	robot	NOUN
alkej-949	76	47	[	[	X
alkej-949	76	48	14	14	NUM
alkej-949	76	49	]	]	PUNCT
alkej-949	76	50	.	.	PUNCT
alkej-949	77	1	additional	additional	ADJ
alkej-949	77	2	details	detail	NOUN
alkej-949	77	3	on	on	ADP
alkej-949	77	4	the	the	DET
alkej-949	77	5	derivations	derivation	NOUN
alkej-949	77	6	of	of	ADP
alkej-949	77	7	floating	float	VERB
alkej-949	77	8	-	-	PUNCT
alkej-949	77	9	base	base	NOUN
alkej-949	77	10	dynamics	dynamic	NOUN
alkej-949	77	11	can	can	AUX
alkej-949	77	12	be	be	AUX
alkej-949	77	13	found	find	VERB
alkej-949	77	14	in	in	ADP
alkej-949	77	15	[	[	X
alkej-949	77	16	15	15	NUM
alkej-949	77	17	]	]	SYM
alkej-949	77	18	.	.	PUNCT
alkej-949	78	1	2.3	2.3	NUM
alkej-949	78	2	.	.	PUNCT
alkej-949	78	3	basic	basic	ADJ
alkej-949	78	4	balance	balance	NOUN
alkej-949	78	5	strategies	strategy	NOUN
alkej-949	78	6	human	human	ADJ
alkej-949	78	7	balance	balance	NOUN
alkej-949	78	8	investigations	investigation	NOUN
alkej-949	78	9	show	show	VERB
alkej-949	78	10	that	that	SCONJ
alkej-949	78	11	people	people	NOUN
alkej-949	78	12	have	have	VERB
alkej-949	78	13	several	several	ADJ
alkej-949	78	14	strategies	strategy	NOUN
alkej-949	78	15	for	for	ADP
alkej-949	78	16	dealing	deal	VERB
alkej-949	78	17	with	with	ADP
alkej-949	78	18	disturbances	disturbance	NOUN
alkej-949	78	19	[	[	X
alkej-949	78	20	16	16	NUM
alkej-949	78	21	-	-	SYM
alkej-949	78	22	17	17	NUM
alkej-949	78	23	]	]	PUNCT
alkej-949	78	24	.	.	PUNCT
alkej-949	79	1	figure	figure	NOUN
alkej-949	79	2	3	3	NUM
alkej-949	79	3	shows	show	VERB
alkej-949	79	4	three	three	NUM
alkej-949	79	5	main	main	ADJ
alkej-949	79	6	strategies	strategy	NOUN
alkej-949	79	7	:	:	PUNCT
alkej-949	79	8	ankle	ankle	NOUN
alkej-949	79	9	,	,	PUNCT
alkej-949	79	10	hip	hip	NOUN
alkej-949	79	11	and	and	CCONJ
alkej-949	79	12	step	step	NOUN
alkej-949	79	13	.	.	PUNCT
alkej-949	80	1	the	the	DET
alkej-949	80	2	ankle	ankle	NOUN
alkej-949	80	3	strategy	strategy	NOUN
alkej-949	80	4	limits	limit	VERB
alkej-949	80	5	hip	hip	NOUN
alkej-949	80	6	and	and	CCONJ
alkej-949	80	7	knee	knee	NOUN
alkej-949	80	8	motion	motion	NOUN
alkej-949	80	9	and	and	CCONJ
alkej-949	80	10	uses	use	VERB
alkej-949	80	11	ankle	ankle	NOUN
alkej-949	80	12	torque	torque	NOUN
alkej-949	80	13	to	to	PART
alkej-949	80	14	move	move	VERB
alkej-949	80	15	the	the	DET
alkej-949	80	16	com	com	NOUN
alkej-949	81	1	[	[	X
alkej-949	81	2	18	18	NUM
alkej-949	81	3	]	]	PUNCT
alkej-949	81	4	.	.	PUNCT
alkej-949	82	1	the	the	DET
alkej-949	82	2	ankle	ankle	NOUN
alkej-949	82	3	joint	joint	ADJ
alkej-949	82	4	torque	torque	NOUN
alkej-949	82	5	affects	affect	VERB
alkej-949	82	6	cop	cop	NOUN
alkej-949	82	7	balancing	balancing	NOUN
alkej-949	82	8	.	.	PUNCT
alkej-949	83	1	this	this	DET
alkej-949	83	2	approach	approach	NOUN
alkej-949	83	3	works	work	VERB
alkej-949	83	4	well	well	ADV
alkej-949	83	5	for	for	ADP
alkej-949	83	6	minor	minor	ADJ
alkej-949	83	7	disturbances	disturbance	NOUN
alkej-949	83	8	,	,	PUNCT
alkej-949	83	9	and	and	CCONJ
alkej-949	83	10	the	the	DET
alkej-949	83	11	lipm	lipm	NOUN
alkej-949	83	12	can	can	AUX
alkej-949	83	13	simplify	simplify	VERB
alkej-949	83	14	its	its	PRON
alkej-949	83	15	analysis	analysis	NOUN
alkej-949	83	16	.	.	PUNCT
alkej-949	84	1	the	the	DET
alkej-949	84	2	hip	hip	NOUN
alkej-949	84	3	strategy	strategy	NOUN
alkej-949	84	4	is	be	AUX
alkej-949	84	5	used	use	VERB
alkej-949	84	6	for	for	ADP
alkej-949	84	7	major	major	ADJ
alkej-949	84	8	ibrahim	ibrahim	PROPN
alkej-949	84	9	altameemi	altameemi	ADP
alkej-949	84	10	al	al	PROPN
alkej-949	84	11	-	-	PUNCT
alkej-949	84	12	khwarizmi	khwarizmi	PROPN
alkej-949	84	13	engineering	engineering	NOUN
alkej-949	84	14	journal	journal	PROPN
alkej-949	84	15	,	,	PUNCT
alkej-949	84	16	vol	vol	NOUN
alkej-949	84	17	.	.	PROPN
alkej-949	84	18	20	20	NUM
alkej-949	84	19	,	,	PUNCT
alkej-949	84	20	no.3	no.3	VERB
alkej-949	84	21	,	,	PUNCT
alkej-949	84	22	p.p	p.p	PROPN
alkej-949	84	23	.	.	PROPN
alkej-949	84	24	2035	2035	NUM
alkej-949	84	25	(	(	PUNCT
alkej-949	84	26	2024	2024	NUM
alkej-949	84	27	)	)	PUNCT
alkej-949	84	28	23	23	NUM
alkej-949	84	29	external	external	ADJ
alkej-949	84	30	disturbances	disturbance	NOUN
alkej-949	84	31	[	[	X
alkej-949	84	32	19	19	NUM
alkej-949	84	33	]	]	PUNCT
alkej-949	84	34	.	.	PUNCT
alkej-949	85	1	hip	hip	NOUN
alkej-949	85	2	torque	torque	NOUN
alkej-949	85	3	quickly	quickly	ADV
alkej-949	85	4	creates	create	VERB
alkej-949	85	5	a	a	DET
alkej-949	85	6	moment	moment	NOUN
alkej-949	85	7	around	around	ADP
alkej-949	85	8	the	the	DET
alkej-949	85	9	com	com	NOUN
alkej-949	85	10	,	,	PUNCT
alkej-949	85	11	thus	thus	ADV
alkej-949	85	12	increasing	increase	VERB
alkej-949	85	13	ground	ground	NOUN
alkej-949	85	14	reaction	reaction	NOUN
alkej-949	85	15	forces	force	NOUN
alkej-949	85	16	[	[	X
alkej-949	85	17	20	20	NUM
alkej-949	85	18	]	]	PUNCT
alkej-949	85	19	.	.	PUNCT
alkej-949	86	1	this	this	DET
alkej-949	86	2	assumption	assumption	NOUN
alkej-949	86	3	allows	allow	VERB
alkej-949	86	4	the	the	DET
alkej-949	86	5	lipfm	lipfm	NOUN
alkej-949	86	6	to	to	PART
alkej-949	86	7	analyse	analyse	VERB
alkej-949	86	8	this	this	DET
alkej-949	86	9	strategy	strategy	NOUN
alkej-949	86	10	.	.	PUNCT
alkej-949	87	1	when	when	SCONJ
alkej-949	87	2	the	the	DET
alkej-949	87	3	disturbance	disturbance	NOUN
alkej-949	87	4	increases	increase	VERB
alkej-949	87	5	and	and	CCONJ
alkej-949	87	6	the	the	DET
alkej-949	87	7	ankle	ankle	NOUN
alkej-949	87	8	and	and	CCONJ
alkej-949	87	9	hip	hip	NOUN
alkej-949	87	10	strategies	strategy	NOUN
alkej-949	87	11	fail	fail	VERB
alkej-949	87	12	,	,	PUNCT
alkej-949	87	13	a	a	DET
alkej-949	87	14	necessary	necessary	ADJ
alkej-949	87	15	step	step	NOUN
alkej-949	87	16	must	must	AUX
alkej-949	87	17	be	be	AUX
alkej-949	87	18	taken	take	VERB
alkej-949	87	19	to	to	PART
alkej-949	87	20	prevent	prevent	VERB
alkej-949	87	21	tipping	tipping	NOUN
alkej-949	87	22	over	over	ADP
alkej-949	87	23	.	.	PUNCT
alkej-949	88	1	some	some	DET
alkej-949	88	2	studies	study	NOUN
alkej-949	89	1	[	[	X
alkej-949	89	2	21,22	21,22	X
alkej-949	89	3	]	]	X
alkej-949	89	4	have	have	AUX
alkej-949	89	5	integrated	integrate	VERB
alkej-949	89	6	these	these	DET
alkej-949	89	7	three	three	NUM
alkej-949	89	8	strategies	strategy	NOUN
alkej-949	89	9	to	to	PART
alkej-949	89	10	develop	develop	VERB
alkej-949	89	11	a	a	DET
alkej-949	89	12	more	more	ADV
alkej-949	89	13	robust	robust	ADJ
alkej-949	89	14	response	response	NOUN
alkej-949	89	15	to	to	ADP
alkej-949	89	16	disturbances	disturbance	NOUN
alkej-949	89	17	.	.	PUNCT
alkej-949	90	1	fig	fig	NOUN
alkej-949	90	2	.	.	PUNCT
alkej-949	91	1	3	3	X
alkej-949	91	2	.	.	X
alkej-949	91	3	three	three	NUM
alkej-949	91	4	basic	basic	ADJ
alkej-949	91	5	balancing	balancing	NOUN
alkej-949	91	6	strategies	strategy	NOUN
alkej-949	91	7	[	[	X
alkej-949	91	8	23	23	NUM
alkej-949	91	9	]	]	PUNCT
alkej-949	91	10	.	.	PUNCT
alkej-949	92	1	3	3	X
alkej-949	92	2	.	.	X
alkej-949	92	3	push	push	NOUN
alkej-949	92	4	recovery	recovery	NOUN
alkej-949	92	5	control	control	NOUN
alkej-949	92	6	3.1	3.1	NUM
alkej-949	92	7	.	.	PUNCT
alkej-949	93	1	push	push	NOUN
alkej-949	93	2	recovery	recovery	NOUN
alkej-949	93	3	control	control	NOUN
alkej-949	93	4	techniques	technique	NOUN
alkej-949	93	5	for	for	ADP
alkej-949	93	6	standing	stand	VERB
alkej-949	93	7	bipedal	bipedal	ADJ
alkej-949	93	8	robots	robot	NOUN
alkej-949	93	9	[	[	X
alkej-949	93	10	24,25	24,25	NUM
alkej-949	93	11	]	]	PUNCT
alkej-949	93	12	demonstrate	demonstrate	VERB
alkej-949	93	13	the	the	DET
alkej-949	93	14	modelling	modelling	NOUN
alkej-949	93	15	and	and	CCONJ
alkej-949	93	16	application	application	NOUN
alkej-949	93	17	of	of	ADP
alkej-949	93	18	ankle	ankle	NOUN
alkej-949	93	19	and	and	CCONJ
alkej-949	93	20	hip	hip	NOUN
alkej-949	93	21	strategies	strategy	NOUN
alkej-949	93	22	on	on	ADP
alkej-949	93	23	a	a	DET
alkej-949	93	24	bipedal	bipedal	ADJ
alkej-949	93	25	robot	robot	NOUN
alkej-949	93	26	that	that	PRON
alkej-949	93	27	is	be	AUX
alkej-949	93	28	exposed	expose	VERB
alkej-949	93	29	to	to	ADP
alkej-949	93	30	an	an	DET
alkej-949	93	31	unexpected	unexpected	ADJ
alkej-949	93	32	pushing	push	VERB
alkej-949	93	33	force	force	NOUN
alkej-949	93	34	while	while	SCONJ
alkej-949	93	35	maintaining	maintain	VERB
alkej-949	93	36	an	an	DET
alkej-949	93	37	upright	upright	ADJ
alkej-949	93	38	standing	standing	NOUN
alkej-949	93	39	position	position	NOUN
alkej-949	93	40	.	.	PUNCT
alkej-949	94	1	a	a	DET
alkej-949	94	2	basic	basic	ADJ
alkej-949	94	3	planar	planar	ADJ
alkej-949	94	4	dynamical	dynamical	ADJ
alkej-949	94	5	model	model	NOUN
alkej-949	94	6	in	in	ADP
alkej-949	94	7	the	the	DET
alkej-949	94	8	sagittal	sagittal	ADJ
alkej-949	94	9	plane	plane	NOUN
alkej-949	94	10	represents	represent	VERB
alkej-949	94	11	both	both	DET
alkej-949	94	12	strategies	strategy	NOUN
alkej-949	94	13	.	.	PUNCT
alkej-949	95	1	the	the	DET
alkej-949	95	2	bipedal	bipedal	ADJ
alkej-949	95	3	robot	robot	NOUN
alkej-949	95	4	is	be	AUX
alkej-949	95	5	supposed	suppose	VERB
alkej-949	95	6	to	to	PART
alkej-949	95	7	maintain	maintain	VERB
alkej-949	95	8	balance	balance	NOUN
alkej-949	95	9	by	by	ADP
alkej-949	95	10	having	have	VERB
alkej-949	95	11	a	a	DET
alkej-949	95	12	stationary	stationary	ADJ
alkej-949	95	13	support	support	NOUN
alkej-949	95	14	foot	foot	NOUN
alkej-949	95	15	and	and	CCONJ
alkej-949	95	16	vertical	vertical	ADJ
alkej-949	95	17	reaction	reaction	NOUN
alkej-949	95	18	forces	force	NOUN
alkej-949	95	19	that	that	PRON
alkej-949	95	20	pass	pass	VERB
alkej-949	95	21	through	through	ADP
alkej-949	95	22	the	the	DET
alkej-949	95	23	com	com	NOUN
alkej-949	95	24	.	.	PUNCT
alkej-949	96	1	thus	thus	ADV
alkej-949	96	2	,	,	PUNCT
alkej-949	96	3	the	the	DET
alkej-949	96	4	authors	author	NOUN
alkej-949	96	5	of	of	ADP
alkej-949	96	6	[	[	X
alkej-949	96	7	24,25	24,25	NUM
alkej-949	96	8	]	]	PUNCT
alkej-949	96	9	achieve	achieve	VERB
alkej-949	96	10	balance	balance	NOUN
alkej-949	96	11	by	by	ADP
alkej-949	96	12	ensuring	ensure	VERB
alkej-949	96	13	that	that	SCONJ
alkej-949	96	14	the	the	DET
alkej-949	96	15	wrenches	wrench	NOUN
alkej-949	96	16	exerted	exert	VERB
alkej-949	96	17	on	on	ADP
alkej-949	96	18	the	the	DET
alkej-949	96	19	support	support	NOUN
alkej-949	96	20	foot	foot	NOUN
alkej-949	96	21	,	,	PUNCT
alkej-949	96	22	which	which	PRON
alkej-949	96	23	are	be	AUX
alkej-949	96	24	caused	cause	VERB
alkej-949	96	25	by	by	ADP
alkej-949	96	26	the	the	DET
alkej-949	96	27	movements	movement	NOUN
alkej-949	96	28	of	of	ADP
alkej-949	96	29	the	the	DET
alkej-949	96	30	links	link	NOUN
alkej-949	96	31	,	,	PUNCT
alkej-949	96	32	are	be	AUX
alkej-949	96	33	reduced	reduce	VERB
alkej-949	96	34	to	to	ADP
alkej-949	96	35	zero	zero	NUM
alkej-949	96	36	.	.	PUNCT
alkej-949	97	1	in	in	ADP
alkej-949	97	2	the	the	DET
alkej-949	97	3	hip	hip	NOUN
alkej-949	97	4	strategy	strategy	NOUN
alkej-949	97	5	,	,	PUNCT
alkej-949	97	6	the	the	DET
alkej-949	97	7	reaction	reaction	NOUN
alkej-949	97	8	null	null	ADJ
alkej-949	97	9	-	-	PUNCT
alkej-949	97	10	space	space	NOUN
alkej-949	97	11	method	method	NOUN
alkej-949	97	12	is	be	AUX
alkej-949	97	13	utilised	utilise	VERB
alkej-949	97	14	to	to	PART
alkej-949	97	15	acquire	acquire	VERB
alkej-949	97	16	all	all	DET
alkej-949	97	17	joint	joint	ADJ
alkej-949	97	18	accelerations	acceleration	NOUN
alkej-949	97	19	/	/	SYM
alkej-949	97	20	velocities	velocity	NOUN
alkej-949	97	21	that	that	PRON
alkej-949	97	22	are	be	AUX
alkej-949	97	23	necessary	necessary	ADJ
alkej-949	97	24	to	to	PART
alkej-949	97	25	maintain	maintain	VERB
alkej-949	97	26	balance	balance	NOUN
alkej-949	97	27	.	.	PUNCT
alkej-949	98	1	the	the	DET
alkej-949	98	2	experiments	experiment	NOUN
alkej-949	98	3	validate	validate	VERB
alkej-949	98	4	the	the	DET
alkej-949	98	5	robot	robot	NOUN
alkej-949	98	6	’s	’s	PART
alkej-949	98	7	ability	ability	NOUN
alkej-949	98	8	to	to	PART
alkej-949	98	9	respond	respond	VERB
alkej-949	98	10	immediately	immediately	ADV
alkej-949	98	11	,	,	PUNCT
alkej-949	98	12	which	which	PRON
alkej-949	98	13	is	be	AUX
alkej-949	98	14	similar	similar	ADJ
alkej-949	98	15	to	to	ADP
alkej-949	98	16	that	that	PRON
alkej-949	98	17	of	of	ADP
alkej-949	98	18	a	a	DET
alkej-949	98	19	human	human	NOUN
alkej-949	98	20	.	.	PUNCT
alkej-949	99	1	the	the	DET
alkej-949	99	2	study	study	NOUN
alkej-949	99	3	by	by	ADP
alkej-949	99	4	[	[	X
alkej-949	99	5	23	23	NUM
alkej-949	99	6	]	]	PUNCT
alkej-949	99	7	presents	present	VERB
alkej-949	99	8	a	a	DET
alkej-949	99	9	proposed	propose	VERB
alkej-949	99	10	method	method	NOUN
alkej-949	99	11	for	for	SCONJ
alkej-949	99	12	a	a	DET
alkej-949	99	13	bipedal	bipedal	ADJ
alkej-949	99	14	robot	robot	NOUN
alkej-949	99	15	to	to	PART
alkej-949	99	16	regain	regain	VERB
alkej-949	99	17	balance	balance	NOUN
alkej-949	99	18	by	by	ADP
alkej-949	99	19	utilising	utilise	VERB
alkej-949	99	20	the	the	DET
alkej-949	99	21	knee	knee	NOUN
alkej-949	99	22	joint	joint	NOUN
alkej-949	99	23	.	.	PUNCT
alkej-949	100	1	a	a	DET
alkej-949	100	2	virtual	virtual	ADJ
alkej-949	100	3	model	model	NOUN
alkej-949	100	4	control	control	NOUN
alkej-949	100	5	(	(	PUNCT
alkej-949	100	6	vmc	vmc	NOUN
alkej-949	100	7	)	)	PUNCT
alkej-949	100	8	system	system	NOUN
alkej-949	100	9	utilising	utilise	VERB
alkej-949	100	10	a	a	DET
alkej-949	100	11	spring	spring	NOUN
alkej-949	100	12	and	and	CCONJ
alkej-949	100	13	damper	damper	NOUN
alkej-949	100	14	is	be	AUX
alkej-949	100	15	employed	employ	VERB
alkej-949	100	16	to	to	PART
alkej-949	100	17	achieve	achieve	VERB
alkej-949	100	18	a	a	DET
alkej-949	100	19	compliant	compliant	ADJ
alkej-949	100	20	response	response	NOUN
alkej-949	100	21	for	for	ADP
alkej-949	100	22	the	the	DET
alkej-949	100	23	ankle	ankle	NOUN
alkej-949	100	24	strategy	strategy	NOUN
alkej-949	100	25	.	.	PUNCT
alkej-949	101	1	the	the	DET
alkej-949	101	2	reaction	reaction	NOUN
alkej-949	101	3	null	null	ADJ
alkej-949	101	4	-	-	PUNCT
alkej-949	101	5	space	space	NOUN
alkej-949	101	6	method	method	NOUN
alkej-949	101	7	is	be	AUX
alkej-949	101	8	employed	employ	VERB
alkej-949	101	9	to	to	PART
alkej-949	101	10	establish	establish	VERB
alkej-949	101	11	the	the	DET
alkej-949	101	12	correlation	correlation	NOUN
alkej-949	101	13	between	between	ADP
alkej-949	101	14	the	the	DET
alkej-949	101	15	ankle	ankle	NOUN
alkej-949	101	16	and	and	CCONJ
alkej-949	101	17	knee	knee	NOUN
alkej-949	101	18	joints	joint	NOUN
alkej-949	101	19	.	.	PUNCT
alkej-949	102	1	the	the	DET
alkej-949	102	2	simulation	simulation	NOUN
alkej-949	102	3	findings	finding	NOUN
alkej-949	102	4	demonstrate	demonstrate	VERB
alkej-949	102	5	that	that	SCONJ
alkej-949	102	6	the	the	DET
alkej-949	102	7	robot	robot	NOUN
alkej-949	102	8	’s	’s	PART
alkej-949	102	9	ability	ability	NOUN
alkej-949	102	10	to	to	PART
alkej-949	102	11	maintain	maintain	VERB
alkej-949	102	12	balance	balance	NOUN
alkej-949	102	13	is	be	AUX
alkej-949	102	14	enhanced	enhance	VERB
alkej-949	102	15	when	when	SCONJ
alkej-949	102	16	the	the	DET
alkej-949	102	17	ankle	ankle	NOUN
alkej-949	102	18	and	and	CCONJ
alkej-949	102	19	knee	knee	NOUN
alkej-949	102	20	joints	joint	NOUN
alkej-949	102	21	are	be	AUX
alkej-949	102	22	engaged	engage	VERB
alkej-949	102	23	,	,	PUNCT
alkej-949	102	24	even	even	ADV
alkej-949	102	25	in	in	ADP
alkej-949	102	26	the	the	DET
alkej-949	102	27	face	face	NOUN
alkej-949	102	28	of	of	ADP
alkej-949	102	29	significant	significant	ADJ
alkej-949	102	30	external	external	ADJ
alkej-949	102	31	forces	force	NOUN
alkej-949	102	32	as	as	SCONJ
alkej-949	102	33	opposed	oppose	VERB
alkej-949	102	34	to	to	ADP
alkej-949	102	35	relying	rely	VERB
alkej-949	102	36	solely	solely	ADV
alkej-949	102	37	on	on	ADP
alkej-949	102	38	the	the	DET
alkej-949	102	39	ankle	ankle	NOUN
alkej-949	102	40	strategy	strategy	NOUN
alkej-949	102	41	when	when	SCONJ
alkej-949	102	42	the	the	DET
alkej-949	102	43	knee	knee	NOUN
alkej-949	102	44	joint	joint	NOUN
alkej-949	102	45	is	be	AUX
alkej-949	102	46	immobilised	immobilise	VERB
alkej-949	102	47	.	.	PUNCT
alkej-949	103	1	model	model	PROPN
alkej-949	103	2	predictive	predictive	PROPN
alkej-949	103	3	control	control	PROPN
alkej-949	103	4	(	(	PUNCT
alkej-949	103	5	mpc	mpc	NOUN
alkej-949	103	6	)	)	PUNCT
alkej-949	103	7	has	have	VERB
alkej-949	103	8	two	two	NUM
alkej-949	103	9	types	type	NOUN
alkej-949	103	10	:	:	PUNCT
alkej-949	103	11	simplified	simplify	VERB
alkej-949	103	12	-	-	PUNCT
alkej-949	103	13	model	model	NOUN
alkej-949	103	14	mpc	mpc	NOUN
alkej-949	103	15	and	and	CCONJ
alkej-949	103	16	whole	whole	ADJ
alkej-949	103	17	-	-	PUNCT
alkej-949	103	18	body	body	NOUN
alkej-949	103	19	mpc	mpc	NOUN
alkej-949	103	20	.	.	PUNCT
alkej-949	104	1	in	in	ADP
alkej-949	104	2	the	the	DET
alkej-949	104	3	first	first	ADJ
alkej-949	104	4	type	type	NOUN
alkej-949	104	5	,	,	PUNCT
alkej-949	104	6	simplified	simplify	VERB
alkej-949	104	7	dynamical	dynamical	ADJ
alkej-949	104	8	models	model	NOUN
alkej-949	104	9	are	be	AUX
alkej-949	104	10	used	use	VERB
alkej-949	104	11	in	in	ADP
alkej-949	104	12	the	the	DET
alkej-949	104	13	mpc	mpc	NOUN
alkej-949	104	14	to	to	PART
alkej-949	104	15	predict	predict	VERB
alkej-949	104	16	the	the	DET
alkej-949	104	17	control	control	NOUN
alkej-949	104	18	sequences	sequence	NOUN
alkej-949	104	19	over	over	ADP
alkej-949	104	20	a	a	DET
alkej-949	104	21	receding	recede	VERB
alkej-949	104	22	horizon	horizon	NOUN
alkej-949	104	23	into	into	ADP
alkej-949	104	24	the	the	DET
alkej-949	104	25	future	future	NOUN
alkej-949	104	26	.	.	PUNCT
alkej-949	105	1	although	although	SCONJ
alkej-949	105	2	a	a	DET
alkej-949	105	3	simplified	simplify	VERB
alkej-949	105	4	-	-	PUNCT
alkej-949	105	5	model	model	NOUN
alkej-949	105	6	mpc	mpc	NOUN
alkej-949	105	7	can	can	AUX
alkej-949	105	8	execute	execute	VERB
alkej-949	105	9	the	the	DET
alkej-949	105	10	desired	desire	VERB
alkej-949	105	11	tasks	task	NOUN
alkej-949	105	12	in	in	ADP
alkej-949	105	13	real	real	ADJ
alkej-949	105	14	time	time	NOUN
alkej-949	105	15	at	at	ADP
alkej-949	105	16	a	a	DET
alkej-949	105	17	high	high	ADJ
alkej-949	105	18	rate	rate	NOUN
alkej-949	105	19	,	,	PUNCT
alkej-949	105	20	it	it	PRON
alkej-949	105	21	limits	limit	VERB
alkej-949	105	22	the	the	DET
alkej-949	105	23	capability	capability	NOUN
alkej-949	105	24	of	of	ADP
alkej-949	105	25	bipedal	bipedal	ADJ
alkej-949	105	26	robots	robot	NOUN
alkej-949	105	27	to	to	PART
alkej-949	105	28	behave	behave	VERB
alkej-949	105	29	naturally	naturally	ADV
alkej-949	105	30	and	and	CCONJ
alkej-949	105	31	precisely	precisely	ADV
alkej-949	105	32	.	.	PUNCT
alkej-949	106	1	hence	hence	ADV
alkej-949	106	2	,	,	PUNCT
alkej-949	106	3	other	other	ADJ
alkej-949	106	4	researchers	researcher	NOUN
alkej-949	106	5	use	use	VERB
alkej-949	106	6	whole	whole	ADJ
alkej-949	106	7	-	-	PUNCT
alkej-949	106	8	body	body	NOUN
alkej-949	106	9	mpc	mpc	NOUN
alkej-949	106	10	,	,	PUNCT
alkej-949	106	11	which	which	PRON
alkej-949	106	12	allows	allow	VERB
alkej-949	106	13	robots	robot	NOUN
alkej-949	106	14	to	to	PART
alkej-949	106	15	perform	perform	VERB
alkej-949	106	16	tasks	task	NOUN
alkej-949	106	17	with	with	ADP
alkej-949	106	18	high	high	ADJ
alkej-949	106	19	accuracy	accuracy	NOUN
alkej-949	106	20	.	.	PUNCT
alkej-949	107	1	the	the	DET
alkej-949	107	2	main	main	ADJ
alkej-949	107	3	drawback	drawback	NOUN
alkej-949	107	4	of	of	ADP
alkej-949	107	5	the	the	DET
alkej-949	107	6	wholebody	wholebody	NOUN
alkej-949	107	7	mpc	mpc	NOUN
alkej-949	107	8	is	be	AUX
alkej-949	107	9	the	the	DET
alkej-949	107	10	optimisation	optimisation	NOUN
alkej-949	107	11	problem	problem	NOUN
alkej-949	107	12	,	,	PUNCT
alkej-949	107	13	which	which	PRON
alkej-949	107	14	is	be	AUX
alkej-949	107	15	computationally	computationally	ADV
alkej-949	107	16	expensive	expensive	ADJ
alkej-949	107	17	.	.	PUNCT
alkej-949	108	1	in	in	ADP
alkej-949	108	2	[	[	X
alkej-949	108	3	26	26	NUM
alkej-949	108	4	]	]	X
alkej-949	108	5	,	,	PUNCT
alkej-949	108	6	a	a	DET
alkej-949	108	7	convex	convex	PROPN
alkej-949	108	8	model	model	NOUN
alkej-949	108	9	hierarchy	hierarchy	PROPN
alkej-949	108	10	predictive	predictive	ADJ
alkej-949	108	11	control	control	NOUN
alkej-949	108	12	(	(	PUNCT
alkej-949	108	13	mhpc	mhpc	NOUN
alkej-949	108	14	)	)	PUNCT
alkej-949	108	15	is	be	AUX
alkej-949	108	16	developed	develop	VERB
alkej-949	108	17	to	to	PART
alkej-949	108	18	stabilise	stabilise	VERB
alkej-949	108	19	a	a	DET
alkej-949	108	20	bipedal	bipedal	ADJ
alkej-949	108	21	robot	robot	NOUN
alkej-949	108	22	called	call	VERB
alkej-949	108	23	bruce	bruce	PROPN
alkej-949	108	24	in	in	ADP
alkej-949	108	25	its	its	PRON
alkej-949	108	26	normal	normal	ADJ
alkej-949	108	27	upright	upright	ADJ
alkej-949	108	28	position	position	NOUN
alkej-949	108	29	following	follow	VERB
alkej-949	108	30	a	a	DET
alkej-949	108	31	push	push	NOUN
alkej-949	108	32	.	.	PUNCT
alkej-949	109	1	the	the	DET
alkej-949	109	2	mhpc	mhpc	NOUN
alkej-949	109	3	employs	employ	VERB
alkej-949	109	4	the	the	DET
alkej-949	109	5	simplified	simplified	ADJ
alkej-949	109	6	model	model	NOUN
alkej-949	109	7	(	(	PUNCT
alkej-949	109	8	centroidal	centroidal	ADJ
alkej-949	109	9	dynamics	dynamic	NOUN
alkej-949	109	10	)	)	PUNCT
alkej-949	109	11	in	in	ADP
alkej-949	109	12	the	the	DET
alkej-949	109	13	short	short	ADJ
alkej-949	109	14	term	term	NOUN
alkej-949	109	15	while	while	SCONJ
alkej-949	109	16	relying	rely	VERB
alkej-949	109	17	on	on	ADP
alkej-949	109	18	whole	whole	ADJ
alkej-949	109	19	-	-	PUNCT
alkej-949	109	20	body	body	NOUN
alkej-949	109	21	dynamics	dynamic	NOUN
alkej-949	109	22	in	in	ADP
alkej-949	109	23	the	the	DET
alkej-949	109	24	long	long	ADJ
alkej-949	109	25	term	term	NOUN
alkej-949	109	26	.	.	PUNCT
alkej-949	110	1	this	this	DET
alkej-949	110	2	approach	approach	NOUN
alkej-949	110	3	allows	allow	VERB
alkej-949	110	4	for	for	ADP
alkej-949	110	5	the	the	DET
alkej-949	110	6	benefits	benefit	NOUN
alkej-949	110	7	of	of	ADP
alkej-949	110	8	quick	quick	ADJ
alkej-949	110	9	execution	execution	NOUN
alkej-949	110	10	and	and	CCONJ
alkej-949	110	11	precise	precise	ADJ
alkej-949	110	12	actions	action	NOUN
alkej-949	110	13	.	.	PUNCT
alkej-949	111	1	the	the	DET
alkej-949	111	2	optimisation	optimisation	NOUN
alkej-949	111	3	problem	problem	NOUN
alkej-949	111	4	is	be	AUX
alkej-949	111	5	expressed	express	VERB
alkej-949	111	6	as	as	ADP
alkej-949	111	7	a	a	DET
alkej-949	111	8	quadratic	quadratic	ADJ
alkej-949	111	9	program	program	NOUN
alkej-949	111	10	(	(	PUNCT
alkej-949	111	11	qp	qp	PROPN
alkej-949	111	12	)	)	PUNCT
alkej-949	111	13	with	with	ADP
alkej-949	111	14	two	two	NUM
alkej-949	111	15	terms	term	NOUN
alkej-949	111	16	(	(	PUNCT
alkej-949	111	17	the	the	DET
alkej-949	111	18	first	first	ADJ
alkej-949	111	19	term	term	NOUN
alkej-949	111	20	represents	represent	VERB
alkej-949	111	21	the	the	DET
alkej-949	111	22	operational	operational	ADJ
alkej-949	111	23	space	space	NOUN
alkej-949	111	24	tasks	task	NOUN
alkej-949	111	25	,	,	PUNCT
alkej-949	111	26	such	such	ADJ
alkej-949	111	27	as	as	ADP
alkej-949	111	28	the	the	DET
alkej-949	111	29	upright	upright	ADJ
alkej-949	111	30	posture	posture	NOUN
alkej-949	111	31	of	of	ADP
alkej-949	111	32	the	the	DET
alkej-949	111	33	body	body	NOUN
alkej-949	111	34	and	and	CCONJ
alkej-949	111	35	the	the	DET
alkej-949	111	36	trajectory	trajectory	NOUN
alkej-949	111	37	of	of	ADP
alkej-949	111	38	the	the	DET
alkej-949	111	39	swing	swing	NOUN
alkej-949	111	40	leg	leg	NOUN
alkej-949	111	41	,	,	PUNCT
alkej-949	111	42	while	while	SCONJ
alkej-949	111	43	the	the	DET
alkej-949	111	44	second	second	ADJ
alkej-949	111	45	term	term	NOUN
alkej-949	111	46	aims	aim	VERB
alkej-949	111	47	to	to	PART
alkej-949	111	48	achieve	achieve	VERB
alkej-949	111	49	the	the	DET
alkej-949	111	50	desired	desire	VERB
alkej-949	111	51	com	com	NOUN
alkej-949	111	52	position	position	NOUN
alkej-949	111	53	and	and	CCONJ
alkej-949	111	54	momenta	momenta	NOUN
alkej-949	111	55	)	)	PUNCT
alkej-949	111	56	.	.	PUNCT
alkej-949	112	1	experimental	experimental	ADJ
alkej-949	112	2	results	result	NOUN
alkej-949	112	3	show	show	VERB
alkej-949	112	4	the	the	DET
alkej-949	112	5	ability	ability	NOUN
alkej-949	112	6	of	of	ADP
alkej-949	112	7	bruce	bruce	PROPN
alkej-949	112	8	to	to	PART
alkej-949	112	9	maintain	maintain	VERB
alkej-949	112	10	balance	balance	NOUN
alkej-949	112	11	and	and	CCONJ
alkej-949	112	12	return	return	VERB
alkej-949	112	13	to	to	ADP
alkej-949	112	14	an	an	DET
alkej-949	112	15	upright	upright	ADJ
alkej-949	112	16	posture	posture	NOUN
alkej-949	112	17	in	in	ADP
alkej-949	112	18	a	a	DET
alkej-949	112	19	natural	natural	ADJ
alkej-949	112	20	and	and	CCONJ
alkej-949	112	21	compliant	compliant	ADJ
alkej-949	112	22	manner	manner	NOUN
alkej-949	112	23	after	after	ADP
alkej-949	112	24	being	be	AUX
alkej-949	112	25	pushed	push	VERB
alkej-949	112	26	with	with	ADP
alkej-949	112	27	a	a	DET
alkej-949	112	28	constant	constant	ADJ
alkej-949	112	29	pushing	push	VERB
alkej-949	112	30	force	force	NOUN
alkej-949	112	31	.	.	PUNCT
alkej-949	113	1	[	[	X
alkej-949	113	2	20	20	NUM
alkej-949	113	3	]	]	PUNCT
alkej-949	113	4	proposes	propose	VERB
alkej-949	113	5	a	a	DET
alkej-949	113	6	push	push	NOUN
alkej-949	113	7	recovery	recovery	NOUN
alkej-949	113	8	control	control	NOUN
alkej-949	113	9	system	system	NOUN
alkej-949	113	10	that	that	PRON
alkej-949	113	11	utilises	utilise	VERB
alkej-949	113	12	foot	foot	NOUN
alkej-949	113	13	positioning	positioning	NOUN
alkej-949	113	14	.	.	PUNCT
alkej-949	114	1	the	the	DET
alkej-949	114	2	robot	robot	NOUN
alkej-949	114	3	is	be	AUX
alkej-949	114	4	equipped	equip	VERB
alkej-949	114	5	with	with	ADP
alkej-949	114	6	an	an	DET
alkej-949	114	7	attitude	attitude	NOUN
alkej-949	114	8	and	and	CCONJ
alkej-949	114	9	heading	head	VERB
alkej-949	114	10	reference	reference	NOUN
alkej-949	114	11	system	system	NOUN
alkej-949	114	12	(	(	PUNCT
alkej-949	114	13	ahrs	ahrs	PROPN
alkej-949	114	14	)	)	PUNCT
alkej-949	114	15	that	that	PRON
alkej-949	114	16	monitors	monitor	VERB
alkej-949	114	17	the	the	DET
alkej-949	114	18	com	com	NOUN
alkej-949	114	19	’s	’s	PART
alkej-949	114	20	position	position	NOUN
alkej-949	114	21	and	and	CCONJ
alkej-949	114	22	velocity	velocity	NOUN
alkej-949	114	23	changes	change	NOUN
alkej-949	114	24	in	in	ADP
alkej-949	114	25	response	response	NOUN
alkej-949	114	26	to	to	ADP
alkej-949	114	27	the	the	DET
alkej-949	114	28	push	push	NOUN
alkej-949	114	29	.	.	PUNCT
alkej-949	115	1	the	the	DET
alkej-949	115	2	robot	robot	NOUN
alkej-949	115	3	is	be	AUX
alkej-949	115	4	represented	represent	VERB
alkej-949	115	5	mathematically	mathematically	ADV
alkej-949	115	6	as	as	ADP
alkej-949	115	7	an	an	DET
alkej-949	115	8	inverted	inverted	ADJ
alkej-949	115	9	pendulum	pendulum	NOUN
alkej-949	115	10	of	of	ADP
alkej-949	115	11	constant	constant	ADJ
alkej-949	115	12	length	length	NOUN
alkej-949	115	13	,	,	PUNCT
alkej-949	115	14	and	and	CCONJ
alkej-949	115	15	the	the	DET
alkej-949	115	16	length	length	NOUN
alkej-949	115	17	of	of	ADP
alkej-949	115	18	the	the	DET
alkej-949	115	19	stride	stride	NOUN
alkej-949	115	20	is	be	AUX
alkej-949	115	21	calculated	calculate	VERB
alkej-949	115	22	to	to	PART
alkej-949	115	23	counterbalance	counterbalance	VERB
alkej-949	115	24	the	the	DET
alkej-949	115	25	kinetic	kinetic	ADJ
alkej-949	115	26	energy	energy	NOUN
alkej-949	115	27	increase	increase	NOUN
alkej-949	115	28	that	that	PRON
alkej-949	115	29	occurs	occur	VERB
alkej-949	115	30	upon	upon	SCONJ
alkej-949	115	31	impact	impact	NOUN
alkej-949	115	32	.	.	PUNCT
alkej-949	116	1	fig	fig	NOUN
alkej-949	116	2	.	.	PUNCT
alkej-949	117	1	4	4	X
alkej-949	117	2	.	.	X
alkej-949	117	3	illustration	illustration	NOUN
alkej-949	117	4	of	of	ADP
alkej-949	117	5	the	the	DET
alkej-949	117	6	convex	convex	ADJ
alkej-949	117	7	mhpc	mhpc	NOUN
alkej-949	117	8	framework	framework	NOUN
alkej-949	117	9	[	[	X
alkej-949	117	10	26	26	NUM
alkej-949	117	11	]	]	PUNCT
alkej-949	117	12	.	.	PUNCT
alkej-949	118	1	ibrahim	ibrahim	PROPN
alkej-949	118	2	altameemi	altameemi	VERB
alkej-949	118	3	al	al	PROPN
alkej-949	118	4	-	-	PUNCT
alkej-949	118	5	khwarizmi	khwarizmi	PROPN
alkej-949	118	6	engineering	engineering	NOUN
alkej-949	118	7	journal	journal	PROPN
alkej-949	118	8	,	,	PUNCT
alkej-949	118	9	vol	vol	NOUN
alkej-949	118	10	.	.	PROPN
alkej-949	118	11	20	20	NUM
alkej-949	118	12	,	,	PUNCT
alkej-949	118	13	no.3	no.3	VERB
alkej-949	118	14	,	,	PUNCT
alkej-949	118	15	p.p	p.p	PROPN
alkej-949	118	16	.	.	PROPN
alkej-949	118	17	2035	2035	NUM
alkej-949	118	18	(	(	PUNCT
alkej-949	118	19	2024	2024	NUM
alkej-949	118	20	)	)	PUNCT
alkej-949	118	21	24	24	NUM
alkej-949	118	22	the	the	DET
alkej-949	118	23	study	study	NOUN
alkej-949	118	24	by	by	ADP
alkej-949	118	25	[	[	X
alkej-949	118	26	27	27	NUM
alkej-949	118	27	]	]	PUNCT
alkej-949	118	28	introduces	introduce	VERB
alkej-949	118	29	a	a	DET
alkej-949	118	30	balance	balance	NOUN
alkej-949	118	31	controller	controller	NOUN
alkej-949	118	32	that	that	PRON
alkej-949	118	33	enables	enable	VERB
alkej-949	118	34	a	a	DET
alkej-949	118	35	humanoid	humanoid	NOUN
alkej-949	118	36	to	to	PART
alkej-949	118	37	regain	regain	VERB
alkej-949	118	38	stability	stability	NOUN
alkej-949	118	39	after	after	ADP
alkej-949	118	40	experiencing	experience	VERB
alkej-949	118	41	significant	significant	ADJ
alkej-949	118	42	disturbances	disturbance	NOUN
alkej-949	118	43	while	while	SCONJ
alkej-949	118	44	maintaining	maintain	VERB
alkej-949	118	45	an	an	DET
alkej-949	118	46	upright	upright	ADJ
alkej-949	118	47	stance	stance	NOUN
alkej-949	118	48	.	.	PUNCT
alkej-949	119	1	the	the	DET
alkej-949	119	2	study	study	NOUN
alkej-949	119	3	employs	employ	VERB
alkej-949	119	4	a	a	DET
alkej-949	119	5	combination	combination	NOUN
alkej-949	119	6	of	of	ADP
alkej-949	119	7	a	a	DET
alkej-949	119	8	linear	linear	ADJ
alkej-949	119	9	quadratic	quadratic	ADJ
alkej-949	119	10	regulator	regulator	NOUN
alkej-949	119	11	and	and	CCONJ
alkej-949	119	12	computed	compute	VERB
alkej-949	119	13	torque	torque	NOUN
alkej-949	119	14	control	control	NOUN
alkej-949	119	15	to	to	PART
alkej-949	119	16	determine	determine	VERB
alkej-949	119	17	the	the	DET
alkej-949	119	18	desired	desire	VERB
alkej-949	119	19	position	position	NOUN
alkej-949	119	20	of	of	ADP
alkej-949	119	21	the	the	DET
alkej-949	119	22	cop	cop	NOUN
alkej-949	119	23	.	.	PUNCT
alkej-949	120	1	next	next	ADV
alkej-949	120	2	,	,	PUNCT
alkej-949	120	3	a	a	DET
alkej-949	120	4	method	method	NOUN
alkej-949	120	5	including	include	VERB
alkej-949	120	6	integral	integral	ADJ
alkej-949	120	7	control	control	NOUN
alkej-949	120	8	is	be	AUX
alkej-949	120	9	suggested	suggest	VERB
alkej-949	120	10	to	to	PART
alkej-949	120	11	regulate	regulate	VERB
alkej-949	120	12	the	the	DET
alkej-949	120	13	position	position	NOUN
alkej-949	120	14	of	of	ADP
alkej-949	120	15	the	the	DET
alkej-949	120	16	cop	cop	NOUN
alkej-949	120	17	precisely	precisely	ADV
alkej-949	120	18	.	.	PUNCT
alkej-949	121	1	a	a	DET
alkej-949	121	2	practical	practical	ADJ
alkej-949	121	3	hierarchical	hierarchical	ADJ
alkej-949	121	4	push	push	NOUN
alkej-949	121	5	recovery	recovery	NOUN
alkej-949	121	6	approach	approach	NOUN
alkej-949	121	7	is	be	AUX
alkej-949	121	8	introduced	introduce	VERB
alkej-949	121	9	in	in	ADP
alkej-949	121	10	[	[	X
alkej-949	121	11	28	28	NUM
alkej-949	121	12	]	]	PUNCT
alkej-949	121	13	.	.	PUNCT
alkej-949	122	1	the	the	DET
alkej-949	122	2	approach	approach	NOUN
alkej-949	122	3	comprises	comprise	VERB
alkej-949	122	4	lowlevel	lowlevel	VERB
alkej-949	122	5	controllers	controller	NOUN
alkej-949	122	6	that	that	PRON
alkej-949	122	7	execute	execute	VERB
alkej-949	122	8	three	three	NUM
alkej-949	122	9	push	push	NOUN
alkej-949	122	10	recovery	recovery	NOUN
alkej-949	122	11	processes	process	NOUN
alkej-949	122	12	,	,	PUNCT
alkej-949	122	13	which	which	PRON
alkej-949	122	14	focus	focus	VERB
alkej-949	122	15	on	on	ADP
alkej-949	122	16	the	the	DET
alkej-949	122	17	ankle	ankle	NOUN
alkej-949	122	18	,	,	PUNCT
alkej-949	122	19	hip	hip	NOUN
alkej-949	122	20	and	and	CCONJ
alkej-949	122	21	step	step	NOUN
alkej-949	122	22	.	.	PUNCT
alkej-949	123	1	to	to	PART
alkej-949	123	2	select	select	VERB
alkej-949	123	3	from	from	ADP
alkej-949	123	4	these	these	DET
alkej-949	123	5	strategies	strategy	NOUN
alkej-949	123	6	,	,	PUNCT
alkej-949	123	7	a	a	DET
alkej-949	123	8	high	high	ADJ
alkej-949	123	9	-	-	PUNCT
alkej-949	123	10	level	level	NOUN
alkej-949	123	11	controller	controller	NOUN
alkej-949	123	12	uses	use	VERB
alkej-949	123	13	the	the	DET
alkej-949	123	14	reinforcement	reinforcement	NOUN
alkej-949	123	15	learning	learn	VERB
alkej-949	123	16	approach	approach	NOUN
alkej-949	123	17	in	in	ADP
alkej-949	123	18	stochastic	stochastic	ADJ
alkej-949	123	19	policy	policy	NOUN
alkej-949	123	20	gradients	gradient	NOUN
alkej-949	123	21	.	.	PUNCT
alkej-949	124	1	the	the	DET
alkej-949	124	2	highlevel	highlevel	ADJ
alkej-949	124	3	controller	controller	NOUN
alkej-949	124	4	utilises	utilise	VERB
alkej-949	124	5	sensory	sensory	ADJ
alkej-949	124	6	information	information	NOUN
alkej-949	124	7	and	and	CCONJ
alkej-949	124	8	the	the	DET
alkej-949	124	9	present	present	ADJ
alkej-949	124	10	state	state	NOUN
alkej-949	124	11	of	of	ADP
alkej-949	124	12	the	the	DET
alkej-949	124	13	low	low	ADJ
alkej-949	124	14	-	-	PUNCT
alkej-949	124	15	level	level	NOUN
alkej-949	124	16	controllers	controller	NOUN
alkej-949	124	17	to	to	PART
alkej-949	124	18	select	select	VERB
alkej-949	124	19	and	and	CCONJ
alkej-949	124	20	implement	implement	VERB
alkej-949	124	21	the	the	DET
alkej-949	124	22	most	most	ADV
alkej-949	124	23	suitable	suitable	ADJ
alkej-949	124	24	strategy	strategy	NOUN
alkej-949	124	25	.	.	PUNCT
alkej-949	125	1	the	the	DET
alkej-949	125	2	study	study	NOUN
alkej-949	125	3	by	by	ADP
alkej-949	125	4	[	[	X
alkej-949	125	5	29	29	NUM
alkej-949	125	6	]	]	PUNCT
alkej-949	125	7	introduces	introduce	VERB
alkej-949	125	8	a	a	DET
alkej-949	125	9	model	model	NOUN
alkej-949	125	10	-	-	PUNCT
alkej-949	125	11	driven	drive	VERB
alkej-949	125	12	learning	learning	NOUN
alkej-949	125	13	approach	approach	NOUN
alkej-949	125	14	that	that	PRON
alkej-949	125	15	enables	enable	VERB
alkej-949	125	16	a	a	DET
alkej-949	125	17	humanoid	humanoid	NOUN
alkej-949	125	18	robot	robot	NOUN
alkej-949	125	19	to	to	PART
alkej-949	125	20	maintain	maintain	VERB
alkej-949	125	21	balance	balance	NOUN
alkej-949	125	22	by	by	ADP
alkej-949	125	23	adjusting	adjust	VERB
alkej-949	125	24	its	its	PRON
alkej-949	125	25	step	step	NOUN
alkej-949	125	26	length	length	NOUN
alkej-949	125	27	.	.	PUNCT
alkej-949	126	1	the	the	DET
alkej-949	126	2	study	study	NOUN
alkej-949	126	3	employs	employ	VERB
alkej-949	126	4	a	a	DET
alkej-949	126	5	basic	basic	ADJ
alkej-949	126	6	central	central	ADJ
alkej-949	126	7	pattern	pattern	NOUN
alkej-949	126	8	generation	generation	NOUN
alkej-949	126	9	system	system	NOUN
alkej-949	126	10	to	to	PART
alkej-949	126	11	generate	generate	VERB
alkej-949	126	12	a	a	DET
alkej-949	126	13	walking	walk	VERB
alkej-949	126	14	motion	motion	NOUN
alkej-949	126	15	.	.	PUNCT
alkej-949	127	1	this	this	DET
alkej-949	127	2	system	system	NOUN
alkej-949	127	3	takes	take	VERB
alkej-949	127	4	the	the	DET
alkej-949	127	5	amplitude	amplitude	NOUN
alkej-949	127	6	vector	vector	NOUN
alkej-949	127	7	of	of	ADP
alkej-949	127	8	the	the	DET
alkej-949	127	9	leg	leg	NOUN
alkej-949	127	10	swing	swing	NOUN
alkej-949	127	11	as	as	ADP
alkej-949	127	12	an	an	DET
alkej-949	127	13	input	input	NOUN
alkej-949	127	14	and	and	CCONJ
alkej-949	127	15	creates	create	VERB
alkej-949	127	16	regular	regular	ADJ
alkej-949	127	17	signals	signal	NOUN
alkej-949	127	18	for	for	ADP
alkej-949	127	19	the	the	DET
alkej-949	127	20	leg	leg	NOUN
alkej-949	127	21	joints	joint	NOUN
alkej-949	127	22	.	.	PUNCT
alkej-949	128	1	during	during	ADP
alkej-949	128	2	the	the	DET
alkej-949	128	3	moment	moment	NOUN
alkej-949	128	4	of	of	ADP
alkej-949	128	5	support	support	NOUN
alkej-949	128	6	exchange	exchange	NOUN
alkej-949	128	7	,	,	PUNCT
alkej-949	128	8	the	the	DET
alkej-949	128	9	system	system	NOUN
alkej-949	128	10	measures	measure	VERB
alkej-949	128	11	the	the	DET
alkej-949	128	12	trunk	trunk	NOUN
alkej-949	128	13	inclination	inclination	NOUN
alkej-949	128	14	and	and	CCONJ
alkej-949	128	15	its	its	PRON
alkej-949	128	16	rate	rate	NOUN
alkej-949	128	17	and	and	CCONJ
alkej-949	128	18	simultaneously	simultaneously	ADV
alkej-949	128	19	estimates	estimate	VERB
alkej-949	128	20	the	the	DET
alkej-949	128	21	step	step	NOUN
alkej-949	128	22	length	length	NOUN
alkej-949	128	23	and	and	CCONJ
alkej-949	128	24	trunk	trunk	NOUN
alkej-949	128	25	position	position	NOUN
alkej-949	128	26	.	.	PUNCT
alkej-949	129	1	the	the	DET
alkej-949	129	2	balance	balance	NOUN
alkej-949	129	3	controller	controller	NOUN
alkej-949	129	4	utilises	utilise	VERB
alkej-949	129	5	these	these	DET
alkej-949	129	6	two	two	NUM
alkej-949	129	7	variables	variable	NOUN
alkej-949	129	8	for	for	ADP
alkej-949	129	9	training	training	NOUN
alkej-949	129	10	.	.	PUNCT
alkej-949	130	1	to	to	PART
alkej-949	130	2	maintain	maintain	VERB
alkej-949	130	3	balance	balance	NOUN
alkej-949	130	4	,	,	PUNCT
alkej-949	130	5	the	the	DET
alkej-949	130	6	authors	author	NOUN
alkej-949	130	7	of	of	ADP
alkej-949	130	8	[	[	X
alkej-949	130	9	29	29	NUM
alkej-949	130	10	]	]	PUNCT
alkej-949	130	11	combine	combine	VERB
alkej-949	130	12	the	the	DET
alkej-949	130	13	simple	simple	ADJ
alkej-949	130	14	proportional	proportional	ADJ
alkej-949	130	15	controller	controller	NOUN
alkej-949	130	16	of	of	ADP
alkej-949	130	17	the	the	DET
alkej-949	130	18	pendulum	pendulum	NOUN
alkej-949	130	19	cart	cart	NOUN
alkej-949	130	20	model	model	NOUN
alkej-949	130	21	with	with	ADP
alkej-949	130	22	footstep	footstep	ADJ
alkej-949	130	23	error	error	NOUN
alkej-949	130	24	to	to	PART
alkej-949	130	25	generate	generate	VERB
alkej-949	130	26	an	an	DET
alkej-949	130	27	appropriate	appropriate	ADJ
alkej-949	130	28	adjustment	adjustment	NOUN
alkej-949	130	29	of	of	ADP
alkej-949	130	30	the	the	DET
alkej-949	130	31	step	step	NOUN
alkej-949	130	32	length	length	NOUN
alkej-949	130	33	.	.	PUNCT
alkej-949	131	1	this	this	DET
alkej-949	131	2	modification	modification	NOUN
alkej-949	131	3	is	be	AUX
alkej-949	131	4	incorporated	incorporate	VERB
alkej-949	131	5	into	into	ADP
alkej-949	131	6	the	the	DET
alkej-949	131	7	gradient	gradient	NOUN
alkej-949	131	8	function	function	NOUN
alkej-949	131	9	.	.	PUNCT
alkej-949	132	1	next	next	ADV
alkej-949	132	2	,	,	PUNCT
alkej-949	132	3	the	the	DET
alkej-949	132	4	gradient	gradient	NOUN
alkej-949	132	5	function	function	NOUN
alkej-949	132	6	is	be	AUX
alkej-949	132	7	employed	employ	VERB
alkej-949	132	8	to	to	PART
alkej-949	132	9	train	train	VERB
alkej-949	132	10	the	the	DET
alkej-949	132	11	balance	balance	NOUN
alkej-949	132	12	control	control	NOUN
alkej-949	132	13	function	function	VERB
alkej-949	132	14	to	to	PART
alkej-949	132	15	determine	determine	VERB
alkej-949	132	16	the	the	DET
alkej-949	132	17	swing	swing	NOUN
alkej-949	132	18	leg	leg	NOUN
alkej-949	132	19	amplitude	amplitude	NOUN
alkej-949	132	20	.	.	PUNCT
alkej-949	133	1	[	[	X
alkej-949	133	2	22	22	NUM
alkej-949	133	3	]	]	PUNCT
alkej-949	133	4	proposes	propose	VERB
alkej-949	133	5	a	a	DET
alkej-949	133	6	partition	partition	NOUN
alkej-949	133	7	-	-	PUNCT
alkej-949	133	8	aware	aware	ADJ
alkej-949	133	9	controller	controller	NOUN
alkej-949	133	10	for	for	ADP
alkej-949	133	11	balanced	balanced	ADJ
alkej-949	133	12	basins	basin	NOUN
alkej-949	133	13	.	.	PUNCT
alkej-949	134	1	this	this	DET
alkej-949	134	2	controller	controller	NOUN
alkej-949	134	3	is	be	AUX
alkej-949	134	4	enhanced	enhance	VERB
alkej-949	134	5	to	to	PART
alkej-949	134	6	incorporate	incorporate	VERB
alkej-949	134	7	the	the	DET
alkej-949	134	8	captured	capture	VERB
alkej-949	134	9	-	-	PUNCT
alkej-949	134	10	stepping	step	VERB
alkej-949	134	11	approach	approach	NOUN
alkej-949	134	12	,	,	PUNCT
alkej-949	134	13	which	which	PRON
alkej-949	134	14	aims	aim	VERB
alkej-949	134	15	to	to	PART
alkej-949	134	16	reestablish	reestablish	VERB
alkej-949	134	17	balance	balance	NOUN
alkej-949	134	18	.	.	PUNCT
alkej-949	135	1	the	the	DET
alkej-949	135	2	balanced	balanced	ADJ
alkej-949	135	3	state	state	NOUN
alkej-949	135	4	boundaries	boundary	NOUN
alkej-949	135	5	in	in	ADP
alkej-949	135	6	the	the	DET
alkej-949	135	7	ankle	ankle	NOUN
alkej-949	135	8	and	and	CCONJ
alkej-949	135	9	hip	hip	NOUN
alkej-949	135	10	strategy	strategy	NOUN
alkej-949	135	11	are	be	AUX
alkej-949	135	12	actively	actively	ADV
alkej-949	135	13	utilised	utilise	VERB
alkej-949	135	14	as	as	ADP
alkej-949	135	15	explicit	explicit	ADJ
alkej-949	135	16	criteria	criterion	NOUN
alkej-949	135	17	for	for	ADP
alkej-949	135	18	selecting	select	VERB
alkej-949	135	19	among	among	ADP
alkej-949	135	20	the	the	DET
alkej-949	135	21	ankle	ankle	NOUN
alkej-949	135	22	,	,	PUNCT
alkej-949	135	23	hip	hip	NOUN
alkej-949	135	24	and	and	CCONJ
alkej-949	135	25	captured	capture	VERB
alkej-949	135	26	-	-	PUNCT
alkej-949	135	27	stepping	step	VERB
alkej-949	135	28	methods	method	NOUN
alkej-949	135	29	.	.	PUNCT
alkej-949	136	1	thus	thus	ADV
alkej-949	136	2	,	,	PUNCT
alkej-949	136	3	they	they	PRON
alkej-949	136	4	provide	provide	VERB
alkej-949	136	5	the	the	DET
alkej-949	136	6	current	current	ADJ
alkej-949	136	7	estimated	estimate	VERB
alkej-949	136	8	com	com	NOUN
alkej-949	136	9	state	state	NOUN
alkej-949	136	10	of	of	ADP
alkej-949	136	11	the	the	DET
alkej-949	136	12	robot	robot	NOUN
alkej-949	136	13	.	.	PUNCT
alkej-949	137	1	at	at	ADP
alkej-949	137	2	all	all	DET
alkej-949	137	3	times	time	NOUN
alkej-949	137	4	,	,	PUNCT
alkej-949	137	5	the	the	DET
alkej-949	137	6	ankle	ankle	NOUN
alkej-949	137	7	subcontroller	subcontroller	NOUN
alkej-949	137	8	is	be	AUX
alkej-949	137	9	active	active	ADJ
alkej-949	137	10	.	.	PUNCT
alkej-949	138	1	simultaneously	simultaneously	ADV
alkej-949	138	2	,	,	PUNCT
alkej-949	138	3	the	the	DET
alkej-949	138	4	activation	activation	NOUN
alkej-949	138	5	of	of	ADP
alkej-949	138	6	the	the	DET
alkej-949	138	7	hip	hip	NOUN
alkej-949	138	8	and	and	CCONJ
alkej-949	138	9	captured	capture	VERB
alkej-949	138	10	-	-	PUNCT
alkej-949	138	11	stepping	step	VERB
alkej-949	138	12	subcontrollers	subcontroller	NOUN
alkej-949	138	13	occurs	occur	VERB
alkej-949	138	14	only	only	ADV
alkej-949	138	15	when	when	SCONJ
alkej-949	138	16	the	the	DET
alkej-949	138	17	estimated	estimate	VERB
alkej-949	138	18	com	com	NOUN
alkej-949	138	19	state	state	NOUN
alkej-949	138	20	exits	exit	VERB
alkej-949	138	21	the	the	DET
alkej-949	138	22	balanced	balance	VERB
alkej-949	138	23	basins	basin	NOUN
alkej-949	138	24	for	for	ADP
alkej-949	138	25	the	the	DET
alkej-949	138	26	ankle	ankle	NOUN
alkej-949	138	27	and	and	CCONJ
alkej-949	138	28	hip	hip	NOUN
alkej-949	138	29	,	,	PUNCT
alkej-949	138	30	respectively	respectively	ADV
alkej-949	138	31	.	.	PUNCT
alkej-949	139	1	this	this	DET
alkej-949	139	2	study	study	NOUN
alkej-949	139	3	formulates	formulate	VERB
alkej-949	139	4	capturability	capturability	NOUN
alkej-949	139	5	by	by	ADP
alkej-949	139	6	taking	take	VERB
alkej-949	139	7	into	into	ADP
alkej-949	139	8	account	account	NOUN
alkej-949	139	9	the	the	DET
alkej-949	139	10	wholebody	wholebody	NOUN
alkej-949	139	11	system	system	NOUN
alkej-949	139	12	dynamics	dynamic	NOUN
alkej-949	139	13	of	of	ADP
alkej-949	139	14	a	a	DET
alkej-949	139	15	humanoid	humanoid	NOUN
alkej-949	139	16	robot	robot	NOUN
alkej-949	139	17	to	to	PART
alkej-949	139	18	establish	establish	VERB
alkej-949	139	19	suitable	suitable	ADJ
alkej-949	139	20	conditions	condition	NOUN
alkej-949	139	21	for	for	ADP
alkej-949	139	22	balance	balance	NOUN
alkej-949	139	23	recovery	recovery	NOUN
alkej-949	139	24	steps	step	NOUN
alkej-949	139	25	.	.	PUNCT
alkej-949	140	1	in	in	ADP
alkej-949	140	2	[	[	X
alkej-949	140	3	11	11	NUM
alkej-949	140	4	]	]	PUNCT
alkej-949	140	5	,	,	PUNCT
alkej-949	140	6	the	the	DET
alkej-949	140	7	ankle	ankle	NOUN
alkej-949	140	8	strategy	strategy	NOUN
alkej-949	140	9	is	be	AUX
alkej-949	140	10	presented	present	VERB
alkej-949	140	11	as	as	ADP
alkej-949	140	12	a	a	DET
alkej-949	140	13	means	means	NOUN
alkej-949	140	14	of	of	ADP
alkej-949	140	15	maintaining	maintain	VERB
alkej-949	140	16	stability	stability	NOUN
alkej-949	140	17	for	for	ADP
alkej-949	140	18	a	a	DET
alkej-949	140	19	humanoid	humanoid	NOUN
alkej-949	140	20	robot	robot	NOUN
alkej-949	140	21	that	that	PRON
alkej-949	140	22	experiences	experience	VERB
alkej-949	140	23	external	external	ADJ
alkej-949	140	24	pushing	push	VERB
alkej-949	140	25	forces	force	NOUN
alkej-949	140	26	.	.	PUNCT
alkej-949	141	1	the	the	DET
alkej-949	141	2	zmp	zmp	PROPN
alkej-949	141	3	/	/	SYM
alkej-949	141	4	cop	cop	NOUN
alkej-949	141	5	position	position	NOUN
alkej-949	141	6	can	can	AUX
alkej-949	141	7	be	be	AUX
alkej-949	141	8	regulated	regulate	VERB
alkej-949	141	9	to	to	ADP
alkej-949	141	10	zero	zero	NUM
alkej-949	141	11	by	by	ADP
alkej-949	141	12	changing	change	VERB
alkej-949	141	13	the	the	DET
alkej-949	141	14	reference	reference	NOUN
alkej-949	141	15	joint	joint	ADJ
alkej-949	141	16	position	position	NOUN
alkej-949	141	17	through	through	ADP
alkej-949	141	18	a	a	DET
alkej-949	141	19	joint	joint	ADJ
alkej-949	141	20	position	position	NOUN
alkej-949	141	21	pd	pd	PROPN
alkej-949	141	22	controller	controller	NOUN
alkej-949	141	23	.	.	PUNCT
alkej-949	142	1	the	the	DET
alkej-949	142	2	simulation	simulation	NOUN
alkej-949	142	3	findings	finding	NOUN
alkej-949	142	4	demonstrate	demonstrate	VERB
alkej-949	142	5	that	that	SCONJ
alkej-949	142	6	the	the	DET
alkej-949	142	7	simulated	simulate	VERB
alkej-949	142	8	bipedal	bipedal	NOUN
alkej-949	142	9	robot	robot	NOUN
alkej-949	142	10	can	can	AUX
alkej-949	142	11	counteract	counteract	VERB
alkej-949	142	12	external	external	ADJ
alkej-949	142	13	shocks	shock	NOUN
alkej-949	142	14	of	of	ADP
alkej-949	142	15	up	up	ADP
alkej-949	142	16	to	to	PART
alkej-949	142	17	10	10	NUM
alkej-949	142	18	n	n	CCONJ
alkej-949	142	19	,	,	PUNCT
alkej-949	142	20	thus	thus	ADV
alkej-949	142	21	resulting	result	VERB
alkej-949	142	22	in	in	ADP
alkej-949	142	23	a	a	DET
alkej-949	142	24	reduction	reduction	NOUN
alkej-949	142	25	of	of	ADP
alkej-949	142	26	oscillation	oscillation	NOUN
alkej-949	142	27	by	by	ADP
alkej-949	142	28	60	60	NUM
alkej-949	142	29	%	%	NOUN
alkej-949	142	30	.	.	PUNCT
alkej-949	143	1	in	in	ADP
alkej-949	143	2	[	[	X
alkej-949	143	3	30	30	NUM
alkej-949	143	4	]	]	PUNCT
alkej-949	143	5	,	,	PUNCT
alkej-949	143	6	a	a	DET
alkej-949	143	7	push	push	NOUN
alkej-949	143	8	recovery	recovery	NOUN
alkej-949	143	9	control	control	NOUN
alkej-949	143	10	method	method	NOUN
alkej-949	143	11	is	be	AUX
alkej-949	143	12	developed	develop	VERB
alkej-949	143	13	to	to	PART
alkej-949	143	14	determine	determine	VERB
alkej-949	143	15	when	when	SCONJ
alkej-949	143	16	and	and	CCONJ
alkej-949	143	17	where	where	SCONJ
alkej-949	143	18	to	to	PART
alkej-949	143	19	take	take	VERB
alkej-949	143	20	a	a	DET
alkej-949	143	21	step	step	NOUN
alkej-949	143	22	to	to	PART
alkej-949	143	23	prevent	prevent	VERB
alkej-949	143	24	falling	fall	VERB
alkej-949	143	25	.	.	PUNCT
alkej-949	144	1	a	a	DET
alkej-949	144	2	new	new	ADJ
alkej-949	144	3	term	term	NOUN
alkej-949	144	4	called	call	VERB
alkej-949	144	5	capture	capture	NOUN
alkej-949	144	6	point	point	NOUN
alkej-949	144	7	is	be	AUX
alkej-949	144	8	defined	define	VERB
alkej-949	144	9	,	,	PUNCT
alkej-949	144	10	which	which	PRON
alkej-949	144	11	is	be	AUX
alkej-949	144	12	a	a	DET
alkej-949	144	13	location	location	NOUN
alkej-949	144	14	on	on	ADP
alkej-949	144	15	the	the	DET
alkej-949	144	16	ground	ground	NOUN
alkej-949	144	17	that	that	SCONJ
alkej-949	144	18	the	the	DET
alkej-949	144	19	bipedal	bipedal	ADJ
alkej-949	144	20	robot	robot	NOUN
alkej-949	144	21	must	must	AUX
alkej-949	144	22	move	move	VERB
alkej-949	144	23	to	to	PART
alkej-949	144	24	maintain	maintain	VERB
alkej-949	144	25	stability	stability	NOUN
alkej-949	144	26	.	.	PUNCT
alkej-949	145	1	to	to	PART
alkej-949	145	2	derive	derive	VERB
alkej-949	145	3	this	this	DET
alkej-949	145	4	point	point	NOUN
alkej-949	145	5	,	,	PUNCT
alkej-949	145	6	the	the	DET
alkej-949	145	7	concept	concept	NOUN
alkej-949	145	8	of	of	ADP
alkej-949	145	9	orbital	orbital	ADJ
alkej-949	145	10	energy	energy	NOUN
alkej-949	145	11	is	be	AUX
alkej-949	145	12	applied	apply	VERB
alkej-949	145	13	to	to	AUX
alkej-949	145	14	lipm	lipm	VERB
alkej-949	145	15	.	.	PUNCT
alkej-949	146	1	however	however	ADV
alkej-949	146	2	,	,	PUNCT
alkej-949	146	3	if	if	SCONJ
alkej-949	146	4	lipfm	lipfm	NOUN
alkej-949	146	5	is	be	AUX
alkej-949	146	6	employed	employ	VERB
alkej-949	146	7	to	to	PART
alkej-949	146	8	represent	represent	VERB
alkej-949	146	9	the	the	DET
alkej-949	146	10	dynamics	dynamic	NOUN
alkej-949	146	11	,	,	PUNCT
alkej-949	146	12	multiple	multiple	ADJ
alkej-949	146	13	points	point	NOUN
alkej-949	146	14	can	can	AUX
alkej-949	146	15	be	be	AUX
alkej-949	146	16	calculated	calculate	VERB
alkej-949	146	17	.	.	PUNCT
alkej-949	147	1	in	in	ADP
alkej-949	147	2	this	this	DET
alkej-949	147	3	case	case	NOUN
alkej-949	147	4	,	,	PUNCT
alkej-949	147	5	a	a	DET
alkej-949	147	6	new	new	ADJ
alkej-949	147	7	term	term	NOUN
alkej-949	147	8	called	call	VERB
alkej-949	147	9	capture	capture	NOUN
alkej-949	147	10	region	region	NOUN
alkej-949	147	11	is	be	AUX
alkej-949	147	12	defined	define	VERB
alkej-949	147	13	.	.	PUNCT
alkej-949	148	1	a	a	DET
alkej-949	148	2	capture	capture	NOUN
alkej-949	148	3	region	region	NOUN
alkej-949	148	4	is	be	AUX
alkej-949	148	5	a	a	DET
alkej-949	148	6	set	set	NOUN
alkej-949	148	7	of	of	ADP
alkej-949	148	8	capture	capture	NOUN
alkej-949	148	9	points	point	NOUN
alkej-949	148	10	that	that	SCONJ
alkej-949	148	11	the	the	DET
alkej-949	148	12	robot	robot	NOUN
alkej-949	148	13	can	can	AUX
alkej-949	148	14	step	step	VERB
alkej-949	148	15	on	on	ADP
alkej-949	148	16	to	to	PART
alkej-949	148	17	preserve	preserve	VERB
alkej-949	148	18	stability	stability	NOUN
alkej-949	148	19	.	.	PUNCT
alkej-949	149	1	simulation	simulation	NOUN
alkej-949	149	2	results	result	NOUN
alkej-949	149	3	demonstrate	demonstrate	VERB
alkej-949	149	4	that	that	SCONJ
alkej-949	149	5	a	a	DET
alkej-949	149	6	bipedal	bipedal	ADJ
alkej-949	149	7	robot	robot	NOUN
alkej-949	149	8	can	can	AUX
alkej-949	149	9	maintain	maintain	VERB
alkej-949	149	10	stability	stability	NOUN
alkej-949	149	11	by	by	ADP
alkej-949	149	12	taking	take	VERB
alkej-949	149	13	a	a	DET
alkej-949	149	14	single	single	ADJ
alkej-949	149	15	step	step	NOUN
alkej-949	149	16	in	in	ADP
alkej-949	149	17	response	response	NOUN
alkej-949	149	18	to	to	ADP
alkej-949	149	19	a	a	DET
alkej-949	149	20	pushing	push	VERB
alkej-949	149	21	force	force	NOUN
alkej-949	149	22	.	.	PUNCT
alkej-949	150	1	the	the	DET
alkej-949	150	2	work	work	NOUN
alkej-949	150	3	[	[	X
alkej-949	150	4	13	13	NUM
alkej-949	150	5	]	]	PUNCT
alkej-949	150	6	introduces	introduce	NOUN
alkej-949	150	7	push	push	VERB
alkej-949	150	8	recoverymodel	recoverymodel	PROPN
alkej-949	150	9	predictive	predictive	ADJ
alkej-949	150	10	control	control	NOUN
alkej-949	150	11	(	(	PUNCT
alkej-949	150	12	pr	pr	NOUN
alkej-949	150	13	-	-	PUNCT
alkej-949	150	14	mpc	mpc	NOUN
alkej-949	150	15	)	)	PUNCT
alkej-949	150	16	as	as	ADP
alkej-949	150	17	an	an	DET
alkej-949	150	18	approach	approach	NOUN
alkej-949	150	19	to	to	PART
alkej-949	150	20	generate	generate	VERB
alkej-949	150	21	complete	complete	ADJ
alkej-949	150	22	-	-	PUNCT
alkej-949	150	23	body	body	NOUN
alkej-949	150	24	step	step	NOUN
alkej-949	150	25	recovery	recovery	NOUN
alkej-949	150	26	movements	movement	NOUN
alkej-949	150	27	following	follow	VERB
alkej-949	150	28	a	a	DET
alkej-949	150	29	significant	significant	ADJ
alkej-949	150	30	disturbance	disturbance	NOUN
alkej-949	150	31	.	.	PUNCT
alkej-949	151	1	the	the	DET
alkej-949	151	2	objective	objective	NOUN
alkej-949	151	3	of	of	ADP
alkej-949	151	4	the	the	DET
alkej-949	151	5	pr	pr	NOUN
alkej-949	151	6	-	-	PUNCT
alkej-949	151	7	mpc	mpc	NOUN
alkej-949	151	8	is	be	AUX
alkej-949	151	9	to	to	PART
alkej-949	151	10	achieve	achieve	VERB
alkej-949	151	11	the	the	DET
alkej-949	151	12	stationary	stationary	ADJ
alkej-949	151	13	position	position	NOUN
alkej-949	151	14	of	of	ADP
alkej-949	151	15	the	the	DET
alkej-949	151	16	com	com	NOUN
alkej-949	151	17	just	just	ADV
alkej-949	151	18	above	above	ADP
alkej-949	151	19	the	the	DET
alkej-949	151	20	centroid	centroid	NOUN
alkej-949	151	21	of	of	ADP
alkej-949	151	22	the	the	DET
alkej-949	151	23	support	support	NOUN
alkej-949	151	24	polygon	polygon	NOUN
alkej-949	151	25	.	.	PUNCT
alkej-949	152	1	a	a	DET
alkej-949	152	2	quadratic	quadratic	ADJ
alkej-949	152	3	programming	programming	NOUN
alkej-949	152	4	problem	problem	NOUN
alkej-949	152	5	is	be	AUX
alkej-949	152	6	formulated	formulate	VERB
alkej-949	152	7	to	to	PART
alkej-949	152	8	determine	determine	VERB
alkej-949	152	9	control	control	NOUN
alkej-949	152	10	inputs	input	NOUN
alkej-949	152	11	that	that	PRON
alkej-949	152	12	will	will	AUX
alkej-949	152	13	subsequently	subsequently	ADV
alkej-949	152	14	be	be	AUX
alkej-949	152	15	inserted	insert	VERB
alkej-949	152	16	into	into	ADP
alkej-949	152	17	the	the	DET
alkej-949	152	18	discrete	discrete	ADJ
alkej-949	152	19	representation	representation	NOUN
alkej-949	152	20	of	of	ADP
alkej-949	152	21	the	the	DET
alkej-949	152	22	lipm	lipm	NOUN
alkej-949	152	23	to	to	PART
alkej-949	152	24	construct	construct	VERB
alkej-949	152	25	the	the	DET
alkej-949	152	26	trajectory	trajectory	NOUN
alkej-949	152	27	of	of	ADP
alkej-949	152	28	the	the	DET
alkej-949	152	29	com	com	PROPN
alkej-949	152	30	.	.	PUNCT
alkej-949	152	31	low	low	ADJ
alkej-949	152	32	-	-	PUNCT
alkej-949	152	33	gain	gain	NOUN
alkej-949	152	34	pd	pd	NOUN
alkej-949	152	35	joint	joint	ADJ
alkej-949	152	36	tracking	tracking	NOUN
alkej-949	152	37	control	control	NOUN
alkej-949	152	38	is	be	AUX
alkej-949	152	39	employed	employ	VERB
alkej-949	152	40	in	in	ADP
alkej-949	152	41	combination	combination	NOUN
alkej-949	152	42	with	with	ADP
alkej-949	152	43	feedforward	feedforward	NOUN
alkej-949	152	44	torques	torque	NOUN
alkej-949	152	45	generated	generate	VERB
alkej-949	152	46	by	by	ADP
alkej-949	152	47	dynamic	dynamic	ADJ
alkej-949	152	48	balance	balance	NOUN
alkej-949	152	49	force	force	NOUN
alkej-949	152	50	control	control	NOUN
alkej-949	152	51	(	(	PUNCT
alkej-949	152	52	dbfc	dbfc	PROPN
alkej-949	152	53	)	)	PUNCT
alkej-949	152	54	for	for	ADP
alkej-949	152	55	tracking	track	VERB
alkej-949	152	56	desired	desire	VERB
alkej-949	152	57	trajectories	trajectory	NOUN
alkej-949	152	58	.	.	PUNCT
alkej-949	153	1	the	the	DET
alkej-949	153	2	findings	finding	NOUN
alkej-949	153	3	demonstrate	demonstrate	VERB
alkej-949	153	4	that	that	SCONJ
alkej-949	153	5	the	the	DET
alkej-949	153	6	humanoid	humanoid	PROPN
alkej-949	153	7	robot	robot	NOUN
alkej-949	153	8	,	,	PUNCT
alkej-949	153	9	known	know	VERB
alkej-949	153	10	as	as	ADP
alkej-949	153	11	sarcos	sarco	NOUN
alkej-949	153	12	,	,	PUNCT
alkej-949	153	13	possesses	possess	VERB
alkej-949	153	14	the	the	DET
alkej-949	153	15	capability	capability	NOUN
alkej-949	153	16	to	to	PART
alkej-949	153	17	regain	regain	VERB
alkej-949	153	18	stability	stability	NOUN
alkej-949	153	19	and	and	CCONJ
alkej-949	153	20	counteract	counteract	VERB
alkej-949	153	21	disruptions	disruption	NOUN
alkej-949	153	22	through	through	ADP
alkej-949	153	23	the	the	DET
alkej-949	153	24	execution	execution	NOUN
alkej-949	153	25	of	of	ADP
alkej-949	153	26	a	a	DET
alkej-949	153	27	single	single	ADJ
alkej-949	153	28	step	step	NOUN
alkej-949	153	29	.	.	PUNCT
alkej-949	154	1	the	the	DET
alkej-949	154	2	virtual	virtual	ADJ
alkej-949	154	3	leg	leg	NOUN
alkej-949	154	4	model	model	NOUN
alkej-949	154	5	depicted	depict	VERB
alkej-949	154	6	in	in	ADP
alkej-949	154	7	figure	figure	NOUN
alkej-949	154	8	5	5	NUM
alkej-949	154	9	is	be	AUX
alkej-949	154	10	introduced	introduce	VERB
alkej-949	154	11	in	in	ADP
alkej-949	154	12	[	[	X
alkej-949	154	13	12	12	NUM
alkej-949	154	14	]	]	PUNCT
alkej-949	154	15	.	.	PUNCT
alkej-949	155	1	this	this	DET
alkej-949	155	2	model	model	NOUN
alkej-949	155	3	is	be	AUX
alkej-949	155	4	characterised	characterise	VERB
alkej-949	155	5	by	by	ADP
alkej-949	155	6	connecting	connect	VERB
alkej-949	155	7	a	a	DET
alkej-949	155	8	virtual	virtual	ADJ
alkej-949	155	9	link	link	NOUN
alkej-949	155	10	between	between	ADP
alkej-949	155	11	two	two	NUM
alkej-949	155	12	virtual	virtual	ADJ
alkej-949	155	13	revolute	revolute	ADJ
alkej-949	155	14	joints	joint	NOUN
alkej-949	155	15	,	,	PUNCT
alkej-949	155	16	which	which	PRON
alkej-949	155	17	is	be	AUX
alkej-949	155	18	precisely	precisely	ADV
alkej-949	155	19	positioned	position	VERB
alkej-949	155	20	between	between	ADP
alkej-949	155	21	the	the	DET
alkej-949	155	22	left	left	ADJ
alkej-949	155	23	and	and	CCONJ
alkej-949	155	24	right	right	ADJ
alkej-949	155	25	hip	hip	NOUN
alkej-949	155	26	joints	joint	NOUN
alkej-949	155	27	and	and	CCONJ
alkej-949	155	28	left	leave	VERB
alkej-949	155	29	and	and	CCONJ
alkej-949	155	30	right	right	ADJ
alkej-949	155	31	ankle	ankle	NOUN
alkej-949	155	32	joints	joint	NOUN
alkej-949	155	33	in	in	ADP
alkej-949	155	34	the	the	DET
alkej-949	155	35	frontal	frontal	ADJ
alkej-949	155	36	plane	plane	NOUN
alkej-949	155	37	.	.	PUNCT
alkej-949	156	1	in	in	ADP
alkej-949	156	2	their	their	PRON
alkej-949	156	3	study	study	NOUN
alkej-949	156	4	,	,	PUNCT
alkej-949	156	5	the	the	DET
alkej-949	156	6	authors	author	NOUN
alkej-949	156	7	of	of	ADP
alkej-949	156	8	[	[	X
alkej-949	156	9	12	12	NUM
alkej-949	156	10	]	]	PUNCT
alkej-949	156	11	utilise	utilise	VERB
alkej-949	156	12	a	a	DET
alkej-949	156	13	pd	pd	ADJ
alkej-949	156	14	controller	controller	NOUN
alkej-949	156	15	to	to	PART
alkej-949	156	16	counteract	counteract	VERB
alkej-949	156	17	the	the	DET
alkej-949	156	18	external	external	ADJ
alkej-949	156	19	force	force	NOUN
alkej-949	156	20	and	and	CCONJ
alkej-949	156	21	restore	restore	VERB
alkej-949	156	22	the	the	DET
alkej-949	156	23	robot	robot	NOUN
alkej-949	156	24	to	to	ADP
alkej-949	156	25	the	the	DET
alkej-949	156	26	upright	upright	ADJ
alkej-949	156	27	posture	posture	NOUN
alkej-949	156	28	.	.	PUNCT
alkej-949	157	1	ibrahim	ibrahim	PROPN
alkej-949	157	2	altameemi	altameemi	VERB
alkej-949	157	3	al	al	PROPN
alkej-949	157	4	-	-	PUNCT
alkej-949	157	5	khwarizmi	khwarizmi	PROPN
alkej-949	157	6	engineering	engineering	NOUN
alkej-949	157	7	journal	journal	PROPN
alkej-949	157	8	,	,	PUNCT
alkej-949	157	9	vol	vol	NOUN
alkej-949	157	10	.	.	PROPN
alkej-949	157	11	20	20	NUM
alkej-949	157	12	,	,	PUNCT
alkej-949	157	13	no.3	no.3	VERB
alkej-949	157	14	,	,	PUNCT
alkej-949	157	15	p.p	p.p	PROPN
alkej-949	157	16	.	.	PROPN
alkej-949	157	17	2035	2035	NUM
alkej-949	157	18	(	(	PUNCT
alkej-949	157	19	2024	2024	NUM
alkej-949	157	20	)	)	PUNCT
alkej-949	157	21	25	25	NUM
alkej-949	157	22	fig	fig	NOUN
alkej-949	157	23	.	.	PUNCT
alkej-949	158	1	5	5	NUM
alkej-949	158	2	.	.	X
alkej-949	158	3	virtual	virtual	ADJ
alkej-949	158	4	leg	leg	NOUN
alkej-949	158	5	model	model	NOUN
alkej-949	159	1	[	[	X
alkej-949	159	2	12	12	NUM
alkej-949	159	3	]	]	PUNCT
alkej-949	159	4	.	.	PUNCT
alkej-949	160	1	the	the	DET
alkej-949	160	2	author	author	NOUN
alkej-949	160	3	in	in	ADP
alkej-949	160	4	[	[	X
alkej-949	160	5	31	31	NUM
alkej-949	160	6	]	]	PUNCT
alkej-949	160	7	presents	present	VERB
alkej-949	160	8	dbfc	dbfc	ADJ
alkej-949	160	9	as	as	ADP
alkej-949	160	10	a	a	DET
alkej-949	160	11	modelbased	modelbase	VERB
alkej-949	160	12	method	method	NOUN
alkej-949	160	13	for	for	ADP
alkej-949	160	14	obtaining	obtain	VERB
alkej-949	160	15	the	the	DET
alkej-949	160	16	required	require	VERB
alkej-949	160	17	joint	joint	ADJ
alkej-949	160	18	torques	torque	NOUN
alkej-949	160	19	of	of	ADP
alkej-949	160	20	the	the	DET
alkej-949	160	21	whole	whole	ADJ
alkej-949	160	22	body	body	NOUN
alkej-949	160	23	.	.	PUNCT
alkej-949	161	1	this	this	DET
alkej-949	161	2	computation	computation	NOUN
alkej-949	161	3	is	be	AUX
alkej-949	161	4	derived	derive	VERB
alkej-949	161	5	from	from	ADP
alkej-949	161	6	the	the	DET
alkej-949	161	7	movement	movement	NOUN
alkej-949	161	8	of	of	ADP
alkej-949	161	9	the	the	DET
alkej-949	161	10	com	com	NOUN
alkej-949	161	11	and	and	CCONJ
alkej-949	161	12	the	the	DET
alkej-949	161	13	forces	force	NOUN
alkej-949	161	14	encountered	encounter	VERB
alkej-949	161	15	at	at	ADP
alkej-949	161	16	the	the	DET
alkej-949	161	17	contact	contact	NOUN
alkej-949	161	18	locations	location	NOUN
alkej-949	161	19	.	.	PUNCT
alkej-949	162	1	the	the	DET
alkej-949	162	2	contact	contact	NOUN
alkej-949	162	3	forces	force	NOUN
alkej-949	162	4	that	that	PRON
alkej-949	162	5	govern	govern	VERB
alkej-949	162	6	the	the	DET
alkej-949	162	7	rate	rate	NOUN
alkej-949	162	8	of	of	ADP
alkej-949	162	9	change	change	NOUN
alkej-949	162	10	of	of	ADP
alkej-949	162	11	linear	linear	PROPN
alkej-949	162	12	and	and	CCONJ
alkej-949	162	13	angular	angular	ADJ
alkej-949	162	14	momenta	momenta	NOUN
alkej-949	162	15	are	be	AUX
alkej-949	162	16	determined	determine	VERB
alkej-949	162	17	through	through	ADP
alkej-949	162	18	a	a	DET
alkej-949	162	19	constrained	constrain	VERB
alkej-949	162	20	optimisation	optimisation	NOUN
alkej-949	162	21	problem	problem	NOUN
alkej-949	162	22	.	.	PUNCT
alkej-949	163	1	a	a	DET
alkej-949	163	2	unified	unified	ADJ
alkej-949	163	3	model	model	NOUN
alkej-949	163	4	predictive	predictive	PROPN
alkej-949	163	5	control	control	PROPN
alkej-949	163	6	(	(	PUNCT
alkej-949	163	7	mpc	mpc	NOUN
alkej-949	163	8	)	)	PUNCT
alkej-949	163	9	system	system	NOUN
alkej-949	163	10	regulates	regulate	VERB
alkej-949	163	11	the	the	DET
alkej-949	163	12	position	position	NOUN
alkej-949	163	13	of	of	ADP
alkej-949	163	14	the	the	DET
alkej-949	163	15	capture	capture	NOUN
alkej-949	163	16	point	point	NOUN
alkej-949	163	17	by	by	ADP
alkej-949	163	18	adjusting	adjust	VERB
alkej-949	163	19	the	the	DET
alkej-949	163	20	zmp	zmp	NOUN
alkej-949	163	21	and	and	CCONJ
alkej-949	163	22	the	the	DET
alkej-949	163	23	cmp	cmp	NOUN
alkej-949	163	24	using	use	VERB
alkej-949	163	25	ankle	ankle	NOUN
alkej-949	163	26	and	and	CCONJ
alkej-949	163	27	hip	hip	NOUN
alkej-949	163	28	techniques	technique	NOUN
alkej-949	163	29	[	[	X
alkej-949	163	30	32	32	NUM
alkej-949	163	31	]	]	PUNCT
alkej-949	163	32	.	.	PUNCT
alkej-949	164	1	the	the	DET
alkej-949	164	2	zmp	zmp	NOUN
alkej-949	164	3	is	be	AUX
alkej-949	164	4	utilised	utilise	VERB
alkej-949	164	5	to	to	PART
alkej-949	164	6	regulate	regulate	VERB
alkej-949	164	7	the	the	DET
alkej-949	164	8	capture	capture	NOUN
alkej-949	164	9	point	point	NOUN
alkej-949	164	10	when	when	SCONJ
alkej-949	164	11	it	it	PRON
alkej-949	164	12	falls	fall	VERB
alkej-949	164	13	within	within	ADP
alkej-949	164	14	the	the	DET
alkej-949	164	15	support	support	NOUN
alkej-949	164	16	polygon	polygon	NOUN
alkej-949	164	17	.	.	PUNCT
alkej-949	165	1	the	the	DET
alkej-949	165	2	cmp	cmp	NOUN
alkej-949	165	3	is	be	AUX
alkej-949	165	4	employed	employ	VERB
alkej-949	165	5	when	when	SCONJ
alkej-949	165	6	the	the	DET
alkej-949	165	7	capture	capture	NOUN
alkej-949	165	8	point	point	NOUN
alkej-949	165	9	is	be	AUX
alkej-949	165	10	located	locate	VERB
alkej-949	165	11	outside	outside	ADP
alkej-949	165	12	of	of	ADP
alkej-949	165	13	the	the	DET
alkej-949	165	14	support	support	NOUN
alkej-949	165	15	polygon	polygon	NOUN
alkej-949	165	16	.	.	PUNCT
alkej-949	166	1	the	the	DET
alkej-949	166	2	study	study	NOUN
alkej-949	166	3	[	[	X
alkej-949	166	4	33	33	NUM
alkej-949	166	5	]	]	PUNCT
alkej-949	166	6	introduces	introduce	VERB
alkej-949	166	7	a	a	DET
alkej-949	166	8	novel	novel	ADJ
alkej-949	166	9	control	control	NOUN
alkej-949	166	10	method	method	NOUN
alkej-949	166	11	to	to	PART
alkej-949	166	12	regulate	regulate	VERB
alkej-949	166	13	the	the	DET
alkej-949	166	14	position	position	NOUN
alkej-949	166	15	of	of	ADP
alkej-949	166	16	the	the	DET
alkej-949	166	17	com	com	NOUN
alkej-949	166	18	and	and	CCONJ
alkej-949	166	19	the	the	DET
alkej-949	166	20	orientation	orientation	NOUN
alkej-949	166	21	of	of	ADP
alkej-949	166	22	the	the	DET
alkej-949	166	23	trunk	trunk	NOUN
alkej-949	166	24	of	of	ADP
alkej-949	166	25	a	a	DET
alkej-949	166	26	bipedal	bipedal	ADJ
alkej-949	166	27	robot	robot	NOUN
alkej-949	166	28	compliantly	compliantly	ADV
alkej-949	166	29	.	.	PUNCT
alkej-949	167	1	the	the	DET
alkej-949	167	2	objective	objective	NOUN
alkej-949	167	3	is	be	AUX
alkej-949	167	4	to	to	PART
alkej-949	167	5	calculate	calculate	VERB
alkej-949	167	6	the	the	DET
alkej-949	167	7	necessary	necessary	ADJ
alkej-949	167	8	torque	torque	NOUN
alkej-949	167	9	exerted	exert	VERB
alkej-949	167	10	at	at	ADP
alkej-949	167	11	the	the	DET
alkej-949	167	12	com	com	NOUN
alkej-949	167	13	to	to	PART
alkej-949	167	14	restore	restore	VERB
alkej-949	167	15	the	the	DET
alkej-949	167	16	body	body	NOUN
alkej-949	167	17	’s	’s	PART
alkej-949	167	18	position	position	NOUN
alkej-949	167	19	despite	despite	SCONJ
alkej-949	167	20	external	external	ADJ
alkej-949	167	21	disturbances	disturbance	NOUN
alkej-949	167	22	.	.	PUNCT
alkej-949	168	1	next	next	ADV
alkej-949	168	2	,	,	PUNCT
alkej-949	168	3	the	the	DET
alkej-949	168	4	force	force	NOUN
alkej-949	168	5	distribution	distribution	NOUN
alkej-949	168	6	framework	framework	NOUN
alkej-949	168	7	is	be	AUX
alkej-949	168	8	employed	employ	VERB
alkej-949	168	9	to	to	PART
alkej-949	168	10	allocate	allocate	VERB
alkej-949	168	11	the	the	DET
alkej-949	168	12	needed	needed	ADJ
alkej-949	168	13	wrench	wrench	NOUN
alkej-949	168	14	at	at	ADP
alkej-949	168	15	predetermined	predetermine	VERB
alkej-949	168	16	contact	contact	NOUN
alkej-949	168	17	locations	location	NOUN
alkej-949	168	18	through	through	ADP
alkej-949	168	19	a	a	DET
alkej-949	168	20	constrained	constrain	VERB
alkej-949	168	21	optimisation	optimisation	NOUN
alkej-949	168	22	problem	problem	NOUN
alkej-949	168	23	,	,	PUNCT
alkej-949	168	24	as	as	SCONJ
alkej-949	168	25	shown	show	VERB
alkej-949	168	26	in	in	ADP
alkej-949	168	27	figure	figure	NOUN
alkej-949	168	28	6	6	NUM
alkej-949	168	29	.	.	PUNCT
alkej-949	168	30	fig	fig	NOUN
alkej-949	168	31	.	.	PUNCT
alkej-949	169	1	6	6	NUM
alkej-949	169	2	.	.	NUM
alkej-949	169	3	proposed	propose	VERB
alkej-949	169	4	balancing	balance	VERB
alkej-949	169	5	controller	controller	NOUN
alkej-949	169	6	in	in	ADP
alkej-949	169	7	[	[	X
alkej-949	169	8	33	33	NUM
alkej-949	169	9	]	]	PUNCT
alkej-949	169	10	.	.	PUNCT
alkej-949	170	1	[	[	X
alkej-949	170	2	34	34	NUM
alkej-949	170	3	]	]	PUNCT
alkej-949	170	4	presents	present	VERB
alkej-949	170	5	an	an	DET
alkej-949	170	6	innovative	innovative	ADJ
alkej-949	170	7	technique	technique	NOUN
alkej-949	170	8	for	for	SCONJ
alkej-949	170	9	humanoid	humanoid	NOUN
alkej-949	170	10	robots	robot	NOUN
alkej-949	170	11	to	to	PART
alkej-949	170	12	recover	recover	VERB
alkej-949	170	13	from	from	ADP
alkej-949	170	14	a	a	DET
alkej-949	170	15	push	push	NOUN
alkej-949	170	16	by	by	ADP
alkej-949	170	17	using	use	VERB
alkej-949	170	18	the	the	DET
alkej-949	170	19	rotational	rotational	ADJ
alkej-949	170	20	dynamics	dynamic	NOUN
alkej-949	170	21	.	.	PUNCT
alkej-949	171	1	the	the	DET
alkej-949	171	2	process	process	NOUN
alkej-949	171	3	begins	begin	VERB
alkej-949	171	4	by	by	ADP
alkej-949	171	5	calculating	calculate	VERB
alkej-949	171	6	the	the	DET
alkej-949	171	7	centroidal	centroidal	ADJ
alkej-949	171	8	angular	angular	ADJ
alkej-949	171	9	momentum	momentum	NOUN
alkej-949	171	10	(	(	PUNCT
alkej-949	171	11	cam	cam	NOUN
alkej-949	171	12	)	)	PUNCT
alkej-949	171	13	reference	reference	NOUN
alkej-949	171	14	in	in	ADP
alkej-949	171	15	real	real	ADJ
alkej-949	171	16	time	time	NOUN
alkej-949	171	17	using	use	VERB
alkej-949	171	18	the	the	DET
alkej-949	171	19	magnitude	magnitude	NOUN
alkej-949	171	20	and	and	CCONJ
alkej-949	171	21	direction	direction	NOUN
alkej-949	171	22	of	of	ADP
alkej-949	171	23	the	the	DET
alkej-949	171	24	pushing	push	VERB
alkej-949	171	25	forces	force	NOUN
alkej-949	171	26	.	.	PUNCT
alkej-949	172	1	then	then	ADV
alkej-949	172	2	,	,	PUNCT
alkej-949	172	3	a	a	DET
alkej-949	172	4	quadratic	quadratic	ADJ
alkej-949	172	5	optimisation	optimisation	NOUN
alkej-949	172	6	problem	problem	NOUN
alkej-949	172	7	is	be	AUX
alkej-949	172	8	developed	develop	VERB
alkej-949	172	9	,	,	PUNCT
alkej-949	172	10	including	include	VERB
alkej-949	172	11	the	the	DET
alkej-949	172	12	cam	cam	NOUN
alkej-949	172	13	reference	reference	NOUN
alkej-949	172	14	as	as	ADP
alkej-949	172	15	an	an	DET
alkej-949	172	16	input	input	NOUN
alkej-949	172	17	.	.	PUNCT
alkej-949	173	1	this	this	DET
alkej-949	173	2	problem	problem	NOUN
alkej-949	173	3	aims	aim	VERB
alkej-949	173	4	to	to	PART
alkej-949	173	5	generate	generate	VERB
alkej-949	173	6	feasible	feasible	ADJ
alkej-949	173	7	whole	whole	ADJ
alkej-949	173	8	-	-	PUNCT
alkej-949	173	9	body	body	NOUN
alkej-949	173	10	motion	motion	NOUN
alkej-949	173	11	by	by	ADP
alkej-949	173	12	optimising	optimise	VERB
alkej-949	173	13	the	the	DET
alkej-949	173	14	adjusted	adjusted	ADJ
alkej-949	173	15	velocities	velocity	NOUN
alkej-949	173	16	,	,	PUNCT
alkej-949	173	17	including	include	VERB
alkej-949	173	18	the	the	DET
alkej-949	173	19	linear	linear	ADJ
alkej-949	173	20	velocity	velocity	NOUN
alkej-949	173	21	of	of	ADP
alkej-949	173	22	the	the	DET
alkej-949	173	23	com	com	NOUN
alkej-949	173	24	,	,	PUNCT
alkej-949	173	25	the	the	DET
alkej-949	173	26	angular	angular	ADJ
alkej-949	173	27	velocity	velocity	NOUN
alkej-949	173	28	of	of	ADP
alkej-949	173	29	the	the	DET
alkej-949	173	30	hip	hip	NOUN
alkej-949	173	31	and	and	CCONJ
alkej-949	173	32	the	the	DET
alkej-949	173	33	translational	translational	ADJ
alkej-949	173	34	and	and	CCONJ
alkej-949	173	35	rotational	rotational	ADJ
alkej-949	173	36	velocities	velocity	NOUN
alkej-949	173	37	of	of	ADP
alkej-949	173	38	the	the	DET
alkej-949	173	39	right	right	NOUN
alkej-949	173	40	and	and	CCONJ
alkej-949	173	41	left	leave	VERB
alkej-949	173	42	foot	foot	NOUN
alkej-949	173	43	.	.	PUNCT
alkej-949	174	1	the	the	DET
alkej-949	174	2	final	final	ADJ
alkej-949	174	3	torque	torque	NOUN
alkej-949	174	4	required	require	VERB
alkej-949	174	5	for	for	ADP
alkej-949	174	6	the	the	DET
alkej-949	174	7	robot	robot	NOUN
alkej-949	174	8	’s	’s	PART
alkej-949	174	9	desired	desire	VERB
alkej-949	174	10	motion	motion	NOUN
alkej-949	174	11	is	be	AUX
alkej-949	174	12	determined	determine	VERB
alkej-949	174	13	using	use	VERB
alkej-949	174	14	the	the	DET
alkej-949	174	15	passivity	passivity	NOUN
alkej-949	174	16	-	-	PUNCT
alkej-949	174	17	based	base	VERB
alkej-949	174	18	wholebody	wholebody	NOUN
alkej-949	174	19	controller	controller	NOUN
alkej-949	174	20	provided	provide	VERB
alkej-949	174	21	in	in	ADP
alkej-949	174	22	[	[	NOUN
alkej-949	174	23	35	35	NUM
alkej-949	174	24	]	]	PUNCT
alkej-949	174	25	in	in	ADP
alkej-949	174	26	the	the	DET
alkej-949	174	27	last	last	ADJ
alkej-949	174	28	stage	stage	NOUN
alkej-949	174	29	of	of	ADP
alkej-949	174	30	the	the	DET
alkej-949	174	31	process	process	NOUN
alkej-949	174	32	.	.	PUNCT
alkej-949	175	1	the	the	DET
alkej-949	175	2	experiments	experiment	NOUN
alkej-949	175	3	demonstrate	demonstrate	VERB
alkej-949	175	4	the	the	DET
alkej-949	175	5	humanoid	humanoid	NOUN
alkej-949	175	6	robots	robot	NOUN
alkej-949	175	7	’	'	PUNCT
alkej-949	175	8	potential	potential	NOUN
alkej-949	175	9	to	to	PART
alkej-949	175	10	maintain	maintain	VERB
alkej-949	175	11	balance	balance	NOUN
alkej-949	175	12	and	and	CCONJ
alkej-949	175	13	prevent	prevent	VERB
alkej-949	175	14	falling	fall	VERB
alkej-949	175	15	when	when	SCONJ
alkej-949	175	16	standing	stand	VERB
alkej-949	175	17	on	on	ADP
alkej-949	175	18	either	either	PRON
alkej-949	175	19	one	one	NUM
alkej-949	175	20	or	or	CCONJ
alkej-949	175	21	two	two	NUM
alkej-949	175	22	legs	leg	NOUN
alkej-949	175	23	.	.	PUNCT
alkej-949	176	1	table	table	NOUN
alkej-949	176	2	1	1	NUM
alkej-949	176	3	presents	present	VERB
alkej-949	176	4	a	a	DET
alkej-949	176	5	comparison	comparison	NOUN
alkej-949	176	6	of	of	ADP
alkej-949	176	7	the	the	DET
alkej-949	176	8	investigated	investigate	VERB
alkej-949	176	9	studies	study	NOUN
alkej-949	176	10	that	that	PRON
alkej-949	176	11	examine	examine	VERB
alkej-949	176	12	standing	stand	VERB
alkej-949	176	13	stability	stability	NOUN
alkej-949	176	14	.	.	PUNCT
alkej-949	177	1	the	the	DET
alkej-949	177	2	comparison	comparison	NOUN
alkej-949	177	3	is	be	AUX
alkej-949	177	4	based	base	VERB
alkej-949	177	5	on	on	ADP
alkej-949	177	6	three	three	NUM
alkej-949	177	7	key	key	ADJ
alkej-949	177	8	factors	factor	NOUN
alkej-949	177	9	:	:	PUNCT
alkej-949	177	10	the	the	DET
alkej-949	177	11	dynamical	dynamical	ADJ
alkej-949	177	12	model	model	NOUN
alkej-949	177	13	used	use	VERB
alkej-949	177	14	,	,	PUNCT
alkej-949	177	15	the	the	DET
alkej-949	177	16	push	push	NOUN
alkej-949	177	17	recovery	recovery	NOUN
alkej-949	177	18	technique	technique	NOUN
alkej-949	177	19	employed	employ	VERB
alkej-949	177	20	and	and	CCONJ
alkej-949	177	21	the	the	DET
alkej-949	177	22	sensors	sensor	NOUN
alkej-949	177	23	required	require	VERB
alkej-949	177	24	.	.	PUNCT
alkej-949	178	1	3.2	3.2	NUM
alkej-949	178	2	.	.	PUNCT
alkej-949	179	1	push	push	NOUN
alkej-949	179	2	recovery	recovery	NOUN
alkej-949	179	3	control	control	NOUN
alkej-949	179	4	techniques	technique	NOUN
alkej-949	179	5	for	for	ADP
alkej-949	179	6	walking	walk	VERB
alkej-949	179	7	bipedal	bipedal	ADJ
alkej-949	179	8	robots	robot	NOUN
alkej-949	179	9	[	[	X
alkej-949	179	10	36	36	NUM
alkej-949	179	11	]	]	PUNCT
alkej-949	179	12	introduces	introduce	VERB
alkej-949	179	13	a	a	DET
alkej-949	179	14	push	push	NOUN
alkej-949	179	15	detector	detector	NOUN
alkej-949	179	16	that	that	PRON
alkej-949	179	17	relies	rely	VERB
alkej-949	179	18	on	on	ADP
alkej-949	179	19	the	the	DET
alkej-949	179	20	com	com	NOUN
alkej-949	179	21	error	error	NOUN
alkej-949	179	22	.	.	PUNCT
alkej-949	180	1	it	it	PRON
alkej-949	180	2	also	also	ADV
alkej-949	180	3	suggests	suggest	VERB
alkej-949	180	4	two	two	NUM
alkej-949	180	5	control	control	NOUN
alkej-949	180	6	strategies	strategy	NOUN
alkej-949	180	7	ibrahim	ibrahim	PROPN
alkej-949	180	8	altameemi	altameemi	ADP
alkej-949	180	9	al	al	PROPN
alkej-949	180	10	-	-	PUNCT
alkej-949	180	11	khwarizmi	khwarizmi	PROPN
alkej-949	180	12	engineering	engineering	NOUN
alkej-949	180	13	journal	journal	PROPN
alkej-949	180	14	,	,	PUNCT
alkej-949	180	15	vol	vol	NOUN
alkej-949	180	16	.	.	PROPN
alkej-949	180	17	20	20	NUM
alkej-949	180	18	,	,	PUNCT
alkej-949	180	19	no.3	no.3	VERB
alkej-949	180	20	,	,	PUNCT
alkej-949	180	21	p.p	p.p	PROPN
alkej-949	180	22	.	.	PROPN
alkej-949	180	23	2035	2035	NUM
alkej-949	180	24	(	(	PUNCT
alkej-949	180	25	2024	2024	NUM
alkej-949	180	26	)	)	PUNCT
alkej-949	180	27	26	26	NUM
alkej-949	180	28	to	to	PART
alkej-949	180	29	deal	deal	VERB
alkej-949	180	30	with	with	ADP
alkej-949	180	31	pushing	push	VERB
alkej-949	180	32	forces	force	NOUN
alkej-949	180	33	that	that	PRON
alkej-949	180	34	may	may	AUX
alkej-949	180	35	arise	arise	VERB
alkej-949	180	36	while	while	SCONJ
alkej-949	180	37	walking	walk	VERB
alkej-949	180	38	effectively	effectively	ADV
alkej-949	180	39	.	.	PUNCT
alkej-949	181	1	the	the	DET
alkej-949	181	2	initial	initial	ADJ
alkej-949	181	3	control	control	NOUN
alkej-949	181	4	method	method	NOUN
alkej-949	181	5	is	be	AUX
alkej-949	181	6	the	the	DET
alkej-949	181	7	hip	hip	NOUN
alkej-949	181	8	and	and	CCONJ
alkej-949	181	9	ankle	ankle	NOUN
alkej-949	181	10	strategy	strategy	NOUN
alkej-949	181	11	,	,	PUNCT
alkej-949	181	12	which	which	PRON
alkej-949	181	13	is	be	AUX
alkej-949	181	14	effective	effective	ADJ
alkej-949	181	15	only	only	ADV
alkej-949	181	16	when	when	SCONJ
alkej-949	181	17	a	a	DET
alkej-949	181	18	force	force	NOUN
alkej-949	181	19	is	be	AUX
alkej-949	181	20	detected	detect	VERB
alkej-949	181	21	before	before	SCONJ
alkej-949	181	22	the	the	DET
alkej-949	181	23	foot	foot	NOUN
alkej-949	181	24	is	be	AUX
alkej-949	181	25	lifted	lift	VERB
alkej-949	181	26	off	off	ADP
alkej-949	181	27	the	the	DET
alkej-949	181	28	ground	ground	NOUN
alkej-949	181	29	.	.	PUNCT
alkej-949	182	1	this	this	DET
alkej-949	182	2	approach	approach	NOUN
alkej-949	182	3	produces	produce	VERB
alkej-949	182	4	a	a	DET
alkej-949	182	5	rotational	rotational	ADJ
alkej-949	182	6	force	force	NOUN
alkej-949	182	7	at	at	ADP
alkej-949	182	8	the	the	DET
alkej-949	182	9	hip	hip	NOUN
alkej-949	182	10	joint	joint	NOUN
alkej-949	182	11	to	to	PART
alkej-949	182	12	counteract	counteract	VERB
alkej-949	182	13	the	the	DET
alkej-949	182	14	rotational	rotational	ADJ
alkej-949	182	15	motion	motion	NOUN
alkej-949	182	16	caused	cause	VERB
alkej-949	182	17	by	by	ADP
alkej-949	182	18	external	external	ADJ
alkej-949	182	19	forces	force	NOUN
alkej-949	182	20	.	.	PUNCT
alkej-949	183	1	it	it	PRON
alkej-949	183	2	generates	generate	VERB
alkej-949	183	3	significant	significant	ADJ
alkej-949	183	4	rotational	rotational	ADJ
alkej-949	183	5	forces	force	NOUN
alkej-949	183	6	at	at	ADP
alkej-949	183	7	the	the	DET
alkej-949	183	8	ankle	ankle	NOUN
alkej-949	183	9	joint	joint	NOUN
alkej-949	183	10	to	to	PART
alkej-949	183	11	generate	generate	VERB
alkej-949	183	12	opposing	oppose	VERB
alkej-949	183	13	forces	force	NOUN
alkej-949	183	14	.	.	PUNCT
alkej-949	184	1	consequently	consequently	ADV
alkej-949	184	2	,	,	PUNCT
alkej-949	184	3	the	the	DET
alkej-949	184	4	robot	robot	NOUN
alkej-949	184	5	would	would	AUX
alkej-949	184	6	increase	increase	VERB
alkej-949	184	7	its	its	PRON
alkej-949	184	8	step	step	NOUN
alkej-949	184	9	length	length	NOUN
alkej-949	184	10	to	to	PART
alkej-949	184	11	regain	regain	VERB
alkej-949	184	12	equilibrium	equilibrium	NOUN
alkej-949	184	13	.	.	PUNCT
alkej-949	185	1	however	however	ADV
alkej-949	185	2	,	,	PUNCT
alkej-949	185	3	if	if	SCONJ
alkej-949	185	4	the	the	DET
alkej-949	185	5	push	push	NOUN
alkej-949	185	6	is	be	AUX
alkej-949	185	7	sensed	sense	VERB
alkej-949	185	8	during	during	ADP
alkej-949	185	9	the	the	DET
alkej-949	185	10	leg	leg	NOUN
alkej-949	185	11	’s	’s	PART
alkej-949	185	12	swing	swing	NOUN
alkej-949	185	13	phase	phase	NOUN
alkej-949	185	14	,	,	PUNCT
alkej-949	185	15	the	the	DET
alkej-949	185	16	knee	knee	NOUN
alkej-949	185	17	approach	approach	NOUN
alkej-949	185	18	is	be	AUX
alkej-949	185	19	employed	employ	VERB
alkej-949	185	20	to	to	PART
alkej-949	185	21	flex	flex	VERB
alkej-949	185	22	the	the	DET
alkej-949	185	23	knee	knee	NOUN
alkej-949	185	24	joint	joint	NOUN
alkej-949	185	25	and	and	CCONJ
alkej-949	185	26	slow	slow	VERB
alkej-949	185	27	down	down	ADP
alkej-949	185	28	the	the	DET
alkej-949	185	29	movement	movement	NOUN
alkej-949	185	30	of	of	ADP
alkej-949	185	31	the	the	DET
alkej-949	185	32	upper	upper	ADJ
alkej-949	185	33	trunk	trunk	NOUN
alkej-949	185	34	.	.	PUNCT
alkej-949	186	1	the	the	DET
alkej-949	186	2	simulation	simulation	NOUN
alkej-949	186	3	results	result	NOUN
alkej-949	186	4	demonstrate	demonstrate	VERB
alkej-949	186	5	the	the	DET
alkej-949	186	6	biped	biped	NOUN
alkej-949	186	7	’s	’s	PART
alkej-949	186	8	capability	capability	NOUN
alkej-949	186	9	to	to	PART
alkej-949	186	10	regain	regain	VERB
alkej-949	186	11	stability	stability	NOUN
alkej-949	186	12	after	after	ADP
alkej-949	186	13	experiencing	experience	VERB
alkej-949	186	14	significant	significant	ADJ
alkej-949	186	15	external	external	ADJ
alkej-949	186	16	forces	force	NOUN
alkej-949	186	17	while	while	SCONJ
alkej-949	186	18	walking	walk	VERB
alkej-949	186	19	.	.	PUNCT
alkej-949	187	1	[	[	X
alkej-949	187	2	37	37	NUM
alkej-949	187	3	]	]	PUNCT
alkej-949	187	4	introduces	introduce	VERB
alkej-949	187	5	a	a	DET
alkej-949	187	6	trajectory	trajectory	NOUN
alkej-949	187	7	generation	generation	NOUN
alkej-949	187	8	system	system	NOUN
alkej-949	187	9	,	,	PUNCT
alkej-949	187	10	which	which	PRON
alkej-949	187	11	includes	include	VERB
alkej-949	187	12	a	a	DET
alkej-949	187	13	push	push	NOUN
alkej-949	187	14	recovery	recovery	NOUN
alkej-949	187	15	trajectory	trajectory	NOUN
alkej-949	187	16	generator	generator	NOUN
alkej-949	187	17	to	to	PART
alkej-949	187	18	deal	deal	VERB
alkej-949	187	19	with	with	ADP
alkej-949	187	20	disturbances	disturbance	NOUN
alkej-949	187	21	effectively	effectively	ADV
alkej-949	187	22	.	.	PUNCT
alkej-949	188	1	the	the	DET
alkej-949	188	2	walking	walk	VERB
alkej-949	188	3	trajectory	trajectory	NOUN
alkej-949	188	4	generator	generator	PROPN
alkej-949	188	5	utilises	utilise	NOUN
alkej-949	188	6	preview	preview	PROPN
alkej-949	188	7	control	control	NOUN
alkej-949	188	8	to	to	PART
alkej-949	188	9	construct	construct	VERB
alkej-949	188	10	the	the	DET
alkej-949	188	11	planned	plan	VERB
alkej-949	188	12	com	com	NOUN
alkej-949	188	13	trajectory	trajectory	NOUN
alkej-949	188	14	for	for	ADP
alkej-949	188	15	regular	regular	ADJ
alkej-949	188	16	walking	walking	NOUN
alkej-949	188	17	.	.	PUNCT
alkej-949	189	1	the	the	DET
alkej-949	189	2	authors	author	NOUN
alkej-949	189	3	of	of	ADP
alkej-949	189	4	[	[	X
alkej-949	189	5	37	37	NUM
alkej-949	189	6	]	]	PUNCT
alkej-949	189	7	enhance	enhance	VERB
alkej-949	189	8	the	the	DET
alkej-949	189	9	generic	generic	ADJ
alkej-949	189	10	walking	walking	NOUN
alkej-949	189	11	trajectory	trajectory	NOUN
alkej-949	189	12	by	by	ADP
alkej-949	189	13	incorporating	incorporate	VERB
alkej-949	189	14	a	a	DET
alkej-949	189	15	push	push	NOUN
alkej-949	189	16	recovery	recovery	NOUN
alkej-949	189	17	trajectory	trajectory	NOUN
alkej-949	189	18	generator	generator	NOUN
alkej-949	189	19	that	that	PRON
alkej-949	189	20	mimics	mimic	VERB
alkej-949	189	21	human	human	ADJ
alkej-949	189	22	behaviour	behaviour	NOUN
alkej-949	189	23	in	in	ADP
alkej-949	189	24	the	the	DET
alkej-949	189	25	presence	presence	NOUN
alkej-949	189	26	of	of	ADP
alkej-949	189	27	disturbances	disturbance	NOUN
alkej-949	189	28	,	,	PUNCT
alkej-949	189	29	as	as	SCONJ
alkej-949	189	30	shown	show	VERB
alkej-949	189	31	in	in	ADP
alkej-949	189	32	figure	figure	NOUN
alkej-949	189	33	7	7	NUM
alkej-949	189	34	.	.	PUNCT
alkej-949	189	35	to	to	PART
alkej-949	189	36	ensure	ensure	VERB
alkej-949	189	37	stability	stability	NOUN
alkej-949	189	38	in	in	ADP
alkej-949	189	39	the	the	DET
alkej-949	189	40	case	case	NOUN
alkej-949	189	41	of	of	ADP
alkej-949	189	42	a	a	DET
alkej-949	189	43	push	push	NOUN
alkej-949	189	44	,	,	PUNCT
alkej-949	189	45	the	the	DET
alkej-949	189	46	trajectory	trajectory	NOUN
alkej-949	189	47	of	of	ADP
alkej-949	189	48	the	the	DET
alkej-949	189	49	swing	swing	NOUN
alkej-949	189	50	leg	leg	NOUN
alkej-949	189	51	is	be	AUX
alkej-949	189	52	modified	modify	VERB
alkej-949	189	53	to	to	PART
alkej-949	189	54	mitigate	mitigate	VERB
alkej-949	189	55	the	the	DET
alkej-949	189	56	angular	angular	ADJ
alkej-949	189	57	momentum	momentum	NOUN
alkej-949	189	58	generated	generate	VERB
alkej-949	189	59	by	by	ADP
alkej-949	189	60	the	the	DET
alkej-949	189	61	push	push	NOUN
alkej-949	189	62	on	on	ADP
alkej-949	189	63	the	the	DET
alkej-949	189	64	com	com	NOUN
alkej-949	189	65	.	.	PUNCT
alkej-949	190	1	the	the	DET
alkej-949	190	2	robot	robot	NOUN
alkej-949	190	3	’s	’s	PART
alkej-949	190	4	upper	upper	ADJ
alkej-949	190	5	body	body	NOUN
alkej-949	190	6	bends	bend	VERB
alkej-949	190	7	simultaneously	simultaneously	ADV
alkej-949	190	8	to	to	PART
alkej-949	190	9	counterbalance	counterbalance	VERB
alkej-949	190	10	the	the	DET
alkej-949	190	11	disturbance	disturbance	NOUN
alkej-949	190	12	caused	cause	VERB
alkej-949	190	13	by	by	ADP
alkej-949	190	14	human	human	ADJ
alkej-949	190	15	reactions	reaction	NOUN
alkej-949	190	16	to	to	ADP
alkej-949	190	17	external	external	ADJ
alkej-949	190	18	pushes	push	NOUN
alkej-949	190	19	.	.	PUNCT
alkej-949	191	1	a	a	DET
alkej-949	191	2	human	human	ADJ
alkej-949	191	3	-	-	PUNCT
alkej-949	191	4	like	like	ADJ
alkej-949	191	5	motion	motion	NOUN
alkej-949	191	6	control	control	NOUN
alkej-949	191	7	pipeline	pipeline	NOUN
alkej-949	191	8	is	be	AUX
alkej-949	191	9	shown	show	VERB
alkej-949	191	10	in	in	ADP
alkej-949	191	11	figure	figure	NOUN
alkej-949	191	12	8	8	NUM
alkej-949	191	13	.	.	PUNCT
alkej-949	192	1	[	[	X
alkej-949	192	2	38	38	NUM
alkej-949	192	3	]	]	PUNCT
alkej-949	192	4	describes	describe	VERB
alkej-949	192	5	a	a	DET
alkej-949	192	6	push	push	NOUN
alkej-949	192	7	recovery	recovery	NOUN
alkej-949	192	8	control	control	NOUN
alkej-949	192	9	implemented	implement	VERB
alkej-949	192	10	via	via	ADP
alkej-949	192	11	walking	walking	NOUN
alkej-949	192	12	phase	phase	NOUN
alkej-949	192	13	modification	modification	NOUN
alkej-949	192	14	.	.	PUNCT
alkej-949	193	1	it	it	PRON
alkej-949	193	2	presents	present	VERB
alkej-949	193	3	two	two	NUM
alkej-949	193	4	controllers	controller	NOUN
alkej-949	193	5	.	.	PUNCT
alkej-949	194	1	the	the	DET
alkej-949	194	2	first	first	ADJ
alkej-949	194	3	is	be	AUX
alkej-949	194	4	the	the	DET
alkej-949	194	5	normal	normal	ADJ
alkej-949	194	6	walking	walking	NOUN
alkej-949	194	7	pattern	pattern	NOUN
alkej-949	194	8	generator	generator	NOUN
alkej-949	194	9	,	,	PUNCT
alkej-949	194	10	which	which	PRON
alkej-949	194	11	generates	generate	VERB
alkej-949	194	12	normal	normal	ADJ
alkej-949	194	13	walking	walking	NOUN
alkej-949	194	14	in	in	ADP
alkej-949	194	15	the	the	DET
alkej-949	194	16	absence	absence	NOUN
alkej-949	194	17	of	of	ADP
alkej-949	194	18	pushing	push	VERB
alkej-949	194	19	using	use	VERB
alkej-949	194	20	lipm	lipm	NOUN
alkej-949	194	21	.	.	PUNCT
alkej-949	195	1	the	the	DET
alkej-949	195	2	system	system	NOUN
alkej-949	195	3	executes	execute	VERB
alkej-949	195	4	the	the	DET
alkej-949	195	5	push	push	NOUN
alkej-949	195	6	recovery	recovery	NOUN
alkej-949	195	7	controller	controller	NOUN
alkej-949	195	8	,	,	PUNCT
alkej-949	195	9	which	which	PRON
alkej-949	195	10	is	be	AUX
alkej-949	195	11	the	the	DET
alkej-949	195	12	second	second	ADJ
alkej-949	195	13	controller	controller	NOUN
alkej-949	195	14	,	,	PUNCT
alkej-949	195	15	as	as	ADV
alkej-949	195	16	soon	soon	ADV
alkej-949	195	17	as	as	SCONJ
alkej-949	195	18	the	the	DET
alkej-949	195	19	push	push	NOUN
alkej-949	195	20	occurs	occur	VERB
alkej-949	195	21	,	,	PUNCT
alkej-949	195	22	as	as	SCONJ
alkej-949	195	23	illustrated	illustrate	VERB
alkej-949	195	24	in	in	ADP
alkej-949	195	25	figure	figure	NOUN
alkej-949	195	26	9	9	NUM
alkej-949	195	27	.	.	PUNCT
alkej-949	195	28	acceleration	acceleration	NOUN
alkej-949	195	29	(	(	PUNCT
alkej-949	195	30	occurring	occur	VERB
alkej-949	195	31	when	when	SCONJ
alkej-949	195	32	com	com	NOUN
alkej-949	195	33	velocity	velocity	NOUN
alkej-949	195	34	increases	increase	NOUN
alkej-949	195	35	)	)	PUNCT
alkej-949	195	36	and	and	CCONJ
alkej-949	195	37	deceleration	deceleration	NOUN
alkej-949	195	38	(	(	PUNCT
alkej-949	195	39	occurring	occur	VERB
alkej-949	195	40	when	when	SCONJ
alkej-949	195	41	com	com	NOUN
alkej-949	195	42	velocity	velocity	NOUN
alkej-949	195	43	decreases	decrease	VERB
alkej-949	195	44	)	)	PUNCT
alkej-949	195	45	are	be	AUX
alkej-949	195	46	the	the	DET
alkej-949	195	47	two	two	NUM
alkej-949	195	48	phases	phase	NOUN
alkej-949	195	49	of	of	ADP
alkej-949	195	50	this	this	DET
alkej-949	195	51	controller	controller	NOUN
alkej-949	195	52	.	.	PUNCT
alkej-949	196	1	the	the	DET
alkej-949	196	2	concept	concept	NOUN
alkej-949	196	3	of	of	ADP
alkej-949	196	4	orbital	orbital	ADJ
alkej-949	196	5	energy	energy	NOUN
alkej-949	196	6	is	be	AUX
alkej-949	196	7	utilised	utilise	VERB
alkej-949	196	8	to	to	PART
alkej-949	196	9	decide	decide	VERB
alkej-949	196	10	whether	whether	SCONJ
alkej-949	196	11	the	the	DET
alkej-949	196	12	robot	robot	NOUN
alkej-949	196	13	is	be	AUX
alkej-949	196	14	experiencing	experience	VERB
alkej-949	196	15	an	an	DET
alkej-949	196	16	external	external	ADJ
alkej-949	196	17	push	push	NOUN
alkej-949	196	18	.	.	PUNCT
alkej-949	197	1	the	the	DET
alkej-949	197	2	leg	leg	NOUN
alkej-949	197	3	must	must	AUX
alkej-949	197	4	promptly	promptly	ADV
alkej-949	197	5	land	land	VERB
alkej-949	197	6	to	to	ADP
alkej-949	197	7	transition	transition	VERB
alkej-949	197	8	to	to	ADP
alkej-949	197	9	the	the	DET
alkej-949	197	10	deceleration	deceleration	NOUN
alkej-949	197	11	phase	phase	NOUN
alkej-949	197	12	if	if	SCONJ
alkej-949	197	13	the	the	DET
alkej-949	197	14	push	push	NOUN
alkej-949	197	15	occurs	occur	VERB
alkej-949	197	16	during	during	ADP
alkej-949	197	17	the	the	DET
alkej-949	197	18	acceleration	acceleration	NOUN
alkej-949	197	19	phase	phase	NOUN
alkej-949	197	20	.	.	PUNCT
alkej-949	198	1	this	this	DET
alkej-949	198	2	step	step	NOUN
alkej-949	198	3	is	be	AUX
alkej-949	198	4	required	require	VERB
alkej-949	198	5	to	to	PART
alkej-949	198	6	prevent	prevent	VERB
alkej-949	198	7	the	the	DET
alkej-949	198	8	further	further	ADJ
alkej-949	198	9	acceleration	acceleration	NOUN
alkej-949	198	10	of	of	ADP
alkej-949	198	11	the	the	DET
alkej-949	198	12	com	com	NOUN
alkej-949	198	13	velocity	velocity	NOUN
alkej-949	198	14	and	and	CCONJ
alkej-949	198	15	to	to	PART
alkej-949	198	16	calculate	calculate	VERB
alkej-949	198	17	a	a	DET
alkej-949	198	18	new	new	ADJ
alkej-949	198	19	com	com	NOUN
alkej-949	198	20	position	position	NOUN
alkej-949	198	21	in	in	ADP
alkej-949	198	22	a	a	DET
alkej-949	198	23	manner	manner	NOUN
alkej-949	198	24	that	that	PRON
alkej-949	198	25	minimises	minimise	VERB
alkej-949	198	26	the	the	DET
alkej-949	198	27	orbital	orbital	ADJ
alkej-949	198	28	energy	energy	NOUN
alkej-949	198	29	.	.	PUNCT
alkej-949	199	1	the	the	DET
alkej-949	199	2	simulation	simulation	NOUN
alkej-949	199	3	outcomes	outcome	NOUN
alkej-949	199	4	demonstrate	demonstrate	VERB
alkej-949	199	5	the	the	DET
alkej-949	199	6	efficacy	efficacy	NOUN
alkej-949	199	7	of	of	ADP
alkej-949	199	8	the	the	DET
alkej-949	199	9	research	research	NOUN
alkej-949	199	10	[	[	X
alkej-949	199	11	38	38	NUM
alkej-949	199	12	]	]	PUNCT
alkej-949	199	13	regarding	regard	VERB
alkej-949	199	14	recovery	recovery	NOUN
alkej-949	199	15	from	from	ADP
alkej-949	199	16	a	a	DET
alkej-949	199	17	push	push	NOUN
alkej-949	199	18	while	while	SCONJ
alkej-949	199	19	walking	walk	VERB
alkej-949	199	20	.	.	PUNCT
alkej-949	200	1	fig	fig	NOUN
alkej-949	200	2	.	.	PUNCT
alkej-949	201	1	7	7	X
alkej-949	201	2	.	.	NUM
alkej-949	201	3	proposed	propose	VERB
alkej-949	201	4	push	push	NOUN
alkej-949	201	5	recovery	recovery	NOUN
alkej-949	201	6	trajectory	trajectory	NOUN
alkej-949	201	7	generation	generation	NOUN
alkej-949	201	8	in	in	ADP
alkej-949	201	9	[	[	X
alkej-949	201	10	37	37	NUM
alkej-949	201	11	]	]	PUNCT
alkej-949	201	12	.	.	PUNCT
alkej-949	202	1	the	the	DET
alkej-949	202	2	implementation	implementation	NOUN
alkej-949	202	3	of	of	ADP
alkej-949	202	4	a	a	DET
alkej-949	202	5	two	two	NUM
alkej-949	202	6	-	-	PUNCT
alkej-949	202	7	level	level	NOUN
alkej-949	202	8	dynamic	dynamic	ADJ
alkej-949	202	9	walking	walking	NOUN
alkej-949	202	10	controller	controller	NOUN
alkej-949	202	11	on	on	ADP
alkej-949	202	12	a	a	DET
alkej-949	202	13	real	real	ADJ
alkej-949	202	14	robot	robot	NOUN
alkej-949	202	15	named	name	VERB
alkej-949	202	16	bruce	bruce	PROPN
alkej-949	202	17	is	be	AUX
alkej-949	202	18	demonstrated	demonstrate	VERB
alkej-949	202	19	[	[	PUNCT
alkej-949	202	20	39	39	NUM
alkej-949	202	21	]	]	PUNCT
alkej-949	202	22	.	.	PUNCT
alkej-949	203	1	the	the	DET
alkej-949	203	2	divergent	divergent	ADJ
alkej-949	203	3	component	component	NOUN
alkej-949	203	4	of	of	ADP
alkej-949	203	5	motion	motion	NOUN
alkej-949	203	6	(	(	PUNCT
alkej-949	203	7	dcm)-based	dcm)-base	VERB
alkej-949	203	8	high	high	ADJ
alkej-949	203	9	-	-	PUNCT
alkej-949	203	10	level	level	NOUN
alkej-949	203	11	footstep	footstep	NOUN
alkej-949	203	12	planner	planner	NOUN
alkej-949	203	13	is	be	AUX
alkej-949	203	14	the	the	DET
alkej-949	203	15	initial	initial	ADJ
alkej-949	203	16	controller	controller	NOUN
alkej-949	203	17	that	that	PRON
alkej-949	203	18	determines	determine	VERB
alkej-949	203	19	the	the	DET
alkej-949	203	20	position	position	NOUN
alkej-949	203	21	and	and	CCONJ
alkej-949	203	22	duration	duration	NOUN
alkej-949	203	23	of	of	ADP
alkej-949	203	24	the	the	DET
alkej-949	203	25	upcoming	upcoming	ADJ
alkej-949	203	26	steps	step	NOUN
alkej-949	203	27	.	.	PUNCT
alkej-949	204	1	dcm	dcm	PROPN
alkej-949	204	2	is	be	AUX
alkej-949	204	3	an	an	DET
alkej-949	204	4	enhancement	enhancement	NOUN
alkej-949	204	5	to	to	PART
alkej-949	204	6	lipm	lipm	VERB
alkej-949	204	7	that	that	PRON
alkej-949	204	8	incorporates	incorporate	VERB
alkej-949	204	9	a	a	DET
alkej-949	204	10	dynamic	dynamic	ADJ
alkej-949	204	11	reference	reference	NOUN
alkej-949	204	12	trajectory	trajectory	NOUN
alkej-949	204	13	for	for	ADP
alkej-949	204	14	the	the	DET
alkej-949	204	15	com	com	NOUN
alkej-949	204	16	.	.	PUNCT
alkej-949	205	1	this	this	DET
alkej-949	205	2	modification	modification	NOUN
alkej-949	205	3	improves	improve	VERB
alkej-949	205	4	the	the	DET
alkej-949	205	5	stability	stability	NOUN
alkej-949	205	6	and	and	CCONJ
alkej-949	205	7	naturalness	naturalness	NOUN
alkej-949	205	8	of	of	ADP
alkej-949	205	9	the	the	DET
alkej-949	205	10	motion	motion	NOUN
alkej-949	205	11	.	.	PUNCT
alkej-949	206	1	the	the	DET
alkej-949	206	2	whole	whole	ADJ
alkej-949	206	3	-	-	PUNCT
alkej-949	206	4	body	body	NOUN
alkej-949	206	5	control	control	NOUN
alkej-949	206	6	is	be	AUX
alkej-949	206	7	the	the	DET
alkej-949	206	8	lowlevel	lowlevel	ADJ
alkej-949	206	9	controller	controller	NOUN
alkej-949	206	10	responsible	responsible	ADJ
alkej-949	206	11	for	for	ADP
alkej-949	206	12	determining	determine	VERB
alkej-949	206	13	the	the	DET
alkej-949	206	14	joint	joint	ADJ
alkej-949	206	15	torques	torque	NOUN
alkej-949	206	16	needed	need	VERB
alkej-949	206	17	to	to	PART
alkej-949	206	18	create	create	VERB
alkej-949	206	19	planned	planned	ADJ
alkej-949	206	20	foot	foot	NOUN
alkej-949	206	21	contact	contact	NOUN
alkej-949	206	22	.	.	PUNCT
alkej-949	207	1	it	it	PRON
alkej-949	207	2	also	also	ADV
alkej-949	207	3	regulates	regulate	VERB
alkej-949	207	4	other	other	ADJ
alkej-949	207	5	task	task	NOUN
alkej-949	207	6	-	-	PUNCT
alkej-949	207	7	space	space	NOUN
alkej-949	207	8	behaviours	behaviour	NOUN
alkej-949	207	9	,	,	PUNCT
alkej-949	207	10	including	include	VERB
alkej-949	207	11	com	com	NOUN
alkej-949	207	12	height	height	NOUN
alkej-949	207	13	,	,	PUNCT
alkej-949	207	14	swing	swing	NOUN
alkej-949	207	15	leg	leg	NOUN
alkej-949	207	16	position	position	NOUN
alkej-949	207	17	and	and	CCONJ
alkej-949	207	18	torso	torso	NOUN
alkej-949	207	19	orientation	orientation	NOUN
alkej-949	207	20	.	.	PUNCT
alkej-949	208	1	controllers	controller	NOUN
alkej-949	208	2	for	for	ADP
alkej-949	208	3	real	real	ADJ
alkej-949	208	4	-	-	PUNCT
alkej-949	208	5	time	time	NOUN
alkej-949	208	6	applications	application	NOUN
alkej-949	208	7	utilise	utilise	VERB
alkej-949	208	8	small	small	ADJ
alkej-949	208	9	-	-	PUNCT
alkej-949	208	10	scale	scale	NOUN
alkej-949	208	11	quadratic	quadratic	ADJ
alkej-949	208	12	programming	programming	NOUN
alkej-949	208	13	to	to	PART
alkej-949	208	14	guarantee	guarantee	VERB
alkej-949	208	15	optimality	optimality	NOUN
alkej-949	208	16	.	.	PUNCT
alkej-949	209	1	the	the	DET
alkej-949	209	2	findings	finding	NOUN
alkej-949	209	3	indicate	indicate	VERB
alkej-949	209	4	that	that	SCONJ
alkej-949	209	5	bruce	bruce	PROPN
alkej-949	209	6	can	can	AUX
alkej-949	209	7	successfully	successfully	ADV
alkej-949	209	8	recover	recover	VERB
alkej-949	209	9	by	by	ADP
alkej-949	209	10	adjusting	adjust	VERB
alkej-949	209	11	the	the	DET
alkej-949	209	12	position	position	NOUN
alkej-949	209	13	of	of	ADP
alkej-949	209	14	each	each	DET
alkej-949	209	15	footstep	footstep	NOUN
alkej-949	209	16	and	and	CCONJ
alkej-949	209	17	the	the	DET
alkej-949	209	18	duration	duration	NOUN
alkej-949	209	19	of	of	ADP
alkej-949	209	20	each	each	DET
alkej-949	209	21	step	step	NOUN
alkej-949	209	22	in	in	ADP
alkej-949	209	23	the	the	DET
alkej-949	209	24	subsequent	subsequent	ADJ
alkej-949	209	25	few	few	ADJ
alkej-949	209	26	movements	movement	NOUN
alkej-949	209	27	.	.	PUNCT
alkej-949	210	1	ibrahim	ibrahim	PROPN
alkej-949	210	2	altameemi	altameemi	VERB
alkej-949	210	3	al	al	PROPN
alkej-949	210	4	-	-	PUNCT
alkej-949	210	5	khwarizmi	khwarizmi	PROPN
alkej-949	210	6	engineering	engineering	NOUN
alkej-949	210	7	journal	journal	PROPN
alkej-949	210	8	,	,	PUNCT
alkej-949	210	9	vol	vol	NOUN
alkej-949	210	10	.	.	PROPN
alkej-949	210	11	20	20	NUM
alkej-949	210	12	,	,	PUNCT
alkej-949	210	13	no.3	no.3	VERB
alkej-949	210	14	,	,	PUNCT
alkej-949	210	15	p.p	p.p	PROPN
alkej-949	210	16	.	.	PROPN
alkej-949	210	17	2035	2035	NUM
alkej-949	210	18	(	(	PUNCT
alkej-949	210	19	2024	2024	NUM
alkej-949	210	20	)	)	PUNCT
alkej-949	210	21	27	27	NUM
alkej-949	210	22	fig	fig	NOUN
alkej-949	210	23	.	.	PUNCT
alkej-949	211	1	8	8	X
alkej-949	211	2	.	.	PUNCT
alkej-949	211	3	human	human	ADJ
alkej-949	211	4	-	-	PUNCT
alkej-949	211	5	like	like	ADJ
alkej-949	211	6	motion	motion	NOUN
alkej-949	211	7	control	control	NOUN
alkej-949	211	8	pipeline	pipeline	NOUN
alkej-949	212	1	[	[	X
alkej-949	212	2	37	37	NUM
alkej-949	212	3	]	]	PUNCT
alkej-949	212	4	.	.	PUNCT
alkej-949	213	1	fig	fig	NOUN
alkej-949	213	2	.	.	PUNCT
alkej-949	214	1	9	9	X
alkej-949	214	2	.	.	X
alkej-949	214	3	push	push	VERB
alkej-949	214	4	recovery	recovery	NOUN
alkej-949	214	5	control	control	NOUN
alkej-949	214	6	system	system	NOUN
alkej-949	214	7	[	[	X
alkej-949	214	8	38	38	NUM
alkej-949	214	9	]	]	PUNCT
alkej-949	214	10	.	.	PUNCT
alkej-949	215	1	the	the	DET
alkej-949	215	2	work	work	NOUN
alkej-949	215	3	[	[	X
alkej-949	215	4	40	40	NUM
alkej-949	215	5	]	]	PUNCT
alkej-949	215	6	introduces	introduce	VERB
alkej-949	215	7	a	a	DET
alkej-949	215	8	push	push	NOUN
alkej-949	215	9	recovery	recovery	NOUN
alkej-949	215	10	controller	controller	NOUN
alkej-949	215	11	designed	design	VERB
alkej-949	215	12	to	to	PART
alkej-949	215	13	improve	improve	VERB
alkej-949	215	14	the	the	DET
alkej-949	215	15	walking	walk	VERB
alkej-949	215	16	capabilities	capability	NOUN
alkej-949	215	17	of	of	ADP
alkej-949	215	18	bipedal	bipedal	ADJ
alkej-949	215	19	robots	robot	NOUN
alkej-949	215	20	.	.	PUNCT
alkej-949	216	1	the	the	DET
alkej-949	216	2	k	k	NOUN
alkej-949	216	3	-	-	PUNCT
alkej-949	216	4	means	means	NOUN
alkej-949	216	5	algorithm	algorithm	NOUN
alkej-949	216	6	is	be	AUX
alkej-949	216	7	modified	modify	VERB
alkej-949	216	8	in	in	ADP
alkej-949	216	9	this	this	DET
alkej-949	216	10	study	study	NOUN
alkej-949	216	11	to	to	PART
alkej-949	216	12	identify	identify	VERB
alkej-949	216	13	the	the	DET
alkej-949	216	14	zmp	zmp	NOUN
alkej-949	216	15	trajectories	trajectory	NOUN
alkej-949	216	16	as	as	ADP
alkej-949	216	17	either	either	CCONJ
alkej-949	216	18	safe	safe	ADJ
alkej-949	216	19	or	or	CCONJ
alkej-949	216	20	not	not	PART
alkej-949	216	21	safe	safe	ADJ
alkej-949	216	22	.	.	PUNCT
alkej-949	217	1	after	after	ADP
alkej-949	217	2	selecting	select	VERB
alkej-949	217	3	the	the	DET
alkej-949	217	4	safe	safe	ADJ
alkej-949	217	5	zmp	zmp	NOUN
alkej-949	217	6	trajectory	trajectory	NOUN
alkej-949	217	7	,	,	PUNCT
alkej-949	217	8	inverse	inverse	NOUN
alkej-949	217	9	ibrahim	ibrahim	PROPN
alkej-949	217	10	altameemi	altameemi	ADP
alkej-949	217	11	al	al	PROPN
alkej-949	217	12	-	-	PUNCT
alkej-949	217	13	khwarizmi	khwarizmi	PROPN
alkej-949	217	14	engineering	engineering	NOUN
alkej-949	217	15	journal	journal	PROPN
alkej-949	217	16	,	,	PUNCT
alkej-949	217	17	vol	vol	NOUN
alkej-949	217	18	.	.	PROPN
alkej-949	217	19	20	20	NUM
alkej-949	217	20	,	,	PUNCT
alkej-949	217	21	no.3	no.3	VERB
alkej-949	217	22	,	,	PUNCT
alkej-949	217	23	p.p	p.p	PROPN
alkej-949	217	24	.	.	PROPN
alkej-949	217	25	2035	2035	NUM
alkej-949	217	26	(	(	PUNCT
alkej-949	217	27	2024	2024	NUM
alkej-949	217	28	)	)	PUNCT
alkej-949	217	29	28	28	NUM
alkej-949	217	30	kinematics	kinematic	NOUN
alkej-949	217	31	(	(	PUNCT
alkej-949	217	32	ik	ik	PROPN
alkej-949	217	33	)	)	PUNCT
alkej-949	217	34	is	be	AUX
alkej-949	217	35	used	use	VERB
alkej-949	217	36	to	to	PART
alkej-949	217	37	determine	determine	VERB
alkej-949	217	38	the	the	DET
alkej-949	217	39	joint	joint	ADJ
alkej-949	217	40	angles	angle	NOUN
alkej-949	217	41	necessary	necessary	ADJ
alkej-949	217	42	to	to	PART
alkej-949	217	43	track	track	VERB
alkej-949	217	44	the	the	DET
alkej-949	217	45	trajectory	trajectory	NOUN
alkej-949	217	46	.	.	PUNCT
alkej-949	218	1	[	[	X
alkej-949	218	2	41	41	NUM
alkej-949	218	3	]	]	PUNCT
alkej-949	218	4	presents	present	VERB
alkej-949	218	5	a	a	DET
alkej-949	218	6	control	control	NOUN
alkej-949	218	7	technique	technique	NOUN
alkej-949	218	8	for	for	ADP
alkej-949	218	9	restoring	restore	VERB
alkej-949	218	10	orientational	orientational	ADJ
alkej-949	218	11	force	force	NOUN
alkej-949	218	12	using	use	VERB
alkej-949	218	13	angular	angular	ADJ
alkej-949	218	14	momentum	momentum	NOUN
alkej-949	218	15	control	control	NOUN
alkej-949	218	16	.	.	PUNCT
alkej-949	219	1	this	this	DET
alkej-949	219	2	restoration	restoration	NOUN
alkej-949	219	3	is	be	AUX
alkej-949	219	4	achieved	achieve	VERB
alkej-949	219	5	by	by	ADP
alkej-949	219	6	utilising	utilise	VERB
alkej-949	219	7	the	the	DET
alkej-949	219	8	virtual	virtual	ADJ
alkej-949	219	9	mass	mass	PROPN
alkej-949	219	10	-	-	PUNCT
alkej-949	219	11	ellipsoid	ellipsoid	NOUN
alkej-949	219	12	inverted	invert	VERB
alkej-949	219	13	pendulum	pendulum	NOUN
alkej-949	219	14	model	model	NOUN
alkej-949	219	15	shown	show	VERB
alkej-949	219	16	in	in	ADP
alkej-949	219	17	figure	figure	NOUN
alkej-949	219	18	10	10	NUM
alkej-949	219	19	,	,	PUNCT
alkej-949	219	20	which	which	PRON
alkej-949	219	21	was	be	AUX
alkej-949	219	22	initially	initially	ADV
alkej-949	219	23	presented	present	VERB
alkej-949	219	24	in	in	ADP
alkej-949	219	25	[	[	X
alkej-949	219	26	42	42	NUM
alkej-949	219	27	]	]	PUNCT
alkej-949	219	28	.	.	PUNCT
alkej-949	220	1	a	a	DET
alkej-949	220	2	novel	novel	ADJ
alkej-949	220	3	objective	objective	ADJ
alkej-949	220	4	function	function	NOUN
alkej-949	220	5	is	be	AUX
alkej-949	220	6	introduced	introduce	VERB
alkej-949	220	7	for	for	ADP
alkej-949	220	8	push	push	NOUN
alkej-949	220	9	recovery	recovery	NOUN
alkej-949	220	10	during	during	ADP
alkej-949	220	11	walking	walking	NOUN
alkej-949	220	12	,	,	PUNCT
alkej-949	220	13	which	which	PRON
alkej-949	220	14	utilises	utilise	NOUN
alkej-949	220	15	enhanced	enhance	VERB
alkej-949	220	16	intrinsically	intrinsically	ADV
alkej-949	220	17	model	model	NOUN
alkej-949	220	18	predictive	predictive	ADJ
alkej-949	220	19	control	control	NOUN
alkej-949	220	20	(	(	PUNCT
alkej-949	220	21	is	be	AUX
alkej-949	220	22	-	-	PUNCT
alkej-949	220	23	mpc	mpc	NOUN
alkej-949	220	24	)	)	PUNCT
alkej-949	220	25	.	.	PUNCT
alkej-949	221	1	the	the	DET
alkej-949	221	2	results	result	NOUN
alkej-949	221	3	demonstrate	demonstrate	VERB
alkej-949	221	4	the	the	DET
alkej-949	221	5	robot	robot	NOUN
alkej-949	221	6	’s	’s	PART
alkej-949	221	7	ability	ability	NOUN
alkej-949	221	8	to	to	PART
alkej-949	221	9	maintain	maintain	VERB
alkej-949	221	10	stability	stability	NOUN
alkej-949	221	11	when	when	SCONJ
alkej-949	221	12	walking	walk	VERB
alkej-949	221	13	over	over	ADP
alkej-949	221	14	rough	rough	ADJ
alkej-949	221	15	terrain	terrain	NOUN
alkej-949	221	16	.	.	PUNCT
alkej-949	222	1	fig	fig	NOUN
alkej-949	222	2	.	.	PUNCT
alkej-949	223	1	10	10	NUM
alkej-949	223	2	.	.	X
alkej-949	223	3	virtual	virtual	ADJ
alkej-949	223	4	-	-	PUNCT
alkej-949	223	5	mass	mass	NOUN
alkej-949	223	6	-	-	PUNCT
alkej-949	223	7	ellipsoid	ellipsoid	NOUN
alkej-949	223	8	inverted	invert	VERB
alkej-949	223	9	pendulum	pendulum	ADJ
alkej-949	223	10	model	model	NOUN
alkej-949	224	1	[	[	X
alkej-949	224	2	41	41	NUM
alkej-949	224	3	]	]	PUNCT
alkej-949	224	4	.	.	PUNCT
alkej-949	225	1	the	the	DET
alkej-949	225	2	study	study	NOUN
alkej-949	225	3	[	[	X
alkej-949	225	4	43	43	NUM
alkej-949	225	5	]	]	PUNCT
alkej-949	225	6	presents	present	VERB
alkej-949	225	7	a	a	DET
alkej-949	225	8	controller	controller	NOUN
alkej-949	225	9	designed	design	VERB
alkej-949	225	10	to	to	PART
alkej-949	225	11	handle	handle	VERB
alkej-949	225	12	a	a	DET
alkej-949	225	13	sudden	sudden	ADJ
alkej-949	225	14	and	and	CCONJ
alkej-949	225	15	severe	severe	ADJ
alkej-949	225	16	push	push	NOUN
alkej-949	225	17	that	that	PRON
alkej-949	225	18	happens	happen	VERB
alkej-949	225	19	when	when	SCONJ
alkej-949	225	20	a	a	DET
alkej-949	225	21	humanoid	humanoid	NOUN
alkej-949	225	22	robot	robot	NOUN
alkej-949	225	23	is	be	AUX
alkej-949	225	24	walking	walk	VERB
alkej-949	225	25	.	.	PUNCT
alkej-949	226	1	the	the	DET
alkej-949	226	2	robot	robot	NOUN
alkej-949	226	3	exhibits	exhibit	VERB
alkej-949	226	4	typical	typical	ADJ
alkej-949	226	5	walking	walking	NOUN
alkej-949	226	6	behaviour	behaviour	NOUN
alkej-949	226	7	.	.	PUNCT
alkej-949	227	1	when	when	SCONJ
alkej-949	227	2	a	a	DET
alkej-949	227	3	push	push	NOUN
alkej-949	227	4	is	be	AUX
alkej-949	227	5	recognised	recognise	VERB
alkej-949	227	6	based	base	VERB
alkej-949	227	7	on	on	ADP
alkej-949	227	8	the	the	DET
alkej-949	227	9	linear	linear	ADJ
alkej-949	227	10	velocity	velocity	NOUN
alkej-949	227	11	of	of	ADP
alkej-949	227	12	its	its	PRON
alkej-949	227	13	body	body	NOUN
alkej-949	227	14	,	,	PUNCT
alkej-949	227	15	the	the	DET
alkej-949	227	16	push	push	NOUN
alkej-949	227	17	recovery	recovery	NOUN
alkej-949	227	18	control	control	NOUN
alkej-949	227	19	mechanism	mechanism	NOUN
alkej-949	227	20	is	be	AUX
alkej-949	227	21	activated	activate	VERB
alkej-949	227	22	.	.	PUNCT
alkej-949	228	1	the	the	DET
alkej-949	228	2	algorithm	algorithm	NOUN
alkej-949	228	3	initially	initially	ADV
alkej-949	228	4	computes	compute	VERB
alkej-949	228	5	the	the	DET
alkej-949	228	6	necessary	necessary	ADJ
alkej-949	228	7	steps	step	NOUN
alkej-949	228	8	for	for	ADP
alkej-949	228	9	recovery	recovery	NOUN
alkej-949	228	10	and	and	CCONJ
alkej-949	228	11	subsequently	subsequently	ADV
alkej-949	228	12	uses	use	VERB
alkej-949	228	13	the	the	DET
alkej-949	228	14	preview	preview	PROPN
alkej-949	228	15	control	control	NOUN
alkej-949	228	16	method	method	NOUN
alkej-949	228	17	described	describe	VERB
alkej-949	228	18	in	in	ADP
alkej-949	228	19	[	[	X
alkej-949	228	20	44	44	NUM
alkej-949	228	21	]	]	PUNCT
alkej-949	228	22	to	to	PART
alkej-949	228	23	construct	construct	VERB
alkej-949	228	24	the	the	DET
alkej-949	228	25	trajectory	trajectory	NOUN
alkej-949	228	26	of	of	ADP
alkej-949	228	27	the	the	DET
alkej-949	228	28	com	com	NOUN
alkej-949	228	29	.	.	PUNCT
alkej-949	228	30	to	to	PART
alkej-949	228	31	mimic	mimic	VERB
alkej-949	228	32	the	the	DET
alkej-949	228	33	deceleration	deceleration	NOUN
alkej-949	228	34	phase	phase	NOUN
alkej-949	228	35	of	of	ADP
alkej-949	228	36	the	the	DET
alkej-949	228	37	lipm	lipm	NOUN
alkej-949	228	38	(	(	PUNCT
alkej-949	228	39	which	which	PRON
alkej-949	228	40	involves	involve	VERB
alkej-949	228	41	a	a	DET
alkej-949	228	42	loss	loss	NOUN
alkej-949	228	43	of	of	ADP
alkej-949	228	44	energy	energy	NOUN
alkej-949	228	45	)	)	PUNCT
alkej-949	228	46	,	,	PUNCT
alkej-949	228	47	the	the	DET
alkej-949	228	48	authors	author	NOUN
alkej-949	228	49	of	of	ADP
alkej-949	228	50	[	[	X
alkej-949	228	51	44	44	NUM
alkej-949	228	52	]	]	PUNCT
alkej-949	228	53	adjust	adjust	VERB
alkej-949	228	54	the	the	DET
alkej-949	228	55	zmp	zmp	NOUN
alkej-949	228	56	reference	reference	NOUN
alkej-949	228	57	by	by	ADP
alkej-949	228	58	shifting	shift	VERB
alkej-949	228	59	it	it	PRON
alkej-949	228	60	a	a	DET
alkej-949	228	61	certain	certain	ADJ
alkej-949	228	62	distance	distance	NOUN
alkej-949	228	63	behind	behind	ADP
alkej-949	228	64	the	the	DET
alkej-949	228	65	foot	foot	NOUN
alkej-949	228	66	.	.	PUNCT
alkej-949	229	1	ik	ik	PROPN
alkej-949	229	2	is	be	AUX
alkej-949	229	3	derived	derive	VERB
alkej-949	229	4	to	to	PART
alkej-949	229	5	compute	compute	VERB
alkej-949	229	6	the	the	DET
alkej-949	229	7	joint	joint	ADJ
alkej-949	229	8	variables	variable	NOUN
alkej-949	229	9	required	require	VERB
alkej-949	229	10	to	to	PART
alkej-949	229	11	make	make	VERB
alkej-949	229	12	the	the	DET
alkej-949	229	13	robot	robot	NOUN
alkej-949	229	14	follow	follow	VERB
alkej-949	229	15	the	the	DET
alkej-949	229	16	updated	update	VERB
alkej-949	229	17	zmp	zmp	NOUN
alkej-949	229	18	reference	reference	NOUN
alkej-949	229	19	.	.	PUNCT
alkej-949	230	1	the	the	DET
alkej-949	230	2	aim	aim	NOUN
alkej-949	230	3	of	of	ADP
alkej-949	230	4	[	[	PUNCT
alkej-949	230	5	45	45	NUM
alkej-949	230	6	]	]	PUNCT
alkej-949	230	7	is	be	AUX
alkej-949	230	8	to	to	PART
alkej-949	230	9	develop	develop	VERB
alkej-949	230	10	a	a	DET
alkej-949	230	11	technique	technique	NOUN
alkej-949	230	12	for	for	ADP
alkej-949	230	13	producing	produce	VERB
alkej-949	230	14	locomotion	locomotion	NOUN
alkej-949	230	15	patterns	pattern	NOUN
alkej-949	230	16	for	for	ADP
alkej-949	230	17	humanoid	humanoid	NOUN
alkej-949	230	18	robots	robot	NOUN
alkej-949	230	19	that	that	PRON
alkej-949	230	20	are	be	AUX
alkej-949	230	21	simultaneously	simultaneously	ADV
alkej-949	230	22	dynamic	dynamic	ADJ
alkej-949	230	23	(	(	PUNCT
alkej-949	230	24	capable	capable	ADJ
alkej-949	230	25	of	of	ADP
alkej-949	230	26	adjusting	adjust	VERB
alkej-949	230	27	to	to	ADP
alkej-949	230	28	changing	change	VERB
alkej-949	230	29	circumstances	circumstance	NOUN
alkej-949	230	30	)	)	PUNCT
alkej-949	230	31	and	and	CCONJ
alkej-949	230	32	versatile	versatile	ADJ
alkej-949	230	33	(	(	PUNCT
alkej-949	230	34	capable	capable	ADJ
alkej-949	230	35	of	of	ADP
alkej-949	230	36	dealing	deal	VERB
alkej-949	230	37	with	with	ADP
alkej-949	230	38	diverse	diverse	ADJ
alkej-949	230	39	scenarios	scenario	NOUN
alkej-949	230	40	)	)	PUNCT
alkej-949	230	41	.	.	PUNCT
alkej-949	231	1	the	the	DET
alkej-949	231	2	authors	author	NOUN
alkej-949	231	3	of	of	ADP
alkej-949	231	4	[	[	PUNCT
alkej-949	231	5	45	45	NUM
alkej-949	231	6	]	]	PUNCT
alkej-949	231	7	suggest	suggest	AUX
alkej-949	231	8	employing	employ	VERB
alkej-949	231	9	a	a	DET
alkej-949	231	10	combination	combination	NOUN
alkej-949	231	11	of	of	ADP
alkej-949	231	12	two	two	NUM
alkej-949	231	13	models	model	NOUN
alkej-949	231	14	:	:	PUNCT
alkej-949	231	15	the	the	DET
alkej-949	231	16	3d	3d	NOUN
alkej-949	231	17	actuated	actuate	VERB
alkej-949	231	18	spring	spring	NOUN
alkej-949	231	19	-	-	PUNCT
alkej-949	231	20	loaded	load	VERB
alkej-949	231	21	inverted	inverted	ADJ
alkej-949	231	22	pendulum	pendulum	NOUN
alkej-949	231	23	(	(	PUNCT
alkej-949	231	24	3d	3d	NOUN
alkej-949	231	25	-	-	PUNCT
alkej-949	231	26	aslip	aslip	NOUN
alkej-949	231	27	)	)	PUNCT
alkej-949	231	28	to	to	PART
alkej-949	231	29	simulate	simulate	VERB
alkej-949	231	30	the	the	DET
alkej-949	231	31	robot	robot	NOUN
alkej-949	231	32	’s	’s	PART
alkej-949	231	33	physical	physical	ADJ
alkej-949	231	34	dynamics	dynamic	NOUN
alkej-949	231	35	and	and	CCONJ
alkej-949	231	36	the	the	DET
alkej-949	231	37	hybrid	hybrid	ADJ
alkej-949	231	38	linear	linear	ADJ
alkej-949	231	39	inverted	invert	VERB
alkej-949	231	40	pendulum	pendulum	NOUN
alkej-949	231	41	(	(	PUNCT
alkej-949	231	42	hlip	hlip	NOUN
alkej-949	231	43	)	)	PUNCT
alkej-949	231	44	as	as	ADP
alkej-949	231	45	a	a	DET
alkej-949	231	46	control	control	NOUN
alkej-949	231	47	mechanism	mechanism	NOUN
alkej-949	231	48	to	to	PART
alkej-949	231	49	assist	assist	VERB
alkej-949	231	50	in	in	ADP
alkej-949	231	51	producing	produce	VERB
alkej-949	231	52	stepping	stepping	ADJ
alkej-949	231	53	patterns	pattern	NOUN
alkej-949	231	54	.	.	PUNCT
alkej-949	232	1	the	the	DET
alkej-949	232	2	stepping	step	VERB
alkej-949	232	3	controller	controller	NOUN
alkej-949	232	4	based	base	VERB
alkej-949	232	5	on	on	ADP
alkej-949	232	6	hlip	hlip	NOUN
alkej-949	232	7	is	be	AUX
alkej-949	232	8	designed	design	VERB
alkej-949	232	9	to	to	PART
alkej-949	232	10	disturb	disturb	VERB
alkej-949	232	11	the	the	DET
alkej-949	232	12	periodic	periodic	ADJ
alkej-949	232	13	walking	walking	NOUN
alkej-949	232	14	motion	motion	NOUN
alkej-949	232	15	of	of	ADP
alkej-949	232	16	a	a	DET
alkej-949	232	17	3d	3d	NOUN
alkej-949	232	18	-	-	PUNCT
alkej-949	232	19	aslip	aslip	NOUN
alkej-949	232	20	to	to	PART
alkej-949	232	21	provide	provide	VERB
alkej-949	232	22	dynamic	dynamic	ADJ
alkej-949	232	23	and	and	CCONJ
alkej-949	232	24	versatile	versatile	ADJ
alkej-949	232	25	walking	walking	NOUN
alkej-949	232	26	,	,	PUNCT
alkej-949	232	27	as	as	SCONJ
alkej-949	232	28	shown	show	VERB
alkej-949	232	29	in	in	ADP
alkej-949	232	30	figure	figure	NOUN
alkej-949	232	31	11	11	NUM
alkej-949	232	32	.	.	PUNCT
alkej-949	233	1	fig	fig	NOUN
alkej-949	233	2	.	.	PUNCT
alkej-949	234	1	11	11	NUM
alkej-949	234	2	.	.	X
alkej-949	235	1	overview	overview	NOUN
alkej-949	235	2	of	of	ADP
alkej-949	235	3	the	the	DET
alkej-949	235	4	approach	approach	NOUN
alkej-949	235	5	presented	present	VERB
alkej-949	235	6	in	in	ADP
alkej-949	235	7	[	[	X
alkej-949	235	8	45	45	NUM
alkej-949	235	9	]	]	PUNCT
alkej-949	235	10	.	.	PUNCT
alkej-949	236	1	the	the	DET
alkej-949	236	2	approach	approach	NOUN
alkej-949	236	3	presented	present	VERB
alkej-949	236	4	in	in	ADP
alkej-949	236	5	[	[	X
alkej-949	236	6	46	46	NUM
alkej-949	236	7	]	]	PUNCT
alkej-949	236	8	can	can	AUX
alkej-949	236	9	be	be	AUX
alkej-949	236	10	seen	see	VERB
alkej-949	236	11	as	as	ADP
alkej-949	236	12	an	an	DET
alkej-949	236	13	expansion	expansion	NOUN
alkej-949	236	14	of	of	ADP
alkej-949	236	15	stepping	stepping	ADJ
alkej-949	236	16	controllers	controller	NOUN
alkej-949	236	17	in	in	ADP
alkej-949	236	18	[	[	X
alkej-949	236	19	47	47	NUM
alkej-949	236	20	]	]	PUNCT
alkej-949	237	1	[	[	X
alkej-949	237	2	46	46	NUM
alkej-949	237	3	]	]	X
alkej-949	238	1	[	[	X
alkej-949	238	2	48	48	NUM
alkej-949	238	3	]	]	PUNCT
alkej-949	238	4	and	and	CCONJ
alkej-949	238	5	[	[	X
alkej-949	238	6	49	49	NUM
alkej-949	238	7	]	]	PUNCT
alkej-949	238	8	,	,	PUNCT
alkej-949	238	9	which	which	PRON
alkej-949	238	10	use	use	VERB
alkej-949	238	11	the	the	DET
alkej-949	238	12	step	step	NOUN
alkej-949	238	13	-	-	PUNCT
alkej-949	238	14	to	to	ADP
alkej-949	238	15	-	-	PUNCT
alkej-949	238	16	step	step	NOUN
alkej-949	238	17	(	(	PUNCT
alkej-949	238	18	s2s	s2s	PROPN
alkej-949	238	19	)	)	PUNCT
alkej-949	238	20	dynamics	dynamic	NOUN
alkej-949	238	21	approximation	approximation	NOUN
alkej-949	238	22	to	to	PART
alkej-949	238	23	strategise	strategise	VERB
alkej-949	238	24	footsteps	footstep	NOUN
alkej-949	238	25	for	for	ADP
alkej-949	238	26	the	the	DET
alkej-949	238	27	stabilisation	stabilisation	NOUN
alkej-949	238	28	of	of	ADP
alkej-949	238	29	bipedal	bipedal	ADJ
alkej-949	238	30	walking	walking	NOUN
alkej-949	238	31	.	.	PUNCT
alkej-949	239	1	the	the	DET
alkej-949	239	2	process	process	NOUN
alkej-949	239	3	begins	begin	VERB
alkej-949	239	4	by	by	ADP
alkej-949	239	5	implementing	implement	VERB
alkej-949	239	6	the	the	DET
alkej-949	239	7	hybrid	hybrid	NOUN
alkej-949	239	8	-	-	PUNCT
alkej-949	239	9	lip	lip	NOUN
alkej-949	239	10	stepping	step	VERB
alkej-949	239	11	technique	technique	NOUN
alkej-949	239	12	described	describe	VERB
alkej-949	239	13	in	in	ADP
alkej-949	239	14	[	[	X
alkej-949	239	15	47	47	NUM
alkej-949	239	16	]	]	PUNCT
alkej-949	239	17	to	to	PART
alkej-949	239	18	produce	produce	VERB
alkej-949	239	19	a	a	DET
alkej-949	239	20	sufficient	sufficient	ADJ
alkej-949	239	21	amount	amount	NOUN
alkej-949	239	22	of	of	ADP
alkej-949	239	23	waking	wake	VERB
alkej-949	239	24	data	datum	NOUN
alkej-949	239	25	for	for	ADP
alkej-949	239	26	learning	learn	VERB
alkej-949	239	27	.	.	PUNCT
alkej-949	240	1	next	next	ADV
alkej-949	240	2	,	,	PUNCT
alkej-949	240	3	the	the	DET
alkej-949	240	4	discrete	discrete	ADJ
alkej-949	240	5	horizontal	horizontal	ADJ
alkej-949	240	6	com	com	NOUN
alkej-949	240	7	state	state	NOUN
alkej-949	240	8	and	and	CCONJ
alkej-949	240	9	the	the	DET
alkej-949	240	10	actual	actual	ADJ
alkej-949	240	11	step	step	NOUN
alkej-949	240	12	size	size	NOUN
alkej-949	240	13	in	in	ADP
alkej-949	240	14	the	the	DET
alkej-949	240	15	s2s	s2s	PROPN
alkej-949	240	16	dynamics	dynamic	NOUN
alkej-949	240	17	are	be	AUX
alkej-949	240	18	obtained	obtain	VERB
alkej-949	240	19	.	.	PUNCT
alkej-949	241	1	the	the	DET
alkej-949	241	2	stepping	step	VERB
alkej-949	241	3	controllers	controller	NOUN
alkej-949	241	4	,	,	PUNCT
alkej-949	241	5	based	base	VERB
alkej-949	241	6	on	on	ADP
alkej-949	241	7	system	system	NOUN
alkej-949	241	8	-	-	PUNCT
alkej-949	241	9	level	level	NOUN
alkej-949	241	10	synthesis	synthesis	NOUN
alkej-949	241	11	(	(	PUNCT
alkej-949	241	12	sls	sls	NOUN
alkej-949	241	13	)	)	PUNCT
alkej-949	241	14	,	,	PUNCT
alkej-949	241	15	are	be	AUX
alkej-949	241	16	designed	design	VERB
alkej-949	241	17	using	use	VERB
alkej-949	241	18	the	the	DET
alkej-949	241	19	learned	learn	VERB
alkej-949	241	20	dynamics	dynamic	NOUN
alkej-949	241	21	of	of	ADP
alkej-949	241	22	the	the	DET
alkej-949	241	23	s2s	s2s	PROPN
alkej-949	241	24	process	process	NOUN
alkej-949	241	25	.	.	PUNCT
alkej-949	242	1	these	these	DET
alkej-949	242	2	controllers	controller	NOUN
alkej-949	242	3	consider	consider	VERB
alkej-949	242	4	bounded	bound	VERB
alkej-949	242	5	push	push	NOUN
alkej-949	242	6	disturbances	disturbance	NOUN
alkej-949	242	7	and	and	CCONJ
alkej-949	242	8	kinematic	kinematic	ADJ
alkej-949	242	9	constraints	constraint	NOUN
alkej-949	242	10	.	.	PUNCT
alkej-949	243	1	the	the	DET
alkej-949	243	2	study	study	NOUN
alkej-949	243	3	by	by	ADP
alkej-949	243	4	[	[	PUNCT
alkej-949	243	5	50	50	NUM
alkej-949	243	6	]	]	PUNCT
alkej-949	243	7	proposes	propose	VERB
alkej-949	243	8	a	a	DET
alkej-949	243	9	method	method	NOUN
alkej-949	243	10	for	for	ADP
alkej-949	243	11	detecting	detect	VERB
alkej-949	243	12	pushes	push	NOUN
alkej-949	243	13	based	base	VERB
alkej-949	243	14	on	on	ADP
alkej-949	243	15	changes	change	NOUN
alkej-949	243	16	in	in	ADP
alkej-949	243	17	the	the	DET
alkej-949	243	18	angle	angle	NOUN
alkej-949	243	19	and	and	CCONJ
alkej-949	243	20	angular	angular	ADJ
alkej-949	243	21	velocity	velocity	NOUN
alkej-949	243	22	of	of	ADP
alkej-949	243	23	the	the	DET
alkej-949	243	24	robot	robot	NOUN
alkej-949	243	25	’s	’s	PART
alkej-949	243	26	torso	torso	NOUN
alkej-949	243	27	.	.	PUNCT
alkej-949	244	1	it	it	PRON
alkej-949	244	2	also	also	ADV
alkej-949	244	3	suggests	suggest	VERB
alkej-949	244	4	a	a	DET
alkej-949	244	5	strategy	strategy	NOUN
alkej-949	244	6	for	for	ADP
alkej-949	244	7	avoiding	avoid	VERB
alkej-949	244	8	falls	fall	NOUN
alkej-949	244	9	by	by	ADP
alkej-949	244	10	adjusting	adjust	VERB
alkej-949	244	11	the	the	DET
alkej-949	244	12	positioning	positioning	NOUN
alkej-949	244	13	of	of	ADP
alkej-949	244	14	the	the	DET
alkej-949	244	15	robot	robot	NOUN
alkej-949	244	16	’s	’s	PART
alkej-949	244	17	feet	foot	NOUN
alkej-949	244	18	.	.	PUNCT
alkej-949	245	1	the	the	DET
alkej-949	245	2	rescue	rescue	NOUN
alkej-949	245	3	step	step	NOUN
alkej-949	245	4	size	size	NOUN
alkej-949	245	5	is	be	AUX
alkej-949	245	6	determined	determine	VERB
alkej-949	245	7	by	by	ADP
alkej-949	245	8	calculating	calculate	VERB
alkej-949	245	9	the	the	DET
alkej-949	245	10	difference	difference	NOUN
alkej-949	245	11	between	between	ADP
alkej-949	245	12	the	the	DET
alkej-949	245	13	initial	initial	ADJ
alkej-949	245	14	and	and	CCONJ
alkej-949	245	15	final	final	ADJ
alkej-949	245	16	kinetic	kinetic	ADJ
alkej-949	245	17	energy	energy	NOUN
alkej-949	245	18	of	of	ADP
alkej-949	245	19	the	the	DET
alkej-949	245	20	ibrahim	ibrahim	PROPN
alkej-949	245	21	altameemi	altameemi	ADP
alkej-949	245	22	al	al	PROPN
alkej-949	245	23	-	-	PUNCT
alkej-949	245	24	khwarizmi	khwarizmi	PROPN
alkej-949	245	25	engineering	engineering	NOUN
alkej-949	245	26	journal	journal	PROPN
alkej-949	245	27	,	,	PUNCT
alkej-949	245	28	vol	vol	NOUN
alkej-949	245	29	.	.	PROPN
alkej-949	245	30	20	20	NUM
alkej-949	245	31	,	,	PUNCT
alkej-949	245	32	no.3	no.3	VERB
alkej-949	245	33	,	,	PUNCT
alkej-949	245	34	p.p	p.p	PROPN
alkej-949	245	35	.	.	PROPN
alkej-949	245	36	2035	2035	NUM
alkej-949	245	37	(	(	PUNCT
alkej-949	245	38	2024	2024	NUM
alkej-949	245	39	)	)	PUNCT
alkej-949	245	40	29	29	NUM
alkej-949	245	41	lipm	lipm	NOUN
alkej-949	245	42	,	,	PUNCT
alkej-949	245	43	which	which	PRON
alkej-949	245	44	takes	take	VERB
alkej-949	245	45	into	into	ADP
alkej-949	245	46	account	account	NOUN
alkej-949	245	47	that	that	SCONJ
alkej-949	245	48	the	the	DET
alkej-949	245	49	final	final	ADJ
alkej-949	245	50	com	com	NOUN
alkej-949	245	51	will	will	AUX
alkej-949	245	52	be	be	AUX
alkej-949	245	53	located	locate	VERB
alkej-949	245	54	on	on	ADP
alkej-949	245	55	the	the	DET
alkej-949	245	56	line	line	NOUN
alkej-949	245	57	connecting	connect	VERB
alkej-949	245	58	the	the	DET
alkej-949	245	59	original	original	ADJ
alkej-949	245	60	com	com	NOUN
alkej-949	245	61	and	and	CCONJ
alkej-949	245	62	the	the	DET
alkej-949	245	63	capture	capture	NOUN
alkej-949	245	64	point	point	NOUN
alkej-949	245	65	.	.	PUNCT
alkej-949	246	1	the	the	DET
alkej-949	246	2	work	work	NOUN
alkej-949	246	3	[	[	X
alkej-949	246	4	51	51	NUM
alkej-949	246	5	]	]	PUNCT
alkej-949	246	6	presents	present	VERB
alkej-949	246	7	a	a	DET
alkej-949	246	8	closed	closed	ADJ
alkej-949	246	9	-	-	PUNCT
alkej-949	246	10	loop	loop	NOUN
alkej-949	246	11	feedback	feedback	NOUN
alkej-949	246	12	control	control	NOUN
alkej-949	246	13	approach	approach	NOUN
alkej-949	246	14	that	that	PRON
alkej-949	246	15	utilises	utilise	VERB
alkej-949	246	16	an	an	DET
alkej-949	246	17	accelerometer	accelerometer	NOUN
alkej-949	246	18	and	and	CCONJ
alkej-949	246	19	gyroscope	gyroscope	NOUN
alkej-949	246	20	to	to	PART
alkej-949	246	21	enable	enable	VERB
alkej-949	246	22	a	a	DET
alkej-949	246	23	cost	cost	NOUN
alkej-949	246	24	-	-	PUNCT
alkej-949	246	25	effective	effective	ADJ
alkej-949	246	26	humanoid	humanoid	NOUN
alkej-949	246	27	robot	robot	NOUN
alkej-949	246	28	to	to	PART
alkej-949	246	29	maintain	maintain	VERB
alkej-949	246	30	balance	balance	NOUN
alkej-949	246	31	and	and	CCONJ
alkej-949	246	32	recover	recover	VERB
alkej-949	246	33	from	from	ADP
alkej-949	246	34	external	external	ADJ
alkej-949	246	35	forces	force	NOUN
alkej-949	246	36	while	while	SCONJ
alkej-949	246	37	walking	walk	VERB
alkej-949	246	38	.	.	PUNCT
alkej-949	247	1	the	the	DET
alkej-949	247	2	control	control	NOUN
alkej-949	247	3	method	method	NOUN
alkej-949	247	4	consists	consist	VERB
alkej-949	247	5	of	of	ADP
alkej-949	247	6	three	three	NUM
alkej-949	247	7	stages	stage	NOUN
alkej-949	247	8	.	.	PUNCT
alkej-949	248	1	in	in	ADP
alkej-949	248	2	the	the	DET
alkej-949	248	3	first	first	ADJ
alkej-949	248	4	stage	stage	NOUN
alkej-949	248	5	,	,	PUNCT
alkej-949	248	6	falling	fall	VERB
alkej-949	248	7	is	be	AUX
alkej-949	248	8	detected	detect	VERB
alkej-949	248	9	and	and	CCONJ
alkej-949	248	10	classified	classify	VERB
alkej-949	248	11	into	into	ADP
alkej-949	248	12	three	three	NUM
alkej-949	248	13	categories	category	NOUN
alkej-949	248	14	(	(	PUNCT
alkej-949	248	15	hard	hard	ADV
alkej-949	248	16	push	push	NOUN
alkej-949	248	17	,	,	PUNCT
alkej-949	248	18	medium	medium	ADJ
alkej-949	248	19	push	push	NOUN
alkej-949	248	20	and	and	CCONJ
alkej-949	248	21	light	light	ADJ
alkej-949	248	22	push	push	NOUN
alkej-949	248	23	)	)	PUNCT
alkej-949	248	24	using	use	VERB
alkej-949	248	25	gyroscope	gyroscope	NOUN
alkej-949	248	26	and	and	CCONJ
alkej-949	248	27	accelerometer	accelerometer	ADJ
alkej-949	248	28	sensors	sensor	NOUN
alkej-949	248	29	.	.	PUNCT
alkej-949	249	1	in	in	ADP
alkej-949	249	2	the	the	DET
alkej-949	249	3	second	second	ADJ
alkej-949	249	4	stage	stage	NOUN
alkej-949	249	5	,	,	PUNCT
alkej-949	249	6	the	the	DET
alkej-949	249	7	appropriate	appropriate	ADJ
alkej-949	249	8	response	response	NOUN
alkej-949	249	9	(	(	PUNCT
alkej-949	249	10	cop	cop	NOUN
alkej-949	249	11	balancing	balancing	NOUN
alkej-949	249	12	,	,	PUNCT
alkej-949	249	13	cmp	cmp	NOUN
alkej-949	249	14	balancing	balancing	NOUN
alkej-949	249	15	and	and	CCONJ
alkej-949	249	16	step	step	NOUN
alkej-949	249	17	-	-	PUNCT
alkej-949	249	18	out	out	ADP
alkej-949	249	19	strategy	strategy	NOUN
alkej-949	249	20	)	)	PUNCT
alkej-949	249	21	is	be	AUX
alkej-949	249	22	selected	select	VERB
alkej-949	249	23	based	base	VERB
alkej-949	249	24	on	on	ADP
alkej-949	249	25	the	the	DET
alkej-949	249	26	strength	strength	NOUN
alkej-949	249	27	and	and	CCONJ
alkej-949	249	28	direction	direction	NOUN
alkej-949	249	29	of	of	ADP
alkej-949	249	30	the	the	DET
alkej-949	249	31	push	push	NOUN
alkej-949	249	32	.	.	PUNCT
alkej-949	250	1	during	during	ADP
alkej-949	250	2	stage	stage	NOUN
alkej-949	250	3	3	3	NUM
alkej-949	250	4	,	,	PUNCT
alkej-949	250	5	nine	nine	NUM
alkej-949	250	6	walking	walking	NOUN
alkej-949	250	7	parameters	parameter	NOUN
alkej-949	250	8	,	,	PUNCT
alkej-949	250	9	such	such	ADJ
alkej-949	250	10	as	as	ADP
alkej-949	250	11	step	step	NOUN
alkej-949	250	12	length	length	NOUN
alkej-949	250	13	,	,	PUNCT
alkej-949	250	14	step	step	NOUN
alkej-949	250	15	pace	pace	NOUN
alkej-949	250	16	,	,	PUNCT
alkej-949	250	17	hip	hip	NOUN
alkej-949	250	18	-	-	PUNCT
alkej-949	250	19	pitch	pitch	NOUN
alkej-949	250	20	position	position	NOUN
alkej-949	250	21	and	and	CCONJ
alkej-949	250	22	ankle	ankle	NOUN
alkej-949	250	23	-	-	PUNCT
alkej-949	250	24	pitch	pitch	NOUN
alkej-949	250	25	position	position	NOUN
alkej-949	250	26	,	,	PUNCT
alkej-949	250	27	are	be	AUX
alkej-949	250	28	modified	modify	VERB
alkej-949	250	29	according	accord	VERB
alkej-949	250	30	to	to	ADP
alkej-949	250	31	the	the	DET
alkej-949	250	32	magnitude	magnitude	NOUN
alkej-949	250	33	and	and	CCONJ
alkej-949	250	34	direction	direction	NOUN
alkej-949	250	35	of	of	ADP
alkej-949	250	36	the	the	DET
alkej-949	250	37	applied	applied	ADJ
alkej-949	250	38	pushing	push	VERB
alkej-949	250	39	forces	force	NOUN
alkej-949	250	40	.	.	PUNCT
alkej-949	251	1	in	in	ADP
alkej-949	251	2	[	[	X
alkej-949	251	3	1	1	NUM
alkej-949	251	4	]	]	PUNCT
alkej-949	251	5	,	,	PUNCT
alkej-949	251	6	a	a	DET
alkej-949	251	7	method	method	NOUN
alkej-949	251	8	is	be	AUX
alkej-949	251	9	proposed	propose	VERB
alkej-949	251	10	to	to	PART
alkej-949	251	11	enhance	enhance	VERB
alkej-949	251	12	the	the	DET
alkej-949	251	13	dynamic	dynamic	ADJ
alkej-949	251	14	stability	stability	NOUN
alkej-949	251	15	of	of	ADP
alkej-949	251	16	humanoid	humanoid	NOUN
alkej-949	251	17	robots	robot	NOUN
alkej-949	251	18	.	.	PUNCT
alkej-949	252	1	the	the	DET
alkej-949	252	2	nominal	nominal	ADJ
alkej-949	252	3	footstep	footstep	NOUN
alkej-949	252	4	position	position	NOUN
alkej-949	252	5	and	and	CCONJ
alkej-949	252	6	time	time	NOUN
alkej-949	252	7	are	be	AUX
alkej-949	252	8	inputs	input	NOUN
alkej-949	252	9	to	to	ADP
alkej-949	252	10	the	the	DET
alkej-949	252	11	dcm	dcm	PROPN
alkej-949	252	12	planner	planner	NOUN
alkej-949	252	13	,	,	PUNCT
alkej-949	252	14	which	which	PRON
alkej-949	252	15	are	be	AUX
alkej-949	252	16	generated	generate	VERB
alkej-949	252	17	by	by	ADP
alkej-949	252	18	the	the	DET
alkej-949	252	19	foot	foot	NOUN
alkej-949	252	20	position	position	NOUN
alkej-949	252	21	planner	planner	NOUN
alkej-949	252	22	.	.	PUNCT
alkej-949	253	1	with	with	ADP
alkej-949	253	2	the	the	DET
alkej-949	253	3	implementation	implementation	NOUN
alkej-949	253	4	of	of	ADP
alkej-949	253	5	the	the	DET
alkej-949	253	6	dcm	dcm	PROPN
alkej-949	253	7	planner	planner	NOUN
alkej-949	253	8	,	,	PUNCT
alkej-949	253	9	the	the	DET
alkej-949	253	10	nominal	nominal	ADJ
alkej-949	253	11	dcm	dcm	PROPN
alkej-949	253	12	trajectory	trajectory	NOUN
alkej-949	253	13	and	and	CCONJ
alkej-949	253	14	foot	foot	NOUN
alkej-949	253	15	position	position	NOUN
alkej-949	253	16	are	be	AUX
alkej-949	253	17	generated	generate	VERB
alkej-949	253	18	.	.	PUNCT
alkej-949	254	1	using	use	VERB
alkej-949	254	2	nominal	nominal	ADJ
alkej-949	254	3	values	value	NOUN
alkej-949	254	4	of	of	ADP
alkej-949	254	5	foot	foot	NOUN
alkej-949	254	6	and	and	CCONJ
alkej-949	254	7	dcm	dcm	PROPN
alkej-949	254	8	trajectories	trajectory	NOUN
alkej-949	254	9	in	in	ADP
alkej-949	254	10	conjunction	conjunction	NOUN
alkej-949	254	11	with	with	ADP
alkej-949	254	12	observations	observation	NOUN
alkej-949	254	13	of	of	ADP
alkej-949	254	14	the	the	DET
alkej-949	254	15	actual	actual	ADJ
alkej-949	254	16	dcm	dcm	NOUN
alkej-949	254	17	(	(	PUNCT
alkej-949	254	18	desired	desire	VERB
alkej-949	254	19	com	com	NOUN
alkej-949	254	20	)	)	PUNCT
alkej-949	254	21	,	,	PUNCT
alkej-949	254	22	the	the	DET
alkej-949	254	23	authors	author	NOUN
alkej-949	254	24	propose	propose	VERB
alkej-949	254	25	a	a	DET
alkej-949	254	26	stepwise	stepwise	ADJ
alkej-949	254	27	adaptor	adaptor	NOUN
alkej-949	254	28	.	.	PUNCT
alkej-949	255	1	this	this	DET
alkej-949	255	2	integration	integration	NOUN
alkej-949	255	3	allows	allow	VERB
alkej-949	255	4	for	for	ADP
alkej-949	255	5	the	the	DET
alkej-949	255	6	evaluation	evaluation	NOUN
alkej-949	255	7	of	of	ADP
alkej-949	255	8	adapted	adapt	VERB
alkej-949	255	9	foot	foot	NOUN
alkej-949	255	10	trajectories	trajectory	NOUN
alkej-949	255	11	,	,	PUNCT
alkej-949	255	12	footstep	footstep	NOUN
alkej-949	255	13	position	position	NOUN
alkej-949	255	14	and	and	CCONJ
alkej-949	255	15	time	time	NOUN
alkej-949	255	16	.	.	PUNCT
alkej-949	256	1	to	to	PART
alkej-949	256	2	compute	compute	VERB
alkej-949	256	3	the	the	DET
alkej-949	256	4	required	require	VERB
alkej-949	256	5	torques	torque	NOUN
alkej-949	256	6	needed	need	VERB
alkej-949	256	7	to	to	PART
alkej-949	256	8	achieve	achieve	VERB
alkej-949	256	9	these	these	DET
alkej-949	256	10	updated	update	VERB
alkej-949	256	11	parameters	parameter	NOUN
alkej-949	256	12	,	,	PUNCT
alkej-949	256	13	a	a	DET
alkej-949	256	14	whole	whole	ADJ
alkej-949	256	15	-	-	PUNCT
alkej-949	256	16	body	body	NOUN
alkej-949	256	17	qp	qp	NOUN
alkej-949	256	18	control	control	NOUN
alkej-949	256	19	is	be	AUX
alkej-949	256	20	implemented	implement	VERB
alkej-949	256	21	.	.	PUNCT
alkej-949	257	1	to	to	PART
alkej-949	257	2	generate	generate	VERB
alkej-949	257	3	walking	walking	NOUN
alkej-949	257	4	trajectories	trajectory	NOUN
alkej-949	257	5	,	,	PUNCT
alkej-949	257	6	the	the	DET
alkej-949	257	7	com	com	NOUN
alkej-949	257	8	trajectories	trajectory	NOUN
alkej-949	257	9	must	must	AUX
alkej-949	257	10	remain	remain	VERB
alkej-949	257	11	aligned	aligned	ADJ
alkej-949	257	12	with	with	ADP
alkej-949	257	13	the	the	DET
alkej-949	257	14	zmp	zmp	NOUN
alkej-949	257	15	trajectory	trajectory	NOUN
alkej-949	257	16	and	and	CCONJ
alkej-949	257	17	not	not	PART
alkej-949	257	18	deviate	deviate	VERB
alkej-949	257	19	from	from	ADP
alkej-949	257	20	it	it	PRON
alkej-949	257	21	.	.	PUNCT
alkej-949	258	1	nevertheless	nevertheless	ADV
alkej-949	258	2	,	,	PUNCT
alkej-949	258	3	not	not	PART
alkej-949	258	4	all	all	DET
alkej-949	258	5	zmp	zmp	NOUN
alkej-949	258	6	trajectories	trajectory	NOUN
alkej-949	258	7	can	can	AUX
alkej-949	258	8	be	be	AUX
alkej-949	258	9	executed	execute	VERB
alkej-949	258	10	without	without	ADP
alkej-949	258	11	the	the	DET
alkej-949	258	12	com	com	NOUN
alkej-949	258	13	diverging	diverging	NOUN
alkej-949	258	14	.	.	PUNCT
alkej-949	259	1	in	in	ADP
alkej-949	259	2	[	[	X
alkej-949	259	3	52	52	NUM
alkej-949	259	4	]	]	PUNCT
alkej-949	259	5	,	,	PUNCT
alkej-949	259	6	a	a	DET
alkej-949	259	7	novel	novel	ADJ
alkej-949	259	8	method	method	NOUN
alkej-949	259	9	for	for	ADP
alkej-949	259	10	generating	generate	VERB
alkej-949	259	11	online	online	ADV
alkej-949	259	12	walking	walking	NOUN
alkej-949	259	13	trajectories	trajectory	NOUN
alkej-949	259	14	is	be	AUX
alkej-949	259	15	introduced	introduce	VERB
alkej-949	259	16	.	.	PUNCT
alkej-949	260	1	this	this	DET
alkej-949	260	2	method	method	NOUN
alkej-949	260	3	incorporates	incorporate	VERB
alkej-949	260	4	nondivergence	nondivergence	NOUN
alkej-949	260	5	constraints	constraint	NOUN
alkej-949	260	6	for	for	ADP
alkej-949	260	7	zmp	zmp	NOUN
alkej-949	260	8	-	-	PUNCT
alkej-949	260	9	com	com	NOUN
alkej-949	260	10	.	.	PUNCT
alkej-949	261	1	this	this	DET
alkej-949	261	2	approach	approach	NOUN
alkej-949	261	3	allows	allow	VERB
alkej-949	261	4	for	for	ADP
alkej-949	261	5	the	the	DET
alkej-949	261	6	integration	integration	NOUN
alkej-949	261	7	of	of	ADP
alkej-949	261	8	walking	walk	VERB
alkej-949	261	9	direction	direction	NOUN
alkej-949	261	10	and	and	CCONJ
alkej-949	261	11	speed	speed	NOUN
alkej-949	261	12	adjustment	adjustment	NOUN
alkej-949	261	13	,	,	PUNCT
alkej-949	261	14	as	as	ADV
alkej-949	261	15	well	well	ADV
alkej-949	261	16	as	as	ADP
alkej-949	261	17	recovery	recovery	NOUN
alkej-949	261	18	from	from	ADP
alkej-949	261	19	unknown	unknown	ADJ
alkej-949	261	20	external	external	ADJ
alkej-949	261	21	forces	force	NOUN
alkej-949	261	22	,	,	PUNCT
alkej-949	261	23	in	in	ADP
alkej-949	261	24	a	a	DET
alkej-949	261	25	unified	unified	ADJ
alkej-949	261	26	manner	manner	NOUN
alkej-949	261	27	.	.	PUNCT
alkej-949	262	1	[	[	X
alkej-949	262	2	53	53	NUM
alkej-949	262	3	]	]	PUNCT
alkej-949	262	4	proposes	propose	VERB
alkej-949	262	5	a	a	DET
alkej-949	262	6	mathematical	mathematical	ADJ
alkej-949	262	7	model	model	NOUN
alkej-949	262	8	called	call	VERB
alkej-949	262	9	the	the	DET
alkej-949	262	10	virtual	virtual	ADJ
alkej-949	262	11	force	force	NOUN
alkej-949	262	12	linear	linear	VERB
alkej-949	262	13	inverted	invert	VERB
alkej-949	262	14	pendulum	pendulum	NOUN
alkej-949	262	15	model	model	NOUN
alkej-949	262	16	(	(	PUNCT
alkej-949	262	17	vflipm	vflipm	NOUN
alkej-949	262	18	)	)	PUNCT
alkej-949	262	19	,	,	PUNCT
alkej-949	262	20	which	which	PRON
alkej-949	262	21	causes	cause	VERB
alkej-949	262	22	a	a	DET
alkej-949	262	23	bipedal	bipedal	ADJ
alkej-949	262	24	robot	robot	NOUN
alkej-949	262	25	to	to	PART
alkej-949	262	26	change	change	VERB
alkej-949	262	27	its	its	PRON
alkej-949	262	28	gait	gait	ADJ
alkej-949	262	29	pattern	pattern	NOUN
alkej-949	262	30	according	accord	VERB
alkej-949	262	31	to	to	ADP
alkej-949	262	32	external	external	ADJ
alkej-949	262	33	disturbances	disturbance	NOUN
alkej-949	262	34	.	.	PUNCT
alkej-949	263	1	a	a	DET
alkej-949	263	2	natural	natural	ADJ
alkej-949	263	3	zmp	zmp	NOUN
alkej-949	263	4	reference	reference	NOUN
alkej-949	263	5	is	be	AUX
alkej-949	263	6	utilised	utilise	VERB
alkej-949	263	7	to	to	PART
alkej-949	263	8	generate	generate	VERB
alkej-949	263	9	the	the	DET
alkej-949	263	10	dynamic	dynamic	ADJ
alkej-949	263	11	gait	gait	NOUN
alkej-949	263	12	pattern	pattern	NOUN
alkej-949	263	13	.	.	PUNCT
alkej-949	264	1	once	once	SCONJ
alkej-949	264	2	the	the	DET
alkej-949	264	3	push	push	NOUN
alkej-949	264	4	is	be	AUX
alkej-949	264	5	detected	detect	VERB
alkej-949	264	6	using	use	VERB
alkej-949	264	7	the	the	DET
alkej-949	264	8	zmp	zmp	NOUN
alkej-949	264	9	threshold	threshold	NOUN
alkej-949	264	10	,	,	PUNCT
alkej-949	264	11	a	a	DET
alkej-949	264	12	fuzzy	fuzzy	ADJ
alkej-949	264	13	controller	controller	NOUN
alkej-949	264	14	is	be	AUX
alkej-949	264	15	developed	develop	VERB
alkej-949	264	16	to	to	PART
alkej-949	264	17	modify	modify	VERB
alkej-949	264	18	the	the	DET
alkej-949	264	19	gait	gait	ADJ
alkej-949	264	20	pattern	pattern	NOUN
alkej-949	264	21	and	and	CCONJ
alkej-949	264	22	vflipm	vflipm	ADJ
alkej-949	264	23	parameters	parameter	NOUN
alkej-949	264	24	(	(	PUNCT
alkej-949	264	25	lean	lean	ADJ
alkej-949	264	26	angle	angle	NOUN
alkej-949	264	27	,	,	PUNCT
alkej-949	264	28	stride	stride	ADJ
alkej-949	264	29	length	length	NOUN
alkej-949	264	30	and	and	CCONJ
alkej-949	264	31	virtual	virtual	ADJ
alkej-949	264	32	mass	mass	NOUN
alkej-949	264	33	of	of	ADP
alkej-949	264	34	vflipm	vflipm	NOUN
alkej-949	264	35	)	)	PUNCT
alkej-949	264	36	based	base	VERB
alkej-949	264	37	on	on	ADP
alkej-949	264	38	the	the	DET
alkej-949	264	39	impact	impact	NOUN
alkej-949	264	40	.	.	PUNCT
alkej-949	265	1	table	table	NOUN
alkej-949	265	2	2	2	NUM
alkej-949	265	3	presents	present	VERB
alkej-949	265	4	a	a	DET
alkej-949	265	5	comparison	comparison	NOUN
alkej-949	265	6	of	of	ADP
alkej-949	265	7	the	the	DET
alkej-949	265	8	investigated	investigate	VERB
alkej-949	265	9	studies	study	NOUN
alkej-949	265	10	that	that	PRON
alkej-949	265	11	specifically	specifically	ADV
alkej-949	265	12	examine	examine	VERB
alkej-949	265	13	stability	stability	NOUN
alkej-949	265	14	during	during	ADP
alkej-949	265	15	walking	walk	VERB
alkej-949	265	16	.	.	PUNCT
alkej-949	266	1	the	the	DET
alkej-949	266	2	walking	walk	VERB
alkej-949	266	3	pattern	pattern	NOUN
alkej-949	266	4	generation	generation	NOUN
alkej-949	266	5	and	and	CCONJ
alkej-949	266	6	push	push	VERB
alkej-949	266	7	recovery	recovery	NOUN
alkej-949	266	8	strategy	strategy	NOUN
alkej-949	266	9	are	be	AUX
alkej-949	266	10	emphasised	emphasise	VERB
alkej-949	266	11	for	for	ADP
alkej-949	266	12	each	each	DET
alkej-949	266	13	study	study	NOUN
alkej-949	266	14	in	in	ADP
alkej-949	266	15	addition	addition	NOUN
alkej-949	266	16	to	to	ADP
alkej-949	266	17	the	the	DET
alkej-949	266	18	dynamical	dynamical	ADJ
alkej-949	266	19	models	model	NOUN
alkej-949	266	20	and	and	CCONJ
alkej-949	266	21	sensors	sensor	NOUN
alkej-949	266	22	employed	employ	VERB
alkej-949	266	23	.	.	PUNCT
alkej-949	267	1	table	table	NOUN
alkej-949	267	2	1	1	NUM
alkej-949	267	3	comparison	comparison	NOUN
alkej-949	267	4	of	of	ADP
alkej-949	267	5	push	push	NOUN
alkej-949	267	6	recovery	recovery	NOUN
alkej-949	267	7	control	control	NOUN
alkej-949	267	8	techniques	technique	NOUN
alkej-949	267	9	for	for	ADP
alkej-949	267	10	standing	stand	VERB
alkej-949	267	11	bipedal	bipedal	ADJ
alkej-949	267	12	robots	robot	NOUN
alkej-949	267	13	.	.	PUNCT
alkej-949	268	1	reference	reference	NOUN
alkej-949	268	2	dynamic	dynamic	ADJ
alkej-949	268	3	model	model	NOUN
alkej-949	268	4	control	control	NOUN
alkej-949	268	5	method	method	NOUN
alkej-949	268	6	implementation	implementation	NOUN
alkej-949	268	7	platform	platform	NOUN
alkej-949	268	8	sensor	sensor	NOUN
alkej-949	268	9	usage	usage	NOUN
alkej-949	268	10	[	[	X
alkej-949	268	11	24	24	NUM
alkej-949	268	12	]	]	X
alkej-949	269	1	[	[	X
alkej-949	269	2	25	25	NUM
alkej-949	269	3	]	]	SYM
alkej-949	269	4	two	two	NUM
alkej-949	269	5	-	-	PUNCT
alkej-949	269	6	link	link	NOUN
alkej-949	269	7	planar	planar	ADJ
alkej-949	269	8	robot	robot	NOUN
alkej-949	269	9	vmc	vmc	PROPN
alkej-949	269	10	with	with	ADP
alkej-949	269	11	null	null	ADJ
alkej-949	269	12	-	-	PUNCT
alkej-949	269	13	space	space	NOUN
alkej-949	269	14	method	method	NOUN
alkej-949	269	15	(	(	PUNCT
alkej-949	269	16	ankle	ankle	NOUN
alkej-949	269	17	and	and	CCONJ
alkej-949	269	18	hip	hip	NOUN
alkej-949	269	19	strategy	strategy	NOUN
alkej-949	269	20	)	)	PUNCT
alkej-949	269	21	real	real	ADJ
alkej-949	269	22	humanoid	humanoid	NOUN
alkej-949	269	23	(	(	PUNCT
alkej-949	269	24	hoap-2	hoap-2	NUM
alkej-949	269	25	)	)	PUNCT
alkej-949	269	26	joint	joint	ADJ
alkej-949	269	27	encoders	encoder	NOUN
alkej-949	269	28	[	[	X
alkej-949	269	29	23	23	NUM
alkej-949	269	30	]	]	SYM
alkej-949	269	31	two	two	NUM
alkej-949	269	32	-	-	PUNCT
alkej-949	269	33	link	link	NOUN
alkej-949	269	34	planar	planar	ADJ
alkej-949	269	35	robot	robot	NOUN
alkej-949	269	36	vmc	vmc	PROPN
alkej-949	269	37	with	with	ADP
alkej-949	269	38	null	null	ADJ
alkej-949	269	39	-	-	PUNCT
alkej-949	269	40	space	space	NOUN
alkej-949	269	41	method	method	NOUN
alkej-949	269	42	(	(	PUNCT
alkej-949	269	43	ankle	ankle	NOUN
alkej-949	269	44	and	and	CCONJ
alkej-949	269	45	knee	knee	NOUN
alkej-949	269	46	strategy	strategy	NOUN
alkej-949	269	47	)	)	PUNCT
alkej-949	269	48	biped	biped	NOUN
alkej-949	269	49	(	(	PUNCT
alkej-949	269	50	simulation	simulation	NOUN
alkej-949	269	51	)	)	PUNCT
alkej-949	269	52	joint	joint	ADJ
alkej-949	269	53	encoders	encoder	NOUN
alkej-949	269	54	[	[	X
alkej-949	269	55	30	30	NUM
alkej-949	269	56	]	]	PUNCT
alkej-949	269	57	lipm	lipm	NOUN
alkej-949	269	58	and	and	CCONJ
alkej-949	269	59	lipfm	lipfm	NOUN
alkej-949	269	60	step	step	NOUN
alkej-949	269	61	position	position	NOUN
alkej-949	269	62	control	control	NOUN
alkej-949	269	63	based	base	VERB
alkej-949	269	64	on	on	ADP
alkej-949	269	65	orbital	orbital	ADJ
alkej-949	269	66	energy	energy	NOUN
alkej-949	269	67	concept	concept	NOUN
alkej-949	269	68	(	(	PUNCT
alkej-949	269	69	step	step	NOUN
alkej-949	269	70	strategy	strategy	NOUN
alkej-949	269	71	)	)	PUNCT
alkej-949	269	72	two	two	NUM
alkej-949	269	73	-	-	PUNCT
alkej-949	269	74	link	link	NOUN
alkej-949	269	75	robot	robot	NOUN
alkej-949	269	76	(	(	PUNCT
alkej-949	269	77	simulation	simulation	NOUN
alkej-949	269	78	)	)	PUNCT
alkej-949	270	1	[	[	X
alkej-949	270	2	26	26	NUM
alkej-949	270	3	]	]	X
alkej-949	270	4	whole	whole	ADJ
alkej-949	270	5	-	-	PUNCT
alkej-949	270	6	body	body	NOUN
alkej-949	270	7	dynamics	dynamic	NOUN
alkej-949	270	8	for	for	ADP
alkej-949	270	9	short	short	ADJ
alkej-949	270	10	horizon	horizon	NOUN
alkej-949	270	11	and	and	CCONJ
alkej-949	270	12	centroidal	centroidal	ADJ
alkej-949	270	13	dynamics	dynamic	NOUN
alkej-949	270	14	for	for	ADP
alkej-949	270	15	long	long	ADJ
alkej-949	270	16	horizon	horizon	NOUN
alkej-949	270	17	model	model	PROPN
alkej-949	270	18	hierarchy	hierarchy	PROPN
alkej-949	270	19	predictive	predictive	ADJ
alkej-949	270	20	control	control	NOUN
alkej-949	270	21	(	(	PUNCT
alkej-949	270	22	mhpc	mhpc	NOUN
alkej-949	270	23	)	)	PUNCT
alkej-949	270	24	(	(	PUNCT
alkej-949	270	25	wholebody	wholebody	NOUN
alkej-949	270	26	motion	motion	NOUN
alkej-949	270	27	strategy	strategy	NOUN
alkej-949	270	28	)	)	PUNCT
alkej-949	270	29	real	real	ADJ
alkej-949	270	30	biped	biped	NOUN
alkej-949	270	31	(	(	PUNCT
alkej-949	270	32	bruce	bruce	PROPN
alkej-949	270	33	)	)	PUNCT
alkej-949	270	34	imu	imu	NOUN
alkej-949	270	35	and	and	CCONJ
alkej-949	270	36	contact	contact	NOUN
alkej-949	270	37	foot	foot	NOUN
alkej-949	270	38	sensors	sensor	NOUN
alkej-949	270	39	[	[	X
alkej-949	270	40	20	20	NUM
alkej-949	270	41	]	]	PUNCT
alkej-949	270	42	lipm	lipm	NOUN
alkej-949	270	43	foot	foot	NOUN
alkej-949	270	44	placement	placement	NOUN
alkej-949	270	45	control	control	NOUN
alkej-949	270	46	using	use	VERB
alkej-949	270	47	kinetic	kinetic	ADJ
alkej-949	270	48	reduction	reduction	NOUN
alkej-949	270	49	(	(	PUNCT
alkej-949	270	50	step	step	NOUN
alkej-949	270	51	strategy	strategy	NOUN
alkej-949	270	52	)	)	PUNCT
alkej-949	270	53	biped	biped	NOUN
alkej-949	270	54	(	(	PUNCT
alkej-949	270	55	simulation	simulation	NOUN
alkej-949	270	56	)	)	PUNCT
alkej-949	270	57	ahrs	ahrs	NOUN
alkej-949	270	58	to	to	PART
alkej-949	270	59	measure	measure	VERB
alkej-949	270	60	angle	angle	NOUN
alkej-949	270	61	and	and	CCONJ
alkej-949	270	62	angular	angular	ADJ
alkej-949	270	63	velocity	velocity	NOUN
alkej-949	270	64	[	[	X
alkej-949	270	65	27	27	NUM
alkej-949	270	66	]	]	SYM
alkej-949	270	67	two	two	NUM
alkej-949	270	68	-	-	PUNCT
alkej-949	270	69	link	link	NOUN
alkej-949	270	70	planar	planar	ADJ
alkej-949	270	71	robot	robot	NOUN
alkej-949	270	72	integral	integral	ADJ
alkej-949	270	73	control	control	NOUN
alkej-949	270	74	of	of	ADP
alkej-949	270	75	cop	cop	NOUN
alkej-949	270	76	position	position	NOUN
alkej-949	270	77	(	(	PUNCT
alkej-949	270	78	hip	hip	NOUN
alkej-949	270	79	strategy	strategy	NOUN
alkej-949	270	80	)	)	PUNCT
alkej-949	270	81	biped	biped	NOUN
alkej-949	270	82	(	(	PUNCT
alkej-949	270	83	simulation	simulation	NOUN
alkej-949	270	84	)	)	PUNCT
alkej-949	271	1	[	[	X
alkej-949	271	2	28	28	NUM
alkej-949	271	3	]	]	PUNCT
alkej-949	271	4	lipm	lipm	VERB
alkej-949	271	5	high	high	ADJ
alkej-949	271	6	-	-	PUNCT
alkej-949	271	7	level	level	NOUN
alkej-949	271	8	control	control	NOUN
alkej-949	271	9	uses	use	VERB
alkej-949	271	10	reinforcement	reinforcement	NOUN
alkej-949	271	11	learning	learning	NOUN
alkej-949	271	12	to	to	PART
alkej-949	271	13	select	select	VERB
alkej-949	271	14	among	among	ADP
alkej-949	271	15	(	(	PUNCT
alkej-949	271	16	ankle	ankle	NOUN
alkej-949	271	17	,	,	PUNCT
alkej-949	271	18	hip	hip	NOUN
alkej-949	271	19	real	real	ADJ
alkej-949	271	20	humanoid	humanoid	NOUN
alkej-949	271	21	(	(	PUNCT
alkej-949	271	22	darwin	darwin	PROPN
alkej-949	271	23	-	-	PUNCT
alkej-949	271	24	hp	hp	PROPN
alkej-949	271	25	)	)	PUNCT
alkej-949	271	26	imu	imu	NOUN
alkej-949	271	27	and	and	CCONJ
alkej-949	271	28	joint	joint	ADJ
alkej-949	271	29	encoders	encoder	NOUN
alkej-949	271	30	ibrahim	ibrahim	PROPN
alkej-949	271	31	altameemi	altameemi	ADP
alkej-949	271	32	al	al	PROPN
alkej-949	271	33	-	-	PUNCT
alkej-949	271	34	khwarizmi	khwarizmi	PROPN
alkej-949	271	35	engineering	engineering	NOUN
alkej-949	271	36	journal	journal	PROPN
alkej-949	271	37	,	,	PUNCT
alkej-949	271	38	vol	vol	NOUN
alkej-949	271	39	.	.	PROPN
alkej-949	271	40	20	20	NUM
alkej-949	271	41	,	,	PUNCT
alkej-949	271	42	no.3	no.3	VERB
alkej-949	271	43	,	,	PUNCT
alkej-949	271	44	p.p	p.p	PROPN
alkej-949	271	45	.	.	PROPN
alkej-949	271	46	2035	2035	NUM
alkej-949	271	47	(	(	PUNCT
alkej-949	271	48	2024	2024	NUM
alkej-949	271	49	)	)	PUNCT
alkej-949	271	50	30	30	NUM
alkej-949	271	51	and	and	CCONJ
alkej-949	271	52	step	step	NOUN
alkej-949	271	53	strategies	strategy	NOUN
alkej-949	271	54	)	)	PUNCT
alkej-949	272	1	[	[	X
alkej-949	272	2	29	29	NUM
alkej-949	272	3	]	]	X
alkej-949	272	4	simple	simple	ADJ
alkej-949	272	5	pendulum	pendulum	NOUN
alkej-949	272	6	cart	cart	NOUN
alkej-949	272	7	model	model	NOUN
alkej-949	272	8	step	step	NOUN
alkej-949	272	9	position	position	NOUN
alkej-949	272	10	control	control	NOUN
alkej-949	272	11	using	use	VERB
alkej-949	272	12	model	model	NOUN
alkej-949	272	13	-	-	PUNCT
alkej-949	272	14	driven	drive	VERB
alkej-949	272	15	learning	learning	NOUN
alkej-949	272	16	approach	approach	NOUN
alkej-949	272	17	(	(	PUNCT
alkej-949	272	18	step	step	NOUN
alkej-949	272	19	strategy	strategy	NOUN
alkej-949	272	20	)	)	PUNCT
alkej-949	272	21	real	real	ADJ
alkej-949	272	22	humanoid	humanoid	NOUN
alkej-949	272	23	(	(	PUNCT
alkej-949	272	24	copedo	copedo	NOUN
alkej-949	272	25	)	)	PUNCT
alkej-949	272	26	joint	joint	ADJ
alkej-949	272	27	encoders	encoder	NOUN
alkej-949	273	1	[	[	X
alkej-949	273	2	21	21	NUM
alkej-949	273	3	]	]	X
alkej-949	273	4	[	[	X
alkej-949	273	5	22	22	NUM
alkej-949	273	6	]	]	X
alkej-949	273	7	centroidal	centroidal	ADJ
alkej-949	273	8	dynamics	dynamic	NOUN
alkej-949	273	9	whole	whole	ADJ
alkej-949	273	10	body	body	NOUN
alkej-949	273	11	capturability	capturability	NOUN
alkej-949	273	12	(	(	PUNCT
alkej-949	273	13	ankle	ankle	NOUN
alkej-949	273	14	,	,	PUNCT
alkej-949	273	15	hip	hip	NOUN
alkej-949	273	16	and	and	CCONJ
alkej-949	273	17	step	step	NOUN
alkej-949	273	18	strategies	strategy	NOUN
alkej-949	273	19	)	)	PUNCT
alkej-949	273	20	real	real	ADJ
alkej-949	273	21	humanoid	humanoid	NOUN
alkej-949	273	22	(	(	PUNCT
alkej-949	273	23	darwin	darwin	PROPN
alkej-949	273	24	-	-	PUNCT
alkej-949	273	25	op	op	NOUN
alkej-949	273	26	)	)	PUNCT
alkej-949	273	27	joint	joint	ADJ
alkej-949	273	28	encoders	encoder	NOUN
alkej-949	273	29	[	[	X
alkej-949	273	30	13	13	NUM
alkej-949	273	31	]	]	PUNCT
alkej-949	273	32	lipm	lipm	NOUN
alkej-949	273	33	and	and	CCONJ
alkej-949	273	34	centroidal	centroidal	ADJ
alkej-949	273	35	dynamics	dynamic	NOUN
alkej-949	273	36	step	step	NOUN
alkej-949	273	37	position	position	NOUN
alkej-949	273	38	control	control	NOUN
alkej-949	273	39	using	use	VERB
alkej-949	273	40	push	push	NOUN
alkej-949	273	41	recovery	recovery	NOUN
alkej-949	273	42	-	-	PUNCT
alkej-949	273	43	mpc	mpc	NOUN
alkej-949	273	44	(	(	PUNCT
alkej-949	273	45	prmpc	prmpc	PROPN
alkej-949	273	46	)	)	PUNCT
alkej-949	273	47	(	(	PUNCT
alkej-949	273	48	step	step	NOUN
alkej-949	273	49	strategy	strategy	NOUN
alkej-949	273	50	)	)	PUNCT
alkej-949	273	51	real	real	ADJ
alkej-949	273	52	humanoid	humanoid	NOUN
alkej-949	273	53	(	(	PUNCT
alkej-949	273	54	sarcos	sarcos	NOUN
alkej-949	273	55	)	)	PUNCT
alkej-949	273	56	force	force	NOUN
alkej-949	273	57	sensors	sensor	NOUN
alkej-949	273	58	[	[	X
alkej-949	273	59	12	12	NUM
alkej-949	273	60	]	]	PUNCT
alkej-949	273	61	lipm	lipm	NOUN
alkej-949	273	62	com	com	NOUN
alkej-949	273	63	position	position	NOUN
alkej-949	273	64	control	control	NOUN
alkej-949	273	65	using	use	VERB
alkej-949	273	66	pd	pd	NOUN
alkej-949	273	67	controller	controller	NOUN
alkej-949	273	68	(	(	PUNCT
alkej-949	273	69	ankle	ankle	NOUN
alkej-949	273	70	and	and	CCONJ
alkej-949	273	71	hip	hip	NOUN
alkej-949	273	72	strategy	strategy	NOUN
alkej-949	273	73	)	)	PUNCT
alkej-949	273	74	nao	nao	PROPN
alkej-949	273	75	humanoid	humanoid	PROPN
alkej-949	273	76	(	(	PUNCT
alkej-949	273	77	simulation	simulation	NOUN
alkej-949	273	78	)	)	PUNCT
alkej-949	273	79	joint	joint	ADJ
alkej-949	273	80	encoders	encoder	NOUN
alkej-949	273	81	[	[	X
alkej-949	273	82	32	32	NUM
alkej-949	273	83	]	]	SYM
alkej-949	273	84	lipfm	lipfm	NOUN
alkej-949	273	85	capture	capture	NOUN
alkej-949	273	86	point	point	NOUN
alkej-949	273	87	control	control	NOUN
alkej-949	273	88	using	use	VERB
alkej-949	273	89	mpc	mpc	PROPN
alkej-949	273	90	(	(	PUNCT
alkej-949	273	91	ankle	ankle	NOUN
alkej-949	273	92	and	and	CCONJ
alkej-949	273	93	hip	hip	NOUN
alkej-949	273	94	strategy	strategy	NOUN
alkej-949	273	95	)	)	PUNCT
alkej-949	273	96	surena	surena	PROPN
alkej-949	273	97	iii	iii	PROPN
alkej-949	273	98	humanoid	humanoid	PROPN
alkej-949	273	99	(	(	PUNCT
alkej-949	273	100	simulation	simulation	NOUN
alkej-949	273	101	)	)	PUNCT
alkej-949	274	1	[	[	X
alkej-949	274	2	11	11	NUM
alkej-949	274	3	]	]	PUNCT
alkej-949	274	4	lipm	lipm	NOUN
alkej-949	274	5	zmp	zmp	NOUN
alkej-949	274	6	position	position	NOUN
alkej-949	274	7	control	control	NOUN
alkej-949	274	8	using	use	VERB
alkej-949	274	9	pd	pd	NOUN
alkej-949	274	10	controller	controller	NOUN
alkej-949	274	11	(	(	PUNCT
alkej-949	274	12	ankle	ankle	NOUN
alkej-949	274	13	strategy	strategy	NOUN
alkej-949	274	14	)	)	PUNCT
alkej-949	274	15	biped	biped	NOUN
alkej-949	274	16	(	(	PUNCT
alkej-949	274	17	simulation	simulation	NOUN
alkej-949	274	18	)	)	PUNCT
alkej-949	274	19	foot	foot	NOUN
alkej-949	274	20	force	force	NOUN
alkej-949	274	21	sensors	sensor	NOUN
alkej-949	274	22	and	and	CCONJ
alkej-949	274	23	joint	joint	ADJ
alkej-949	274	24	encoders	encoder	NOUN
alkej-949	274	25	[	[	X
alkej-949	274	26	31	31	NUM
alkej-949	274	27	]	]	X
alkej-949	274	28	centroidal	centroidal	ADJ
alkej-949	274	29	dynamics	dynamic	NOUN
alkej-949	274	30	dynamics	dynamic	NOUN
alkej-949	274	31	balance	balance	NOUN
alkej-949	274	32	force	force	NOUN
alkej-949	274	33	control	control	NOUN
alkej-949	274	34	(	(	PUNCT
alkej-949	274	35	dbfc	dbfc	PROPN
alkej-949	274	36	)	)	PUNCT
alkej-949	274	37	(	(	PUNCT
alkej-949	274	38	step	step	NOUN
alkej-949	274	39	strategy	strategy	NOUN
alkej-949	274	40	)	)	PUNCT
alkej-949	274	41	real	real	ADJ
alkej-949	274	42	humanoid	humanoid	NOUN
alkej-949	274	43	(	(	PUNCT
alkej-949	274	44	sarcos	sarcos	PROPN
alkej-949	274	45	)	)	PUNCT
alkej-949	274	46	imu	imu	NOUN
alkej-949	274	47	and	and	CCONJ
alkej-949	274	48	foot	foot	NOUN
alkej-949	274	49	force	force	NOUN
alkej-949	274	50	sensors	sensor	NOUN
alkej-949	275	1	[	[	X
alkej-949	275	2	33	33	NUM
alkej-949	275	3	]	]	PUNCT
alkej-949	275	4	centroidal	centroidal	ADJ
alkej-949	275	5	dynamics	dynamic	NOUN
alkej-949	275	6	com	com	NOUN
alkej-949	275	7	position	position	NOUN
alkej-949	275	8	and	and	CCONJ
alkej-949	275	9	trunk	trunk	NOUN
alkej-949	275	10	orientation	orientation	NOUN
alkej-949	275	11	control	control	NOUN
alkej-949	275	12	using	use	VERB
alkej-949	275	13	contact	contact	NOUN
alkej-949	275	14	force	force	NOUN
alkej-949	275	15	optimisation	optimisation	NOUN
alkej-949	275	16	(	(	PUNCT
alkej-949	275	17	whole	whole	ADJ
alkej-949	275	18	-	-	PUNCT
alkej-949	275	19	body	body	NOUN
alkej-949	275	20	motion	motion	NOUN
alkej-949	275	21	strategy	strategy	NOUN
alkej-949	275	22	)	)	PUNCT
alkej-949	275	23	real	real	ADJ
alkej-949	275	24	biped	biped	NOUN
alkej-949	275	25	(	(	PUNCT
alkej-949	275	26	dlrbiped	dlrbipe	VERB
alkej-949	275	27	)	)	PUNCT
alkej-949	275	28	joint	joint	ADJ
alkej-949	275	29	torques	torque	NOUN
alkej-949	275	30	sensors	sensor	NOUN
alkej-949	275	31	[	[	X
alkej-949	275	32	34	34	NUM
alkej-949	275	33	]	]	X
alkej-949	275	34	whole	whole	ADJ
alkej-949	275	35	-	-	PUNCT
alkej-949	275	36	body	body	NOUN
alkej-949	275	37	dynamic	dynamic	ADJ
alkej-949	275	38	model	model	NOUN
alkej-949	275	39	whole	whole	ADJ
alkej-949	275	40	-	-	PUNCT
alkej-949	275	41	body	body	NOUN
alkej-949	275	42	balance	balance	NOUN
alkej-949	275	43	control	control	NOUN
alkej-949	275	44	-	-	PUNCT
alkej-949	275	45	based	base	VERB
alkej-949	275	46	on	on	ADP
alkej-949	275	47	centroidal	centroidal	ADJ
alkej-949	275	48	angular	angular	ADJ
alkej-949	275	49	momentum	momentum	NOUN
alkej-949	275	50	(	(	PUNCT
alkej-949	275	51	cam	cam	NOUN
alkej-949	275	52	)	)	PUNCT
alkej-949	275	53	(	(	PUNCT
alkej-949	275	54	whole	whole	ADJ
alkej-949	275	55	-	-	PUNCT
alkej-949	275	56	body	body	NOUN
alkej-949	275	57	motion	motion	NOUN
alkej-949	275	58	)	)	PUNCT
alkej-949	275	59	real	real	ADJ
alkej-949	275	60	humanoid	humanoid	NOUN
alkej-949	275	61	robot	robot	NOUN
alkej-949	275	62	(	(	PUNCT
alkej-949	275	63	toro	toro	PROPN
alkej-949	275	64	)	)	PUNCT
alkej-949	275	65	imu	imu	NOUN
alkej-949	275	66	,	,	PUNCT
alkej-949	275	67	joint	joint	ADJ
alkej-949	275	68	encoders	encoder	NOUN
alkej-949	275	69	and	and	CCONJ
alkej-949	275	70	force	force	NOUN
alkej-949	275	71	sensor	sensor	NOUN
alkej-949	275	72	at	at	ADP
alkej-949	275	73	the	the	DET
alkej-949	275	74	stick	stick	NOUN
alkej-949	275	75	to	to	PART
alkej-949	275	76	measure	measure	VERB
alkej-949	275	77	the	the	DET
alkej-949	275	78	pushing	push	VERB
alkej-949	275	79	force	force	NOUN
alkej-949	275	80	table	table	NOUN
alkej-949	275	81	2	2	NUM
alkej-949	275	82	comparison	comparison	NOUN
alkej-949	275	83	of	of	ADP
alkej-949	275	84	push	push	NOUN
alkej-949	275	85	recovery	recovery	NOUN
alkej-949	275	86	control	control	NOUN
alkej-949	275	87	techniques	technique	NOUN
alkej-949	275	88	for	for	ADP
alkej-949	275	89	walking	walk	VERB
alkej-949	275	90	bipedal	bipedal	ADJ
alkej-949	275	91	robots	robot	NOUN
alkej-949	275	92	.	.	PUNCT
alkej-949	276	1	reference	reference	NOUN
alkej-949	276	2	dynamic	dynamic	ADJ
alkej-949	276	3	model	model	NOUN
alkej-949	276	4	control	control	NOUN
alkej-949	276	5	method	method	NOUN
alkej-949	276	6	implementation	implementation	NOUN
alkej-949	276	7	platform	platform	NOUN
alkej-949	276	8	sense	sense	NOUN
alkej-949	276	9	usage	usage	NOUN
alkej-949	276	10	[	[	X
alkej-949	276	11	36	36	NUM
alkej-949	276	12	]	]	PUNCT
alkej-949	276	13	lipm	lipm	NOUN
alkej-949	276	14	for	for	ADP
alkej-949	276	15	normal	normal	ADJ
alkej-949	276	16	walking	walking	NOUN
alkej-949	276	17	step	step	NOUN
alkej-949	276	18	length	length	NOUN
alkej-949	276	19	control	control	NOUN
alkej-949	276	20	using	use	VERB
alkej-949	276	21	ankle	ankle	NOUN
alkej-949	276	22	and	and	CCONJ
alkej-949	276	23	hip	hip	NOUN
alkej-949	276	24	strategy	strategy	NOUN
alkej-949	276	25	for	for	ADP
alkej-949	276	26	double	double	ADJ
alkej-949	276	27	support	support	NOUN
alkej-949	276	28	phase	phase	NOUN
alkej-949	276	29	and	and	CCONJ
alkej-949	276	30	trunk	trunk	NOUN
alkej-949	276	31	velocity	velocity	NOUN
alkej-949	276	32	control	control	NOUN
alkej-949	276	33	using	use	VERB
alkej-949	276	34	knee	knee	NOUN
alkej-949	276	35	strategy	strategy	NOUN
alkej-949	276	36	for	for	ADP
alkej-949	276	37	swing	swing	NOUN
alkej-949	276	38	phase	phase	NOUN
alkej-949	276	39	21	21	NUM
alkej-949	276	40	dof	dof	NOUN
alkej-949	276	41	biped	biped	NOUN
alkej-949	276	42	(	(	PUNCT
alkej-949	276	43	simulation	simulation	NOUN
alkej-949	276	44	)	)	PUNCT
alkej-949	276	45	foot	foot	NOUN
alkej-949	276	46	force	force	NOUN
alkej-949	276	47	sensor	sensor	NOUN
alkej-949	276	48	and	and	CCONJ
alkej-949	276	49	imu	imu	NOUN
alkej-949	277	1	[	[	X
alkej-949	277	2	37	37	NUM
alkej-949	277	3	]	]	PUNCT
alkej-949	277	4	lipm	lipm	NOUN
alkej-949	277	5	for	for	ADP
alkej-949	277	6	normal	normal	ADJ
alkej-949	277	7	walking	walking	NOUN
alkej-949	277	8	com	com	NOUN
alkej-949	277	9	trajectory	trajectory	NOUN
alkej-949	277	10	generation	generation	NOUN
alkej-949	277	11	with	with	ADP
alkej-949	277	12	preview	preview	NOUN
alkej-949	277	13	control	control	NOUN
alkej-949	277	14	for	for	ADP
alkej-949	277	15	normal	normal	ADJ
alkej-949	277	16	walking	walking	NOUN
alkej-949	277	17	and	and	CCONJ
alkej-949	277	18	push	push	VERB
alkej-949	277	19	recovery	recovery	NOUN
alkej-949	277	20	trajectory	trajectory	NOUN
alkej-949	277	21	generator	generator	NOUN
alkej-949	277	22	modifies	modify	VERB
alkej-949	277	23	swing	swing	NOUN
alkej-949	277	24	leg	leg	NOUN
alkej-949	277	25	trajectory	trajectory	NOUN
alkej-949	277	26	real	real	ADJ
alkej-949	277	27	biped	bipe	VERB
alkej-949	277	28	imu	imu	NOUN
alkej-949	277	29	and	and	CCONJ
alkej-949	277	30	force	force	NOUN
alkej-949	277	31	/	/	SYM
alkej-949	277	32	torque	torque	NOUN
alkej-949	277	33	sensors	sensor	NOUN
alkej-949	278	1	[	[	X
alkej-949	278	2	14	14	NUM
alkej-949	278	3	]	]	X
alkej-949	278	4	whole	whole	ADJ
alkej-949	278	5	-	-	PUNCT
alkej-949	278	6	body	body	NOUN
alkej-949	278	7	dynamics	dynamic	NOUN
alkej-949	278	8	optimal	optimal	ADJ
alkej-949	278	9	ground	ground	NOUN
alkej-949	278	10	reaction	reaction	NOUN
alkej-949	278	11	forces	force	NOUN
alkej-949	278	12	biped	biped	NOUN
alkej-949	278	13	(	(	PUNCT
alkej-949	278	14	simulation	simulation	NOUN
alkej-949	278	15	)	)	PUNCT
alkej-949	278	16	imu	imu	NOUN
alkej-949	278	17	and	and	CCONJ
alkej-949	278	18	foot	foot	NOUN
alkej-949	278	19	force	force	NOUN
alkej-949	278	20	sensors	sensor	NOUN
alkej-949	278	21	[	[	X
alkej-949	278	22	38	38	NUM
alkej-949	278	23	]	]	PUNCT
alkej-949	278	24	lipm	lipm	NOUN
alkej-949	278	25	walking	walking	NOUN
alkej-949	278	26	phase	phase	NOUN
alkej-949	278	27	modification	modification	NOUN
alkej-949	278	28	(	(	PUNCT
alkej-949	278	29	transition	transition	NOUN
alkej-949	278	30	between	between	ADP
alkej-949	278	31	acceleration	acceleration	NOUN
alkej-949	278	32	and	and	CCONJ
alkej-949	278	33	deceleration	deceleration	NOUN
alkej-949	278	34	phases	phase	NOUN
alkej-949	278	35	)	)	PUNCT
alkej-949	278	36	biped	biped	NOUN
alkej-949	278	37	(	(	PUNCT
alkej-949	278	38	simulation	simulation	NOUN
alkej-949	278	39	)	)	PUNCT
alkej-949	278	40	accelerometer	accelerometer	NOUN
alkej-949	278	41	,	,	PUNCT
alkej-949	278	42	body	body	NOUN
alkej-949	278	43	inclination	inclination	NOUN
alkej-949	278	44	sensor	sensor	NOUN
alkej-949	278	45	and	and	CCONJ
alkej-949	278	46	foot	foot	NOUN
alkej-949	278	47	force	force	NOUN
alkej-949	278	48	sensors	sensor	NOUN
alkej-949	278	49	[	[	X
alkej-949	278	50	39	39	NUM
alkej-949	278	51	]	]	PUNCT
alkej-949	278	52	lipm	lipm	NOUN
alkej-949	278	53	for	for	ADP
alkej-949	278	54	footstep	footstep	ADJ
alkej-949	278	55	planner	planner	NOUN
alkej-949	278	56	and	and	CCONJ
alkej-949	278	57	wholebody	wholebody	NOUN
alkej-949	278	58	dynamics	dynamic	NOUN
alkej-949	278	59	for	for	ADP
alkej-949	278	60	whole	whole	ADJ
alkej-949	278	61	body	body	NOUN
alkej-949	278	62	control	control	VERB
alkej-949	278	63	two	two	NUM
alkej-949	278	64	-	-	PUNCT
alkej-949	278	65	level	level	NOUN
alkej-949	278	66	controllers	controller	NOUN
alkej-949	278	67	(	(	PUNCT
alkej-949	278	68	divergent	divergent	ADJ
alkej-949	278	69	component	component	NOUN
alkej-949	278	70	of	of	ADP
alkej-949	278	71	motion	motion	NOUN
alkej-949	278	72	-	-	PUNCT
alkej-949	278	73	based	base	VERB
alkej-949	278	74	high	high	ADJ
alkej-949	278	75	level	level	NOUN
alkej-949	278	76	footstep	footstep	NOUN
alkej-949	278	77	planner	planner	NOUN
alkej-949	278	78	and	and	CCONJ
alkej-949	278	79	low	low	ADJ
alkej-949	278	80	-	-	PUNCT
alkej-949	278	81	level	level	NOUN
alkej-949	278	82	whole	whole	ADJ
alkej-949	278	83	-	-	PUNCT
alkej-949	278	84	body	body	NOUN
alkej-949	278	85	control	control	NOUN
alkej-949	278	86	to	to	PART
alkej-949	278	87	compute	compute	VERB
alkej-949	278	88	the	the	DET
alkej-949	278	89	joint	joint	ADJ
alkej-949	278	90	torques	torque	NOUN
alkej-949	278	91	)	)	PUNCT
alkej-949	278	92	real	real	ADJ
alkej-949	278	93	biped	biped	NOUN
alkej-949	278	94	(	(	PUNCT
alkej-949	278	95	bruce	bruce	PROPN
alkej-949	278	96	)	)	PUNCT
alkej-949	278	97	imu	imu	NOUN
alkej-949	278	98	,	,	PUNCT
alkej-949	278	99	joint	joint	ADJ
alkej-949	278	100	encoders	encoder	NOUN
alkej-949	278	101	and	and	CCONJ
alkej-949	278	102	force	force	VERB
alkej-949	278	103	sensors	sensor	NOUN
alkej-949	278	104	[	[	X
alkej-949	278	105	40	40	NUM
alkej-949	278	106	]	]	PUNCT
alkej-949	278	107	lipm	lipm	NOUN
alkej-949	278	108	feasible	feasible	ADJ
alkej-949	278	109	and	and	CCONJ
alkej-949	278	110	stable	stable	ADJ
alkej-949	278	111	zmp	zmp	NOUN
alkej-949	278	112	trajectory	trajectory	NOUN
alkej-949	278	113	based	base	VERB
alkej-949	278	114	on	on	ADP
alkej-949	278	115	the	the	DET
alkej-949	278	116	k	k	NOUN
alkej-949	278	117	-	-	PUNCT
alkej-949	278	118	mean	mean	ADJ
alkej-949	278	119	algorithm	algorithm	NOUN
alkej-949	278	120	.	.	PUNCT
alkej-949	279	1	simulation	simulation	NOUN
alkej-949	279	2	body	body	NOUN
alkej-949	279	3	sensor	sensor	NOUN
alkej-949	279	4	based	base	VERB
alkej-949	279	5	on	on	ADP
alkej-949	279	6	human	human	ADJ
alkej-949	279	7	capture	capture	NOUN
alkej-949	279	8	device	device	NOUN
alkej-949	279	9	(	(	PUNCT
alkej-949	279	10	hcmd	hcmd	NOUN
alkej-949	279	11	)	)	PUNCT
alkej-949	280	1	[	[	X
alkej-949	280	2	41	41	NUM
alkej-949	280	3	]	]	X
alkej-949	280	4	virtual	virtual	ADJ
alkej-949	280	5	mass	mass	NOUN
alkej-949	280	6	ellipsoid	ellipsoid	PROPN
alkej-949	280	7	intrinsically	intrinsically	ADV
alkej-949	280	8	model	model	NOUN
alkej-949	280	9	predictive	predictive	PROPN
alkej-949	280	10	humanoid	humanoid	PROPN
alkej-949	280	11	hrp4	hrp4	PROPN
alkej-949	280	12	ibrahim	ibrahim	PROPN
alkej-949	280	13	altameemi	altameemi	ADP
alkej-949	280	14	al	al	PROPN
alkej-949	280	15	-	-	PUNCT
alkej-949	280	16	khwarizmi	khwarizmi	PROPN
alkej-949	280	17	engineering	engineering	NOUN
alkej-949	280	18	journal	journal	PROPN
alkej-949	280	19	,	,	PUNCT
alkej-949	280	20	vol	vol	NOUN
alkej-949	280	21	.	.	PROPN
alkej-949	280	22	20	20	NUM
alkej-949	280	23	,	,	PUNCT
alkej-949	280	24	no.3	no.3	VERB
alkej-949	280	25	,	,	PUNCT
alkej-949	280	26	p.p	p.p	PROPN
alkej-949	280	27	.	.	PROPN
alkej-949	280	28	2035	2035	NUM
alkej-949	280	29	(	(	PUNCT
alkej-949	280	30	2024	2024	NUM
alkej-949	280	31	)	)	PUNCT
alkej-949	280	32	31	31	NUM
alkej-949	280	33	inverted	invert	VERB
alkej-949	280	34	pendulum	pendulum	NOUN
alkej-949	280	35	model	model	NOUN
alkej-949	280	36	control	control	PROPN
alkej-949	280	37	(	(	PUNCT
alkej-949	280	38	is	be	AUX
alkej-949	280	39	-	-	PUNCT
alkej-949	280	40	mpc	mpc	NOUN
alkej-949	280	41	)	)	PUNCT
alkej-949	280	42	for	for	ADP
alkej-949	280	43	angular	angular	ADJ
alkej-949	280	44	momentum	momentum	NOUN
alkej-949	280	45	control	control	NOUN
alkej-949	280	46	(	(	PUNCT
alkej-949	280	47	simulation	simulation	NOUN
alkej-949	280	48	)	)	PUNCT
alkej-949	281	1	[	[	X
alkej-949	281	2	43	43	NUM
alkej-949	281	3	]	]	PUNCT
alkej-949	281	4	lipm	lipm	NOUN
alkej-949	281	5	preview	preview	NOUN
alkej-949	281	6	control	control	NOUN
alkej-949	281	7	for	for	ADP
alkej-949	281	8	normal	normal	ADJ
alkej-949	281	9	walking	walking	NOUN
alkej-949	281	10	and	and	CCONJ
alkej-949	281	11	phase	phase	NOUN
alkej-949	281	12	change	change	NOUN
alkej-949	281	13	for	for	ADP
alkej-949	281	14	push	push	NOUN
alkej-949	281	15	recovery	recovery	NOUN
alkej-949	281	16	humanoid	humanoid	NOUN
alkej-949	281	17	(	(	PUNCT
alkej-949	281	18	simulation	simulation	NOUN
alkej-949	281	19	)	)	PUNCT
alkej-949	281	20	accelerometer	accelerometer	NOUN
alkej-949	281	21	sensor	sensor	NOUN
alkej-949	281	22	[	[	X
alkej-949	281	23	45	45	NUM
alkej-949	281	24	]	]	PUNCT
alkej-949	281	25	3d	3d	NOUN
alkej-949	281	26	actuated	actuate	VERB
alkej-949	281	27	springloaded	springloaded	ADJ
alkej-949	281	28	inverted	inverted	ADJ
alkej-949	281	29	pendulum	pendulum	NOUN
alkej-949	281	30	(	(	PUNCT
alkej-949	281	31	3d	3d	NOUN
alkej-949	281	32	-	-	PUNCT
alkej-949	281	33	aslip	aslip	NOUN
alkej-949	281	34	)	)	PUNCT
alkej-949	281	35	stepping	step	VERB
alkej-949	281	36	controller	controller	NOUN
alkej-949	281	37	based	base	VERB
alkej-949	281	38	on	on	ADP
alkej-949	281	39	hybrid	hybrid	ADJ
alkej-949	281	40	linear	linear	ADJ
alkej-949	281	41	inverted	invert	VERB
alkej-949	281	42	pendulum	pendulum	NOUN
alkej-949	281	43	model	model	NOUN
alkej-949	281	44	atlas	atlas	PROPN
alkej-949	281	45	humanoid	humanoid	PROPN
alkej-949	281	46	(	(	PUNCT
alkej-949	281	47	simulation	simulation	NOUN
alkej-949	281	48	)	)	PUNCT
alkej-949	281	49	imu	imu	NOUN
alkej-949	281	50	and	and	CCONJ
alkej-949	281	51	joint	joint	ADJ
alkej-949	281	52	encoders	encoder	NOUN
alkej-949	281	53	[	[	X
alkej-949	281	54	46	46	NUM
alkej-949	281	55	]	]	X
alkej-949	281	56	hybrid	hybrid	ADJ
alkej-949	281	57	linear	linear	ADJ
alkej-949	281	58	inverted	invert	VERB
alkej-949	281	59	pendulum	pendulum	NOUN
alkej-949	281	60	model	model	NOUN
alkej-949	281	61	step	step	NOUN
alkej-949	281	62	-	-	PUNCT
alkej-949	281	63	to	to	ADP
alkej-949	281	64	-	-	PUNCT
alkej-949	281	65	step	step	NOUN
alkej-949	281	66	based	base	VERB
alkej-949	281	67	stepping	stepping	ADJ
alkej-949	281	68	controller	controller	NOUN
alkej-949	281	69	real	real	ADJ
alkej-949	281	70	biped	biped	NOUN
alkej-949	281	71	(	(	PUNCT
alkej-949	281	72	cassie	cassie	PROPN
alkej-949	281	73	)	)	PUNCT
alkej-949	281	74	imu	imu	NOUN
alkej-949	281	75	and	and	CCONJ
alkej-949	281	76	joint	joint	ADJ
alkej-949	281	77	encoders	encoder	NOUN
alkej-949	281	78	[	[	X
alkej-949	281	79	50	50	NUM
alkej-949	281	80	]	]	PUNCT
alkej-949	281	81	lipm	lipm	NOUN
alkej-949	281	82	foot	foot	NOUN
alkej-949	281	83	placement	placement	NOUN
alkej-949	281	84	modification	modification	NOUN
alkej-949	281	85	based	base	VERB
alkej-949	281	86	on	on	ADP
alkej-949	281	87	kinetic	kinetic	ADJ
alkej-949	281	88	energy	energy	NOUN
alkej-949	281	89	error	error	NOUN
alkej-949	281	90	of	of	ADP
alkej-949	281	91	the	the	DET
alkej-949	281	92	upper	upper	ADJ
alkej-949	281	93	body	body	NOUN
alkej-949	281	94	small	small	ADJ
alkej-949	281	95	scale	scale	NOUN
alkej-949	281	96	humanoid	humanoid	NOUN
alkej-949	281	97	(	(	PUNCT
alkej-949	281	98	simulation	simulation	NOUN
alkej-949	281	99	)	)	PUNCT
alkej-949	281	100	ahrs	ahrs	NOUN
alkej-949	281	101	and	and	CCONJ
alkej-949	281	102	foot	foot	NOUN
alkej-949	281	103	force	force	NOUN
alkej-949	281	104	sensors	sensor	NOUN
alkej-949	281	105	[	[	X
alkej-949	281	106	51	51	NUM
alkej-949	281	107	]	]	PUNCT
alkej-949	281	108	lipm	lipm	NOUN
alkej-949	281	109	for	for	ADP
alkej-949	281	110	cop	cop	NOUN
alkej-949	281	111	balancing	balancing	NOUN
alkej-949	281	112	and	and	CCONJ
alkej-949	281	113	lipfm	lipfm	NOUN
alkej-949	281	114	for	for	ADP
alkej-949	281	115	cmp	cmp	NOUN
alkej-949	281	116	balancing	balancing	NOUN
alkej-949	281	117	cop	cop	NOUN
alkej-949	281	118	balancing	balancing	NOUN
alkej-949	281	119	,	,	PUNCT
alkej-949	281	120	cmp	cmp	NOUN
alkej-949	281	121	balancing	balancing	NOUN
alkej-949	281	122	and	and	CCONJ
alkej-949	281	123	step	step	NOUN
alkej-949	281	124	strategy	strategy	NOUN
alkej-949	281	125	real	real	ADJ
alkej-949	281	126	humanoid	humanoid	NOUN
alkej-949	281	127	(	(	PUNCT
alkej-949	281	128	polaris	polaris	PROPN
alkej-949	281	129	)	)	PUNCT
alkej-949	281	130	imu	imu	NOUN
alkej-949	282	1	[	[	X
alkej-949	282	2	1	1	NUM
alkej-949	282	3	]	]	PUNCT
alkej-949	282	4	lipm	lipm	NOUN
alkej-949	282	5	footstep	footstep	NOUN
alkej-949	282	6	position	position	NOUN
alkej-949	282	7	and	and	CCONJ
alkej-949	282	8	time	time	NOUN
alkej-949	282	9	based	base	VERB
alkej-949	282	10	on	on	ADP
alkej-949	282	11	divergent	divergent	ADJ
alkej-949	282	12	component	component	NOUN
alkej-949	282	13	of	of	ADP
alkej-949	282	14	motion	motion	NOUN
alkej-949	282	15	planner	planner	NOUN
alkej-949	282	16	humanoid	humanoid	NOUN
alkej-949	282	17	(	(	PUNCT
alkej-949	282	18	icub	icub	NOUN
alkej-949	282	19	)	)	PUNCT
alkej-949	282	20	(	(	PUNCT
alkej-949	282	21	simulation	simulation	NOUN
alkej-949	282	22	)	)	PUNCT
alkej-949	282	23	joint	joint	NOUN
alkej-949	282	24	and	and	CCONJ
alkej-949	282	25	body	body	NOUN
alkej-949	282	26	encoders	encoder	NOUN
alkej-949	282	27	[	[	X
alkej-949	282	28	52	52	NUM
alkej-949	282	29	]	]	PUNCT
alkej-949	282	30	lipm	lipm	NOUN
alkej-949	282	31	online	online	ADJ
alkej-949	282	32	walking	walking	NOUN
alkej-949	282	33	trajectories	trajectory	NOUN
alkej-949	282	34	with	with	ADP
alkej-949	282	35	non	non	ADJ
alkej-949	282	36	-	-	ADJ
alkej-949	282	37	divergence	divergence	ADJ
alkej-949	282	38	constraints	constraint	NOUN
alkej-949	282	39	for	for	ADP
alkej-949	282	40	zmp	zmp	NOUN
alkej-949	282	41	-	-	PUNCT
alkej-949	282	42	com	com	NOUN
alkej-949	282	43	real	real	ADJ
alkej-949	282	44	biped	biped	NOUN
alkej-949	282	45	(	(	PUNCT
alkej-949	282	46	hrp3l	hrp3l	PROPN
alkej-949	282	47	-	-	PUNCT
alkej-949	282	48	jsk	jsk	PROPN
alkej-949	282	49	)	)	PUNCT
alkej-949	282	50	6	6	NUM
alkej-949	282	51	-	-	PUNCT
alkej-949	282	52	axis	axis	NOUN
alkej-949	282	53	force	force	NOUN
alkej-949	282	54	sensor	sensor	NOUN
alkej-949	282	55	,	,	PUNCT
alkej-949	282	56	accelerometer	accelerometer	NOUN
alkej-949	282	57	and	and	CCONJ
alkej-949	282	58	fiber	fiber	NOUN
alkej-949	282	59	optic	optic	NOUN
alkej-949	282	60	gyroscope	gyroscope	NOUN
alkej-949	282	61	(	(	PUNCT
alkej-949	282	62	fog	fog	NOUN
alkej-949	282	63	)	)	PUNCT
alkej-949	283	1	[	[	X
alkej-949	283	2	53	53	NUM
alkej-949	283	3	]	]	X
alkej-949	283	4	virtual	virtual	ADJ
alkej-949	283	5	force	force	NOUN
alkej-949	283	6	lipm	lipm	NOUN
alkej-949	283	7	(	(	PUNCT
alkej-949	283	8	vflipm	vflipm	ADV
alkej-949	283	9	)	)	PUNCT
alkej-949	283	10	to	to	PART
alkej-949	283	11	change	change	VERB
alkej-949	283	12	the	the	DET
alkej-949	283	13	zmp	zmp	NOUN
alkej-949	283	14	and	and	CCONJ
alkej-949	283	15	com	com	NOUN
alkej-949	283	16	to	to	PART
alkej-949	283	17	eliminate	eliminate	VERB
alkej-949	283	18	disturbances	disturbance	NOUN
alkej-949	283	19	from	from	ADP
alkej-949	283	20	environment	environment	NOUN
alkej-949	283	21	a	a	DET
alkej-949	283	22	fuzzy	fuzzy	ADJ
alkej-949	283	23	dynamic	dynamic	ADJ
alkej-949	283	24	gait	gait	NOUN
alkej-949	283	25	pattern	pattern	NOUN
alkej-949	283	26	generator	generator	NOUN
alkej-949	283	27	real	real	ADJ
alkej-949	283	28	robot	robot	NOUN
alkej-949	283	29	(	(	PUNCT
alkej-949	283	30	david	david	PROPN
alkej-949	283	31	junior	junior	PROPN
alkej-949	283	32	ii	ii	PROPN
alkej-949	283	33	)	)	PUNCT
alkej-949	283	34	eight	eight	NUM
alkej-949	283	35	pressure	pressure	NOUN
alkej-949	283	36	sensors	sensor	NOUN
alkej-949	283	37	and	and	CCONJ
alkej-949	283	38	imu	imu	NOUN
alkej-949	283	39	4	4	NUM
alkej-949	283	40	.	.	PUNCT
alkej-949	283	41	conclusion	conclusion	NOUN
alkej-949	283	42	this	this	DET
alkej-949	283	43	study	study	NOUN
alkej-949	283	44	conducted	conduct	VERB
alkej-949	283	45	a	a	DET
alkej-949	283	46	thorough	thorough	ADJ
alkej-949	283	47	examination	examination	NOUN
alkej-949	283	48	of	of	ADP
alkej-949	283	49	the	the	DET
alkej-949	283	50	innovative	innovative	ADJ
alkej-949	283	51	strategies	strategy	NOUN
alkej-949	283	52	and	and	CCONJ
alkej-949	283	53	methodologies	methodology	NOUN
alkej-949	283	54	used	use	VERB
alkej-949	283	55	to	to	PART
alkej-949	283	56	ensure	ensure	VERB
alkej-949	283	57	the	the	DET
alkej-949	283	58	stability	stability	NOUN
alkej-949	283	59	of	of	ADP
alkej-949	283	60	bipedal	bipedal	ADJ
alkej-949	283	61	robots	robot	NOUN
alkej-949	283	62	in	in	ADP
alkej-949	283	63	the	the	DET
alkej-949	283	64	presence	presence	NOUN
alkej-949	283	65	of	of	ADP
alkej-949	283	66	external	external	ADJ
alkej-949	283	67	disturbances	disturbance	NOUN
alkej-949	283	68	.	.	PUNCT
alkej-949	284	1	this	this	DET
alkej-949	284	2	work	work	NOUN
alkej-949	284	3	began	begin	VERB
alkej-949	284	4	by	by	ADP
alkej-949	284	5	categorising	categorise	VERB
alkej-949	284	6	previous	previous	ADJ
alkej-949	284	7	studies	study	NOUN
alkej-949	284	8	into	into	ADP
alkej-949	284	9	two	two	NUM
alkej-949	284	10	categories	category	NOUN
alkej-949	284	11	:	:	PUNCT
alkej-949	284	12	those	those	PRON
alkej-949	284	13	that	that	PRON
alkej-949	284	14	apply	apply	VERB
alkej-949	284	15	to	to	ADP
alkej-949	284	16	standing	standing	ADJ
alkej-949	284	17	robots	robot	NOUN
alkej-949	284	18	and	and	CCONJ
alkej-949	284	19	those	those	PRON
alkej-949	284	20	that	that	PRON
alkej-949	284	21	achieve	achieve	VERB
alkej-949	284	22	stability	stability	NOUN
alkej-949	284	23	while	while	SCONJ
alkej-949	284	24	walking	walk	VERB
alkej-949	284	25	.	.	PUNCT
alkej-949	285	1	subsequently	subsequently	ADV
alkej-949	285	2	,	,	PUNCT
alkej-949	285	3	it	it	PRON
alkej-949	285	4	systemically	systemically	ADV
alkej-949	285	5	analysed	analyse	VERB
alkej-949	285	6	and	and	CCONJ
alkej-949	285	7	compared	compare	VERB
alkej-949	285	8	current	current	ADJ
alkej-949	285	9	methods	method	NOUN
alkej-949	285	10	,	,	PUNCT
alkej-949	285	11	which	which	PRON
alkej-949	285	12	focused	focus	VERB
alkej-949	285	13	on	on	ADP
alkej-949	285	14	three	three	NUM
alkej-949	285	15	key	key	ADJ
alkej-949	285	16	aspects	aspect	NOUN
alkej-949	285	17	:	:	PUNCT
alkej-949	285	18	the	the	DET
alkej-949	285	19	dynamic	dynamic	ADJ
alkej-949	285	20	model	model	NOUN
alkej-949	285	21	,	,	PUNCT
alkej-949	285	22	sensor	sensor	NOUN
alkej-949	285	23	integration	integration	NOUN
alkej-949	285	24	and	and	CCONJ
alkej-949	285	25	push	push	VERB
alkej-949	285	26	recovery	recovery	NOUN
alkej-949	285	27	control	control	NOUN
alkej-949	285	28	techniques	technique	NOUN
alkej-949	285	29	.	.	PUNCT
alkej-949	286	1	researchers	researcher	NOUN
alkej-949	286	2	in	in	ADP
alkej-949	286	3	this	this	DET
alkej-949	286	4	field	field	NOUN
alkej-949	286	5	would	would	AUX
alkej-949	286	6	benefit	benefit	VERB
alkej-949	286	7	from	from	ADP
alkej-949	286	8	this	this	DET
alkej-949	286	9	systematic	systematic	ADJ
alkej-949	286	10	classification	classification	NOUN
alkej-949	286	11	by	by	ADP
alkej-949	286	12	efficiently	efficiently	ADV
alkej-949	286	13	comparing	compare	VERB
alkej-949	286	14	and	and	CCONJ
alkej-949	286	15	understanding	understand	VERB
alkej-949	286	16	previous	previous	ADJ
alkej-949	286	17	studies	study	NOUN
alkej-949	286	18	as	as	ADV
alkej-949	286	19	well	well	ADV
alkej-949	286	20	as	as	ADP
alkej-949	286	21	identifying	identify	VERB
alkej-949	286	22	research	research	NOUN
alkej-949	286	23	gaps	gap	NOUN
alkej-949	286	24	that	that	PRON
alkej-949	286	25	require	require	VERB
alkej-949	286	26	future	future	ADJ
alkej-949	286	27	attention	attention	NOUN
alkej-949	286	28	.	.	PUNCT
alkej-949	287	1	numerous	numerous	ADJ
alkej-949	287	2	studies	study	NOUN
alkej-949	287	3	have	have	AUX
alkej-949	287	4	focused	focus	VERB
alkej-949	287	5	on	on	ADP
alkej-949	287	6	joint	joint	ADJ
alkej-949	287	7	control	control	NOUN
alkej-949	287	8	strategies	strategy	NOUN
alkej-949	287	9	in	in	ADP
alkej-949	287	10	the	the	DET
alkej-949	287	11	context	context	NOUN
alkej-949	287	12	of	of	ADP
alkej-949	287	13	standing	standing	NOUN
alkej-949	287	14	,	,	PUNCT
alkej-949	287	15	which	which	PRON
alkej-949	287	16	requires	require	VERB
alkej-949	287	17	the	the	DET
alkej-949	287	18	activation	activation	NOUN
alkej-949	287	19	of	of	ADP
alkej-949	287	20	specific	specific	ADJ
alkej-949	287	21	joints	joint	NOUN
alkej-949	287	22	(	(	PUNCT
alkej-949	287	23	e.g.	e.g.	ADV
alkej-949	287	24	,	,	PUNCT
alkej-949	287	25	the	the	DET
alkej-949	287	26	ankle	ankle	NOUN
alkej-949	287	27	,	,	PUNCT
alkej-949	287	28	knee	knee	NOUN
alkej-949	287	29	,	,	PUNCT
alkej-949	287	30	or	or	CCONJ
alkej-949	287	31	hip	hip	NOUN
alkej-949	287	32	)	)	PUNCT
alkej-949	287	33	to	to	PART
alkej-949	287	34	maintain	maintain	VERB
alkej-949	287	35	balance	balance	NOUN
alkej-949	287	36	in	in	ADP
alkej-949	287	37	the	the	DET
alkej-949	287	38	presence	presence	NOUN
alkej-949	287	39	of	of	ADP
alkej-949	287	40	external	external	ADJ
alkej-949	287	41	pushing	push	VERB
alkej-949	287	42	forces	force	NOUN
alkej-949	287	43	.	.	PUNCT
alkej-949	288	1	when	when	SCONJ
alkej-949	288	2	implementing	implement	VERB
alkej-949	288	3	joint	joint	ADJ
alkej-949	288	4	control	control	NOUN
alkej-949	288	5	strategies	strategy	NOUN
alkej-949	288	6	,	,	PUNCT
alkej-949	288	7	researchers	researcher	NOUN
alkej-949	288	8	frequently	frequently	ADV
alkej-949	288	9	use	use	VERB
alkej-949	288	10	simplified	simplified	ADJ
alkej-949	288	11	dynamical	dynamical	ADJ
alkej-949	288	12	models	model	NOUN
alkej-949	288	13	,	,	PUNCT
alkej-949	288	14	such	such	ADJ
alkej-949	288	15	as	as	ADP
alkej-949	288	16	lipm	lipm	NOUN
alkej-949	288	17	and	and	CCONJ
alkej-949	288	18	lipfm	lipfm	NOUN
alkej-949	288	19	,	,	PUNCT
alkej-949	288	20	to	to	PART
alkej-949	288	21	simulate	simulate	VERB
alkej-949	288	22	the	the	DET
alkej-949	288	23	robot	robot	NOUN
alkej-949	288	24	’s	’s	PART
alkej-949	288	25	behaviour	behaviour	NOUN
alkej-949	288	26	.	.	PUNCT
alkej-949	289	1	however	however	ADV
alkej-949	289	2	,	,	PUNCT
alkej-949	289	3	these	these	DET
alkej-949	289	4	simplified	simplify	VERB
alkej-949	289	5	models	model	NOUN
alkej-949	289	6	fail	fail	VERB
alkej-949	289	7	to	to	PART
alkej-949	289	8	account	account	VERB
alkej-949	289	9	for	for	ADP
alkej-949	289	10	certain	certain	ADJ
alkej-949	289	11	body	body	NOUN
alkej-949	289	12	parts	part	NOUN
alkej-949	289	13	,	,	PUNCT
alkej-949	289	14	such	such	ADJ
alkej-949	289	15	as	as	ADP
alkej-949	289	16	the	the	DET
alkej-949	289	17	arms	arm	NOUN
alkej-949	289	18	and	and	CCONJ
alkej-949	289	19	the	the	DET
alkej-949	289	20	head	head	NOUN
alkej-949	289	21	,	,	PUNCT
alkej-949	289	22	which	which	PRON
alkej-949	289	23	leads	lead	VERB
alkej-949	289	24	to	to	ADP
alkej-949	289	25	unnatural	unnatural	ADJ
alkej-949	289	26	responses	response	NOUN
alkej-949	289	27	.	.	PUNCT
alkej-949	290	1	consequently	consequently	ADV
alkej-949	290	2	,	,	PUNCT
alkej-949	290	3	previous	previous	ADJ
alkej-949	290	4	research	research	NOUN
alkej-949	290	5	has	have	AUX
alkej-949	290	6	attempted	attempt	VERB
alkej-949	290	7	to	to	PART
alkej-949	290	8	generate	generate	VERB
alkej-949	290	9	whole	whole	ADJ
alkej-949	290	10	-	-	PUNCT
alkej-949	290	11	body	body	NOUN
alkej-949	290	12	motion	motion	NOUN
alkej-949	290	13	to	to	PART
alkej-949	290	14	recover	recover	VERB
alkej-949	290	15	a	a	DET
alkej-949	290	16	push	push	NOUN
alkej-949	290	17	using	use	VERB
alkej-949	290	18	a	a	DET
alkej-949	290	19	variety	variety	NOUN
alkej-949	290	20	of	of	ADP
alkej-949	290	21	techniques	technique	NOUN
alkej-949	290	22	,	,	PUNCT
alkej-949	290	23	including	include	VERB
alkej-949	290	24	momentum	momentum	NOUN
alkej-949	290	25	-	-	PUNCT
alkej-949	290	26	based	base	VERB
alkej-949	290	27	balance	balance	NOUN
alkej-949	290	28	control	control	NOUN
alkej-949	290	29	.	.	PUNCT
alkej-949	291	1	as	as	ADP
alkej-949	291	2	the	the	DET
alkej-949	291	3	level	level	NOUN
alkej-949	291	4	of	of	ADP
alkej-949	291	5	disturbance	disturbance	NOUN
alkej-949	291	6	increases	increase	NOUN
alkej-949	291	7	,	,	PUNCT
alkej-949	291	8	the	the	DET
alkej-949	291	9	robot	robot	NOUN
alkej-949	291	10	must	must	AUX
alkej-949	291	11	step	step	VERB
alkej-949	291	12	to	to	PART
alkej-949	291	13	maintain	maintain	VERB
alkej-949	291	14	stability	stability	NOUN
alkej-949	291	15	.	.	PUNCT
alkej-949	292	1	the	the	DET
alkej-949	292	2	capture	capture	NOUN
alkej-949	292	3	point	point	NOUN
alkej-949	292	4	,	,	PUNCT
alkej-949	292	5	which	which	PRON
alkej-949	292	6	is	be	AUX
alkej-949	292	7	based	base	VERB
alkej-949	292	8	on	on	ADP
alkej-949	292	9	the	the	DET
alkej-949	292	10	orbital	orbital	ADJ
alkej-949	292	11	energy	energy	NOUN
alkej-949	292	12	concept	concept	NOUN
alkej-949	292	13	,	,	PUNCT
alkej-949	292	14	is	be	AUX
alkej-949	292	15	the	the	DET
alkej-949	292	16	most	most	ADV
alkej-949	292	17	systematic	systematic	ADJ
alkej-949	292	18	and	and	CCONJ
alkej-949	292	19	efficient	efficient	ADJ
alkej-949	292	20	method	method	NOUN
alkej-949	292	21	in	in	ADP
alkej-949	292	22	the	the	DET
alkej-949	292	23	literature	literature	NOUN
alkej-949	292	24	for	for	ADP
alkej-949	292	25	determining	determine	VERB
alkej-949	292	26	the	the	DET
alkej-949	292	27	step	step	NOUN
alkej-949	292	28	position	position	NOUN
alkej-949	292	29	(	(	PUNCT
alkej-949	292	30	step	step	NOUN
alkej-949	292	31	strategy	strategy	NOUN
alkej-949	292	32	)	)	PUNCT
alkej-949	292	33	.	.	PUNCT
alkej-949	293	1	walking	walk	VERB
alkej-949	293	2	pattern	pattern	NOUN
alkej-949	293	3	generation	generation	NOUN
alkej-949	293	4	,	,	PUNCT
alkej-949	293	5	push	push	VERB
alkej-949	293	6	detection	detection	NOUN
alkej-949	293	7	and	and	CCONJ
alkej-949	293	8	push	push	VERB
alkej-949	293	9	recovery	recovery	NOUN
alkej-949	293	10	control	control	NOUN
alkej-949	293	11	are	be	AUX
alkej-949	293	12	essential	essential	ADJ
alkej-949	293	13	elements	element	NOUN
alkej-949	293	14	for	for	ADP
alkej-949	293	15	push	push	NOUN
alkej-949	293	16	recovery	recovery	NOUN
alkej-949	293	17	control	control	NOUN
alkej-949	293	18	during	during	ADP
alkej-949	293	19	walking	walk	VERB
alkej-949	293	20	.	.	PUNCT
alkej-949	294	1	the	the	DET
alkej-949	294	2	zmpbased	zmpbase	VERB
alkej-949	294	3	approach	approach	NOUN
alkej-949	294	4	consistently	consistently	ADV
alkej-949	294	5	generates	generate	VERB
alkej-949	294	6	a	a	DET
alkej-949	294	7	walking	walking	NOUN
alkej-949	294	8	pattern	pattern	NOUN
alkej-949	294	9	that	that	PRON
alkej-949	294	10	maintains	maintain	VERB
alkej-949	294	11	the	the	DET
alkej-949	294	12	zmp	zmp	NOUN
alkej-949	294	13	within	within	ADP
alkej-949	294	14	the	the	DET
alkej-949	294	15	support	support	NOUN
alkej-949	294	16	polygon	polygon	NOUN
alkej-949	294	17	,	,	PUNCT
alkej-949	294	18	thereby	thereby	ADV
alkej-949	294	19	promoting	promote	VERB
alkej-949	294	20	stable	stable	ADJ
alkej-949	294	21	walking	walking	NOUN
alkej-949	294	22	.	.	PUNCT
alkej-949	295	1	the	the	DET
alkej-949	295	2	literature	literature	NOUN
alkej-949	295	3	suggests	suggest	VERB
alkej-949	295	4	various	various	ADJ
alkej-949	295	5	approaches	approach	NOUN
alkej-949	295	6	to	to	PART
alkej-949	295	7	detect	detect	VERB
alkej-949	295	8	exerted	exert	VERB
alkej-949	295	9	pushing	push	VERB
alkej-949	295	10	forces	force	NOUN
alkej-949	295	11	,	,	PUNCT
alkej-949	295	12	such	such	ADJ
alkej-949	295	13	as	as	ADP
alkej-949	295	14	measuring	measure	VERB
alkej-949	295	15	the	the	DET
alkej-949	295	16	difference	difference	NOUN
alkej-949	295	17	in	in	ADP
alkej-949	295	18	the	the	DET
alkej-949	295	19	com	com	NOUN
alkej-949	295	20	trajectory	trajectory	NOUN
alkej-949	295	21	or	or	CCONJ
alkej-949	295	22	analysing	analyse	VERB
alkej-949	295	23	the	the	DET
alkej-949	295	24	kinetic	kinetic	ADJ
alkej-949	295	25	energy	energy	NOUN
alkej-949	295	26	of	of	ADP
alkej-949	295	27	the	the	DET
alkej-949	295	28	robot	robot	NOUN
alkej-949	295	29	’s	’s	PART
alkej-949	295	30	body	body	NOUN
alkej-949	295	31	.	.	PUNCT
alkej-949	296	1	following	follow	VERB
alkej-949	296	2	a	a	DET
alkej-949	296	3	push	push	NOUN
alkej-949	296	4	detection	detection	NOUN
alkej-949	296	5	,	,	PUNCT
alkej-949	296	6	different	different	ADJ
alkej-949	296	7	push	push	NOUN
alkej-949	296	8	control	control	NOUN
alkej-949	296	9	systems	system	NOUN
alkej-949	296	10	use	use	VERB
alkej-949	296	11	either	either	CCONJ
alkej-949	296	12	reactive	reactive	ADJ
alkej-949	296	13	or	or	CCONJ
alkej-949	296	14	predictive	predictive	ADJ
alkej-949	296	15	controllers	controller	NOUN
alkej-949	296	16	to	to	PART
alkej-949	296	17	modify	modify	VERB
alkej-949	296	18	the	the	DET
alkej-949	296	19	robot	robot	NOUN
alkej-949	296	20	’s	’s	PART
alkej-949	296	21	posture	posture	NOUN
alkej-949	296	22	and	and	CCONJ
alkej-949	296	23	adjust	adjust	VERB
alkej-949	296	24	the	the	DET
alkej-949	296	25	position	position	NOUN
alkej-949	296	26	of	of	ADP
alkej-949	296	27	its	its	PRON
alkej-949	296	28	footsteps	footstep	NOUN
alkej-949	296	29	,	,	PUNCT
alkej-949	296	30	as	as	SCONJ
alkej-949	296	31	demonstrated	demonstrate	VERB
alkej-949	296	32	in	in	ADP
alkej-949	296	33	previous	previous	ADJ
alkej-949	296	34	research	research	NOUN
alkej-949	296	35	.	.	PUNCT
alkej-949	297	1	despite	despite	SCONJ
alkej-949	297	2	these	these	DET
alkej-949	297	3	advancements	advancement	NOUN
alkej-949	297	4	,	,	PUNCT
alkej-949	297	5	some	some	DET
alkej-949	297	6	obstacles	obstacle	NOUN
alkej-949	297	7	still	still	ADV
alkej-949	297	8	need	need	VERB
alkej-949	297	9	to	to	PART
alkej-949	297	10	be	be	AUX
alkej-949	297	11	addressed	address	VERB
alkej-949	297	12	:	:	PUNCT
alkej-949	297	13	1	1	X
alkej-949	297	14	)	)	PUNCT
alkej-949	297	15	current	current	ADJ
alkej-949	297	16	methods	method	NOUN
alkej-949	297	17	often	often	ADV
alkej-949	297	18	struggle	struggle	VERB
alkej-949	297	19	to	to	PART
alkej-949	297	20	cope	cope	VERB
alkej-949	297	21	with	with	ADP
alkej-949	297	22	unpredictable	unpredictable	ADJ
alkej-949	297	23	dynamic	dynamic	ADJ
alkej-949	297	24	environments	environment	NOUN
alkej-949	297	25	while	while	SCONJ
alkej-949	297	26	also	also	ADV
alkej-949	297	27	preserving	preserve	VERB
alkej-949	297	28	real	real	ADJ
alkej-949	297	29	-	-	PUNCT
alkej-949	297	30	time	time	NOUN
alkej-949	297	31	adaptation	adaptation	NOUN
alkej-949	297	32	.	.	PUNCT
alkej-949	298	1	ibrahim	ibrahim	PROPN
alkej-949	298	2	altameemi	altameemi	VERB
alkej-949	298	3	al	al	PROPN
alkej-949	298	4	-	-	PUNCT
alkej-949	298	5	khwarizmi	khwarizmi	PROPN
alkej-949	298	6	engineering	engineering	NOUN
alkej-949	298	7	journal	journal	PROPN
alkej-949	298	8	,	,	PUNCT
alkej-949	298	9	vol	vol	NOUN
alkej-949	298	10	.	.	PROPN
alkej-949	298	11	20	20	NUM
alkej-949	298	12	,	,	PUNCT
alkej-949	298	13	no.3	no.3	VERB
alkej-949	298	14	,	,	PUNCT
alkej-949	298	15	p.p	p.p	PROPN
alkej-949	298	16	.	.	PROPN
alkej-949	298	17	2035	2035	NUM
alkej-949	298	18	(	(	PUNCT
alkej-949	298	19	2024	2024	NUM
alkej-949	298	20	)	)	PUNCT
alkej-949	298	21	32	32	NUM
alkej-949	298	22	2	2	NUM
alkej-949	298	23	)	)	PUNCT
alkej-949	298	24	current	current	ADJ
alkej-949	298	25	balance	balance	NOUN
alkej-949	298	26	techniques	technique	NOUN
alkej-949	298	27	exhibit	exhibit	VERB
alkej-949	298	28	promise	promise	NOUN
alkej-949	298	29	in	in	ADP
alkej-949	298	30	enhancing	enhance	VERB
alkej-949	298	31	stability	stability	NOUN
alkej-949	298	32	but	but	CCONJ
alkej-949	298	33	with	with	ADP
alkej-949	298	34	the	the	DET
alkej-949	298	35	drawback	drawback	NOUN
alkej-949	298	36	of	of	ADP
alkej-949	298	37	increased	increase	VERB
alkej-949	298	38	energy	energy	NOUN
alkej-949	298	39	use	use	NOUN
alkej-949	298	40	.	.	PUNCT
alkej-949	299	1	3	3	X
alkej-949	299	2	)	)	PUNCT
alkej-949	299	3	the	the	DET
alkej-949	299	4	dynamics	dynamic	NOUN
alkej-949	299	5	of	of	ADP
alkej-949	299	6	bipedal	bipedal	ADJ
alkej-949	299	7	robots	robot	NOUN
alkej-949	299	8	are	be	AUX
alkej-949	299	9	complex	complex	ADJ
alkej-949	299	10	and	and	CCONJ
alkej-949	299	11	nonlinear	nonlinear	ADJ
alkej-949	299	12	,	,	PUNCT
alkej-949	299	13	which	which	PRON
alkej-949	299	14	results	result	VERB
alkej-949	299	15	in	in	ADP
alkej-949	299	16	increased	increased	ADJ
alkej-949	299	17	computational	computational	ADJ
alkej-949	299	18	requirements	requirement	NOUN
alkej-949	299	19	and	and	CCONJ
alkej-949	299	20	latency	latency	NOUN
alkej-949	299	21	issues	issue	NOUN
alkej-949	299	22	.	.	PUNCT
alkej-949	300	1	in	in	ADP
alkej-949	300	2	the	the	DET
alkej-949	300	3	future	future	NOUN
alkej-949	300	4	,	,	PUNCT
alkej-949	300	5	researchers	researcher	NOUN
alkej-949	300	6	should	should	AUX
alkej-949	300	7	focus	focus	VERB
alkej-949	300	8	on	on	ADP
alkej-949	300	9	combining	combine	VERB
alkej-949	300	10	sensory	sensory	ADJ
alkej-949	300	11	feedback	feedback	NOUN
alkej-949	300	12	methods	method	NOUN
alkej-949	300	13	with	with	ADP
alkej-949	300	14	machine	machine	NOUN
alkej-949	300	15	learning	learn	VERB
alkej-949	300	16	algorithms	algorithm	NOUN
alkej-949	300	17	to	to	PART
alkej-949	300	18	make	make	VERB
alkej-949	300	19	balance	balance	NOUN
alkej-949	300	20	control	control	NOUN
alkej-949	300	21	systems	system	NOUN
alkej-949	300	22	that	that	PRON
alkej-949	300	23	are	be	AUX
alkej-949	300	24	adaptable	adaptable	ADJ
alkej-949	300	25	and	and	CCONJ
alkej-949	300	26	can	can	AUX
alkej-949	300	27	quickly	quickly	ADV
alkej-949	300	28	learn	learn	VERB
alkej-949	300	29	from	from	ADP
alkej-949	300	30	and	and	CCONJ
alkej-949	300	31	react	react	VERB
alkej-949	300	32	to	to	ADP
alkej-949	300	33	different	different	ADJ
alkej-949	300	34	disturbances	disturbance	NOUN
alkej-949	300	35	in	in	ADP
alkej-949	300	36	real	real	ADJ
alkej-949	300	37	time	time	NOUN
alkej-949	300	38	.	.	PUNCT
alkej-949	301	1	previous	previous	ADJ
alkej-949	301	2	studies	study	NOUN
alkej-949	301	3	have	have	AUX
alkej-949	301	4	demonstrated	demonstrate	VERB
alkej-949	301	5	the	the	DET
alkej-949	301	6	effectiveness	effectiveness	NOUN
alkej-949	301	7	of	of	ADP
alkej-949	301	8	current	current	ADJ
alkej-949	301	9	methods	method	NOUN
alkej-949	301	10	in	in	ADP
alkej-949	301	11	maintaining	maintain	VERB
alkej-949	301	12	balance	balance	NOUN
alkej-949	301	13	in	in	ADP
alkej-949	301	14	static	static	ADJ
alkej-949	301	15	and	and	CCONJ
alkej-949	301	16	dynamic	dynamic	ADJ
alkej-949	301	17	situations	situation	NOUN
alkej-949	301	18	.	.	PUNCT
alkej-949	302	1	however	however	ADV
alkej-949	302	2	,	,	PUNCT
alkej-949	302	3	the	the	DET
alkej-949	302	4	high	high	ADJ
alkej-949	302	5	energy	energy	NOUN
alkej-949	302	6	consumption	consumption	NOUN
alkej-949	302	7	associated	associate	VERB
alkej-949	302	8	with	with	ADP
alkej-949	302	9	their	their	PRON
alkej-949	302	10	use	use	NOUN
alkej-949	302	11	is	be	AUX
alkej-949	302	12	a	a	DET
alkej-949	302	13	significant	significant	ADJ
alkej-949	302	14	drawback	drawback	NOUN
alkej-949	302	15	.	.	PUNCT
alkej-949	303	1	hence	hence	ADV
alkej-949	303	2	,	,	PUNCT
alkej-949	303	3	future	future	ADJ
alkej-949	303	4	research	research	NOUN
alkej-949	303	5	must	must	AUX
alkej-949	303	6	prioritise	prioritise	VERB
alkej-949	303	7	the	the	DET
alkej-949	303	8	development	development	NOUN
alkej-949	303	9	of	of	ADP
alkej-949	303	10	control	control	NOUN
alkej-949	303	11	algorithms	algorithm	NOUN
alkej-949	303	12	that	that	PRON
alkej-949	303	13	effectively	effectively	ADV
alkej-949	303	14	balance	balance	VERB
alkej-949	303	15	stability	stability	NOUN
alkej-949	303	16	and	and	CCONJ
alkej-949	303	17	energy	energy	NOUN
alkej-949	303	18	efficiency	efficiency	NOUN
alkej-949	303	19	.	.	PUNCT
alkej-949	304	1	one	one	NUM
alkej-949	304	2	possible	possible	ADJ
alkej-949	304	3	way	way	NOUN
alkej-949	304	4	to	to	PART
alkej-949	304	5	enable	enable	VERB
alkej-949	304	6	bipedal	bipedal	ADJ
alkej-949	304	7	robots	robot	NOUN
alkej-949	304	8	to	to	PART
alkej-949	304	9	anticipate	anticipate	VERB
alkej-949	304	10	and	and	CCONJ
alkej-949	304	11	respond	respond	VERB
alkej-949	304	12	to	to	ADP
alkej-949	304	13	disruptions	disruption	NOUN
alkej-949	304	14	while	while	SCONJ
alkej-949	304	15	minimising	minimise	VERB
alkej-949	304	16	energy	energy	NOUN
alkej-949	304	17	usage	usage	NOUN
alkej-949	304	18	is	be	AUX
alkej-949	304	19	to	to	PART
alkej-949	304	20	use	use	VERB
alkej-949	304	21	predictive	predictive	ADJ
alkej-949	304	22	control	control	NOUN
alkej-949	304	23	algorithms	algorithm	NOUN
alkej-949	304	24	that	that	PRON
alkej-949	304	25	replicate	replicate	VERB
alkej-949	304	26	humans	human	NOUN
alkej-949	304	27	’	’	PART
alkej-949	304	28	natural	natural	ADJ
alkej-949	304	29	reflexes	reflex	NOUN
alkej-949	304	30	.	.	PUNCT
alkej-949	305	1	several	several	ADJ
alkej-949	305	2	research	research	NOUN
alkej-949	305	3	areas	area	NOUN
alkej-949	305	4	can	can	AUX
alkej-949	305	5	be	be	AUX
alkej-949	305	6	improved	improve	VERB
alkej-949	305	7	to	to	PART
alkej-949	305	8	accommodate	accommodate	VERB
alkej-949	305	9	the	the	DET
alkej-949	305	10	complexity	complexity	NOUN
alkej-949	305	11	of	of	ADP
alkej-949	305	12	bipedal	bipedal	ADJ
alkej-949	305	13	robot	robot	NOUN
alkej-949	305	14	dynamics	dynamic	NOUN
alkej-949	305	15	.	.	PUNCT
alkej-949	306	1	the	the	DET
alkej-949	306	2	development	development	NOUN
alkej-949	306	3	of	of	ADP
alkej-949	306	4	hybrid	hybrid	ADJ
alkej-949	306	5	control	control	NOUN
alkej-949	306	6	methods	method	NOUN
alkej-949	306	7	that	that	PRON
alkej-949	306	8	incorporate	incorporate	VERB
alkej-949	306	9	modelbased	modelbase	VERB
alkej-949	306	10	and	and	CCONJ
alkej-949	306	11	data	datum	NOUN
alkej-949	306	12	-	-	PUNCT
alkej-949	306	13	driven	drive	VERB
alkej-949	306	14	approaches	approach	NOUN
alkej-949	306	15	can	can	AUX
alkej-949	306	16	significantly	significantly	ADV
alkej-949	306	17	simplify	simplify	VERB
alkej-949	306	18	the	the	DET
alkej-949	306	19	dynamics	dynamic	NOUN
alkej-949	306	20	issue	issue	NOUN
alkej-949	306	21	.	.	PUNCT
alkej-949	307	1	moreover	moreover	ADV
alkej-949	307	2	,	,	PUNCT
alkej-949	307	3	using	use	VERB
alkej-949	307	4	hierarchical	hierarchical	ADJ
alkej-949	307	5	control	control	NOUN
alkej-949	307	6	architectures	architecture	NOUN
alkej-949	307	7	,	,	PUNCT
alkej-949	307	8	which	which	PRON
alkej-949	307	9	break	break	VERB
alkej-949	307	10	the	the	DET
alkej-949	307	11	balance	balance	NOUN
alkej-949	307	12	control	control	NOUN
alkej-949	307	13	problem	problem	NOUN
alkej-949	307	14	down	down	ADP
alkej-949	307	15	into	into	ADP
alkej-949	307	16	simpler	simple	ADJ
alkej-949	307	17	steps	step	NOUN
alkej-949	307	18	,	,	PUNCT
alkej-949	307	19	can	can	AUX
alkej-949	307	20	help	help	VERB
alkej-949	307	21	reduce	reduce	VERB
alkej-949	307	22	the	the	DET
alkej-949	307	23	time	time	NOUN
alkej-949	307	24	delays	delay	NOUN
alkej-949	307	25	that	that	PRON
alkej-949	307	26	come	come	VERB
alkej-949	307	27	up	up	ADP
alkej-949	307	28	when	when	SCONJ
alkej-949	307	29	solving	solve	VERB
alkej-949	307	30	complicated	complicated	ADJ
alkej-949	307	31	nonlinear	nonlinear	ADJ
alkej-949	307	32	equations	equation	NOUN
alkej-949	307	33	.	.	PUNCT
alkej-949	308	1	to	to	PART
alkej-949	308	2	summarise	summarise	VERB
alkej-949	308	3	,	,	PUNCT
alkej-949	308	4	although	although	SCONJ
alkej-949	308	5	significant	significant	ADJ
alkej-949	308	6	advancements	advancement	NOUN
alkej-949	308	7	have	have	AUX
alkej-949	308	8	been	be	AUX
alkej-949	308	9	achieved	achieve	VERB
alkej-949	308	10	in	in	ADP
alkej-949	308	11	the	the	DET
alkej-949	308	12	domain	domain	NOUN
alkej-949	308	13	of	of	ADP
alkej-949	308	14	balance	balance	NOUN
alkej-949	308	15	control	control	NOUN
alkej-949	308	16	for	for	ADP
alkej-949	308	17	bipedal	bipedal	ADJ
alkej-949	308	18	robots	robot	NOUN
alkej-949	308	19	,	,	PUNCT
alkej-949	308	20	ongoing	ongoing	ADJ
alkej-949	308	21	innovation	innovation	NOUN
alkej-949	308	22	and	and	CCONJ
alkej-949	308	23	interdisciplinary	interdisciplinary	ADJ
alkej-949	308	24	research	research	NOUN
alkej-949	308	25	are	be	AUX
alkej-949	308	26	crucial	crucial	ADJ
alkej-949	308	27	to	to	PART
alkej-949	308	28	address	address	VERB
alkej-949	308	29	current	current	ADJ
alkej-949	308	30	constraints	constraint	NOUN
alkej-949	308	31	and	and	CCONJ
alkej-949	308	32	exploit	exploit	VERB
alkej-949	308	33	the	the	DET
alkej-949	308	34	capabilities	capability	NOUN
alkej-949	308	35	of	of	ADP
alkej-949	308	36	these	these	DET
alkej-949	308	37	systems	system	NOUN
alkej-949	308	38	fully	fully	ADV
alkej-949	308	39	.	.	PUNCT
alkej-949	309	1	references	reference	NOUN
alkej-949	309	2	[	[	X
alkej-949	309	3	1	1	NUM
alkej-949	309	4	]	]	PUNCT
alkej-949	309	5	m.	m.	NOUN
alkej-949	309	6	shafiee	shafiee	PROPN
alkej-949	309	7	,	,	PUNCT
alkej-949	309	8	g.	g.	PROPN
alkej-949	309	9	romualdi	romualdi	PROPN
alkej-949	309	10	,	,	PUNCT
alkej-949	309	11	s.	s.	PROPN
alkej-949	309	12	dafarra	dafarra	PROPN
alkej-949	309	13	,	,	PUNCT
alkej-949	309	14	f.	f.	PROPN
alkej-949	309	15	j.	j.	PROPN
alkej-949	309	16	chavez	chavez	PROPN
alkej-949	309	17	and	and	CCONJ
alkej-949	309	18	a.	a.	PROPN
alkej-949	309	19	d.	d.	PROPN
alkej-949	309	20	pucci	pucci	PROPN
alkej-949	309	21	,	,	PUNCT
alkej-949	309	22	"	"	PUNCT
alkej-949	309	23	online	online	ADJ
alkej-949	309	24	dcm	dcm	PROPN
alkej-949	309	25	trajectory	trajectory	NOUN
alkej-949	309	26	generation	generation	NOUN
alkej-949	309	27	for	for	ADP
alkej-949	309	28	push	push	NOUN
alkej-949	309	29	recovery	recovery	NOUN
alkej-949	309	30	of	of	ADP
alkej-949	309	31	torque	torque	NOUN
alkej-949	309	32	-	-	PUNCT
alkej-949	309	33	controlled	control	VERB
alkej-949	309	34	humanoid	humanoid	NOUN
alkej-949	309	35	robots	robot	NOUN
alkej-949	309	36	,	,	PUNCT
alkej-949	309	37	"	"	PUNCT
alkej-949	309	38	in	in	ADP
alkej-949	309	39	ieeeras	ieeeras	ADJ
alkej-949	309	40	19th	19th	ADJ
alkej-949	309	41	international	international	ADJ
alkej-949	309	42	conference	conference	NOUN
alkej-949	309	43	on	on	ADP
alkej-949	309	44	humanoid	humanoid	NOUN
alkej-949	309	45	robots	robot	NOUN
alkej-949	309	46	(	(	PUNCT
alkej-949	309	47	humanoids	humanoid	NOUN
alkej-949	309	48	)	)	PUNCT
alkej-949	309	49	,	,	PUNCT
alkej-949	309	50	2019	2019	NUM
alkej-949	309	51	.	.	PUNCT
alkej-949	310	1	[	[	X
alkej-949	310	2	2	2	NUM
alkej-949	310	3	]	]	PUNCT
alkej-949	310	4	m.	m.	NOUN
alkej-949	310	5	vukobratović	vukobratović	PROPN
alkej-949	310	6	and	and	CCONJ
alkej-949	310	7	b.	b.	PROPN
alkej-949	310	8	borovac	borovac	PROPN
alkej-949	310	9	,	,	PUNCT
alkej-949	310	10	"	"	PUNCT
alkej-949	310	11	zero	zero	NUM
alkej-949	310	12	-	-	PUNCT
alkej-949	310	13	moment	moment	NOUN
alkej-949	310	14	point	point	NOUN
alkej-949	310	15	—	—	PUNCT
alkej-949	310	16	thirty	thirty	NUM
alkej-949	310	17	five	five	NUM
alkej-949	310	18	years	year	NOUN
alkej-949	310	19	of	of	ADP
alkej-949	310	20	its	its	PRON
alkej-949	310	21	life	life	NOUN
alkej-949	310	22	,	,	PUNCT
alkej-949	310	23	"	"	PUNCT
alkej-949	310	24	international	international	ADJ
alkej-949	310	25	journal	journal	NOUN
alkej-949	310	26	of	of	ADP
alkej-949	310	27	humanoid	humanoid	NOUN
alkej-949	310	28	robotics	robotic	NOUN
alkej-949	310	29	,	,	PUNCT
alkej-949	310	30	vol	vol	NOUN
alkej-949	310	31	.	.	PROPN
alkej-949	310	32	01	01	NUM
alkej-949	310	33	,	,	PUNCT
alkej-949	310	34	p.	p.	NOUN
alkej-949	310	35	157–173	157–173	NUM
alkej-949	310	36	,	,	PUNCT
alkej-949	310	37	2004	2004	NUM
alkej-949	310	38	.	.	PUNCT
alkej-949	311	1	[	[	X
alkej-949	311	2	3	3	NUM
alkej-949	311	3	]	]	PUNCT
alkej-949	311	4	a.	a.	NOUN
alkej-949	311	5	goswami	goswami	NOUN
alkej-949	311	6	,	,	PUNCT
alkej-949	311	7	"	"	PUNCT
alkej-949	311	8	postural	postural	ADJ
alkej-949	311	9	stability	stability	NOUN
alkej-949	311	10	of	of	ADP
alkej-949	311	11	biped	biped	ADJ
alkej-949	311	12	robots	robot	NOUN
alkej-949	311	13	and	and	CCONJ
alkej-949	311	14	the	the	DET
alkej-949	311	15	foot	foot	NOUN
alkej-949	311	16	-	-	PUNCT
alkej-949	311	17	rotation	rotation	NOUN
alkej-949	311	18	indicator	indicator	NOUN
alkej-949	311	19	(	(	PUNCT
alkej-949	311	20	fri	fri	ADJ
alkej-949	311	21	)	)	PUNCT
alkej-949	311	22	point	point	NOUN
alkej-949	311	23	,	,	PUNCT
alkej-949	311	24	"	"	PUNCT
alkej-949	311	25	the	the	DET
alkej-949	311	26	international	international	ADJ
alkej-949	311	27	journal	journal	NOUN
alkej-949	311	28	of	of	ADP
alkej-949	311	29	robotics	robotic	NOUN
alkej-949	311	30	research	research	NOUN
alkej-949	311	31	,	,	PUNCT
alkej-949	311	32	vol	vol	NOUN
alkej-949	311	33	.	.	PROPN
alkej-949	311	34	18	18	NUM
alkej-949	311	35	,	,	PUNCT
alkej-949	311	36	p.	p.	NOUN
alkej-949	311	37	523–533	523–533	NUM
alkej-949	311	38	,	,	PUNCT
alkej-949	311	39	1999	1999	NUM
alkej-949	311	40	.	.	PUNCT
alkej-949	312	1	[	[	X
alkej-949	312	2	4	4	NUM
alkej-949	312	3	]	]	X
alkej-949	312	4	m.	m.	NOUN
alkej-949	312	5	vukobratović	vukobratović	PROPN
alkej-949	312	6	and	and	CCONJ
alkej-949	312	7	j.	j.	PROPN
alkej-949	312	8	stepanenko	stepanenko	PROPN
alkej-949	312	9	,	,	PUNCT
alkej-949	312	10	"	"	PUNCT
alkej-949	312	11	on	on	ADP
alkej-949	312	12	the	the	DET
alkej-949	312	13	stability	stability	NOUN
alkej-949	312	14	of	of	ADP
alkej-949	312	15	anthropomorphic	anthropomorphic	ADJ
alkej-949	312	16	systems	system	NOUN
alkej-949	312	17	,	,	PUNCT
alkej-949	312	18	"	"	PUNCT
alkej-949	312	19	mathematical	mathematical	ADJ
alkej-949	312	20	biosciences	bioscience	NOUN
alkej-949	312	21	,	,	PUNCT
alkej-949	312	22	vol	vol	NOUN
alkej-949	312	23	.	.	PROPN
alkej-949	312	24	15	15	NUM
alkej-949	312	25	,	,	PUNCT
alkej-949	312	26	p.	p.	NOUN
alkej-949	312	27	1–37	1–37	PROPN
alkej-949	312	28	,	,	PUNCT
alkej-949	312	29	1972	1972	NUM
alkej-949	312	30	.	.	PUNCT
alkej-949	313	1	[	[	X
alkej-949	313	2	5	5	NUM
alkej-949	313	3	]	]	PUNCT
alkej-949	313	4	a.	a.	NOUN
alkej-949	313	5	goswami	goswami	PROPN
alkej-949	313	6	and	and	CCONJ
alkej-949	313	7	p.	p.	PROPN
alkej-949	313	8	vadakkepat	vadakkepat	PROPN
alkej-949	313	9	,	,	PUNCT
alkej-949	313	10	humanoid	humanoid	ADJ
alkej-949	313	11	robotics	robotic	NOUN
alkej-949	313	12	:	:	PUNCT
alkej-949	313	13	a	a	DET
alkej-949	313	14	reference	reference	NOUN
alkej-949	313	15	.	.	PUNCT
alkej-949	313	16	,	,	PUNCT
alkej-949	313	17	springer	springer	NOUN
alkej-949	313	18	,	,	PUNCT
alkej-949	313	19	2020	2020	NUM
alkej-949	313	20	.	.	PUNCT
alkej-949	314	1	[	[	X
alkej-949	314	2	6	6	NUM
alkej-949	314	3	]	]	PUNCT
alkej-949	314	4	m.	m.	PROPN
alkej-949	314	5	b.	b.	PROPN
alkej-949	314	6	popovic	popovic	PROPN
alkej-949	314	7	,	,	PUNCT
alkej-949	314	8	a.	a.	NOUN
alkej-949	314	9	goswami	goswami	PROPN
alkej-949	314	10	and	and	CCONJ
alkej-949	314	11	h.	h.	PROPN
alkej-949	314	12	herr	herr	PROPN
alkej-949	314	13	,	,	PUNCT
alkej-949	314	14	"	"	PUNCT
alkej-949	314	15	ground	ground	NOUN
alkej-949	314	16	reference	reference	NOUN
alkej-949	314	17	points	point	NOUN
alkej-949	314	18	in	in	ADP
alkej-949	314	19	legged	legged	ADJ
alkej-949	314	20	locomotion	locomotion	NOUN
alkej-949	314	21	:	:	PUNCT
alkej-949	314	22	definitions	definition	NOUN
alkej-949	314	23	,	,	PUNCT
alkej-949	314	24	biological	biological	ADJ
alkej-949	314	25	trajectories	trajectory	NOUN
alkej-949	314	26	and	and	CCONJ
alkej-949	314	27	control	control	NOUN
alkej-949	314	28	implications	implication	NOUN
alkej-949	314	29	,	,	PUNCT
alkej-949	314	30	"	"	PUNCT
alkej-949	314	31	the	the	DET
alkej-949	314	32	international	international	ADJ
alkej-949	314	33	journal	journal	NOUN
alkej-949	314	34	of	of	ADP
alkej-949	314	35	robotics	robotic	NOUN
alkej-949	314	36	research	research	NOUN
alkej-949	314	37	,	,	PUNCT
alkej-949	314	38	vol	vol	NOUN
alkej-949	314	39	.	.	PROPN
alkej-949	314	40	24	24	NUM
alkej-949	314	41	,	,	PUNCT
alkej-949	314	42	p.	p.	NOUN
alkej-949	314	43	1013–1032	1013–1032	NUM
alkej-949	314	44	,	,	PUNCT
alkej-949	314	45	2005	2005	NUM
alkej-949	314	46	.	.	PUNCT
alkej-949	315	1	[	[	X
alkej-949	315	2	7	7	X
alkej-949	315	3	]	]	X
alkej-949	315	4	s.	s.	PROPN
alkej-949	315	5	kajita	kajita	PROPN
alkej-949	315	6	,	,	PUNCT
alkej-949	315	7	f.	f.	PROPN
alkej-949	315	8	kanehiro	kanehiro	PROPN
alkej-949	315	9	,	,	PUNCT
alkej-949	315	10	k.	k.	PROPN
alkej-949	315	11	kaneko	kaneko	PROPN
alkej-949	315	12	,	,	PUNCT
alkej-949	315	13	k.	k.	PROPN
alkej-949	315	14	yokoi	yokoi	PROPN
alkej-949	315	15	and	and	CCONJ
alkej-949	315	16	h.	h.	PROPN
alkej-949	315	17	hirukawa	hirukawa	PROPN
alkej-949	315	18	,	,	PUNCT
alkej-949	315	19	"	"	PUNCT
alkej-949	315	20	the	the	DET
alkej-949	315	21	3d	3d	PROPN
alkej-949	315	22	linear	linear	PROPN
alkej-949	315	23	inverted	invert	VERB
alkej-949	315	24	pendulum	pendulum	NOUN
alkej-949	315	25	mode	mode	NOUN
alkej-949	315	26	:	:	PUNCT
alkej-949	315	27	a	a	DET
alkej-949	315	28	simple	simple	ADJ
alkej-949	315	29	modeling	modeling	NOUN
alkej-949	315	30	for	for	ADP
alkej-949	315	31	a	a	DET
alkej-949	315	32	biped	biped	ADJ
alkej-949	315	33	walking	walking	NOUN
alkej-949	315	34	pattern	pattern	NOUN
alkej-949	315	35	generation	generation	NOUN
alkej-949	315	36	,	,	PUNCT
alkej-949	315	37	"	"	PUNCT
alkej-949	315	38	in	in	ADP
alkej-949	315	39	ieee	ieee	NOUN
alkej-949	315	40	/	/	SYM
alkej-949	315	41	rsj	rsj	NOUN
alkej-949	315	42	international	international	ADJ
alkej-949	315	43	conference	conference	NOUN
alkej-949	315	44	on	on	ADP
alkej-949	315	45	intelligent	intelligent	ADJ
alkej-949	315	46	robots	robot	NOUN
alkej-949	315	47	and	and	CCONJ
alkej-949	315	48	systems	system	NOUN
alkej-949	315	49	,	,	PUNCT
alkej-949	315	50	2001	2001	NUM
alkej-949	315	51	.	.	PUNCT
alkej-949	316	1	[	[	X
alkej-949	316	2	8	8	NUM
alkej-949	316	3	]	]	PUNCT
alkej-949	316	4	z.	z.	PROPN
alkej-949	316	5	li	li	PROPN
alkej-949	316	6	,	,	PUNCT
alkej-949	316	7	c.	c.	PROPN
alkej-949	316	8	zhou	zhou	PROPN
alkej-949	316	9	,	,	PUNCT
alkej-949	316	10	h.	h.	PROPN
alkej-949	316	11	dallali	dallali	PROPN
alkej-949	316	12	,	,	PUNCT
alkej-949	316	13	n.	n.	PROPN
alkej-949	316	14	g.	g.	PROPN
alkej-949	316	15	tsagarakis	tsagarakis	PROPN
alkej-949	316	16	and	and	CCONJ
alkej-949	316	17	d.	d.	PROPN
alkej-949	316	18	g.	g.	PROPN
alkej-949	316	19	caldwell	caldwell	PROPN
alkej-949	316	20	,	,	PUNCT
alkej-949	316	21	"	"	PUNCT
alkej-949	316	22	comparison	comparison	NOUN
alkej-949	316	23	study	study	NOUN
alkej-949	316	24	of	of	ADP
alkej-949	316	25	two	two	NUM
alkej-949	316	26	inverted	inverted	ADJ
alkej-949	316	27	pendulum	pendulum	NOUN
alkej-949	316	28	models	model	NOUN
alkej-949	316	29	for	for	ADP
alkej-949	316	30	balance	balance	NOUN
alkej-949	316	31	recovery	recovery	NOUN
alkej-949	316	32	,	,	PUNCT
alkej-949	316	33	"	"	PUNCT
alkej-949	316	34	in	in	ADP
alkej-949	316	35	ieee	ieee	NOUN
alkej-949	316	36	-	-	PUNCT
alkej-949	316	37	ras	ras	X
alkej-949	316	38	international	international	ADJ
alkej-949	316	39	conference	conference	NOUN
alkej-949	316	40	on	on	ADP
alkej-949	316	41	humanoid	humanoid	NOUN
alkej-949	316	42	robots	robot	NOUN
alkej-949	316	43	,	,	PUNCT
alkej-949	316	44	2014	2014	NUM
alkej-949	316	45	.	.	PUNCT
alkej-949	317	1	[	[	X
alkej-949	317	2	9	9	NUM
alkej-949	317	3	]	]	X
alkej-949	317	4	d.	d.	PROPN
alkej-949	317	5	e.	e.	PROPN
alkej-949	317	6	orin	orin	PROPN
alkej-949	317	7	,	,	PUNCT
alkej-949	317	8	a.	a.	NOUN
alkej-949	317	9	goswami	goswami	PROPN
alkej-949	317	10	and	and	CCONJ
alkej-949	317	11	s.-h	s.-h	NOUN
alkej-949	317	12	.	.	PUNCT
alkej-949	318	1	lee	lee	PROPN
alkej-949	318	2	,	,	PUNCT
alkej-949	318	3	"	"	PUNCT
alkej-949	318	4	centroidal	centroidal	ADJ
alkej-949	318	5	dynamics	dynamic	NOUN
alkej-949	318	6	of	of	ADP
alkej-949	318	7	a	a	DET
alkej-949	318	8	humanoid	humanoid	NOUN
alkej-949	318	9	robot	robot	NOUN
alkej-949	318	10	,	,	PUNCT
alkej-949	318	11	"	"	PUNCT
alkej-949	318	12	v	v	NOUN
alkej-949	318	13	,	,	PUNCT
alkej-949	318	14	vol	vol	NOUN
alkej-949	318	15	.	.	PROPN
alkej-949	318	16	35	35	NUM
alkej-949	318	17	,	,	PUNCT
alkej-949	318	18	p.	p.	NOUN
alkej-949	318	19	161–176	161–176	NUM
alkej-949	318	20	,	,	PUNCT
alkej-949	318	21	2013	2013	NUM
alkej-949	318	22	.	.	PUNCT
alkej-949	319	1	[	[	X
alkej-949	319	2	10	10	NUM
alkej-949	319	3	]	]	X
alkej-949	319	4	e.	e.	PROPN
alkej-949	319	5	dantec	dantec	PROPN
alkej-949	319	6	,	,	PUNCT
alkej-949	319	7	m.	m.	PROPN
alkej-949	319	8	naveau	naveau	PROPN
alkej-949	319	9	,	,	PUNCT
alkej-949	319	10	p.	p.	PROPN
alkej-949	319	11	fernbach	fernbach	NOUN
alkej-949	319	12	,	,	PUNCT
alkej-949	319	13	n.	n.	PROPN
alkej-949	319	14	villa	villa	PROPN
alkej-949	319	15	,	,	PUNCT
alkej-949	319	16	g.	g.	PROPN
alkej-949	319	17	saurel	saurel	NOUN
alkej-949	319	18	,	,	PUNCT
alkej-949	319	19	o.	o.	PROPN
alkej-949	319	20	stasse	stasse	PROPN
alkej-949	319	21	,	,	PUNCT
alkej-949	319	22	m.	m.	NOUN
alkej-949	319	23	taix	taix	PROPN
alkej-949	319	24	and	and	CCONJ
alkej-949	319	25	n.	n.	PROPN
alkej-949	319	26	mansard	mansard	NOUN
alkej-949	319	27	,	,	PUNCT
alkej-949	319	28	"	"	PUNCT
alkej-949	319	29	whole	whole	ADJ
alkej-949	319	30	-	-	PUNCT
alkej-949	319	31	body	body	NOUN
alkej-949	319	32	model	model	NOUN
alkej-949	319	33	predictive	predictive	ADJ
alkej-949	319	34	control	control	NOUN
alkej-949	319	35	for	for	ADP
alkej-949	319	36	biped	biped	ADJ
alkej-949	319	37	locomotion	locomotion	NOUN
alkej-949	319	38	on	on	ADP
alkej-949	319	39	a	a	DET
alkej-949	319	40	torquecontrolled	torquecontrolle	VERB
alkej-949	319	41	humanoid	humanoid	NOUN
alkej-949	319	42	robot	robot	NOUN
alkej-949	319	43	,	,	PUNCT
alkej-949	319	44	"	"	PUNCT
alkej-949	319	45	in	in	ADP
alkej-949	319	46	ieee	ieee	NOUN
alkej-949	319	47	-	-	PUNCT
alkej-949	319	48	ras	ras	NOUN
alkej-949	319	49	21st	21st	ADJ
alkej-949	319	50	international	international	ADJ
alkej-949	319	51	conference	conference	NOUN
alkej-949	319	52	on	on	ADP
alkej-949	319	53	humanoid	humanoid	NOUN
alkej-949	319	54	robots	robot	NOUN
alkej-949	319	55	(	(	PUNCT
alkej-949	319	56	humanoids	humanoid	NOUN
alkej-949	319	57	)	)	PUNCT
alkej-949	319	58	,	,	PUNCT
alkej-949	319	59	2022	2022	NUM
alkej-949	319	60	.	.	PUNCT
alkej-949	320	1	[	[	X
alkej-949	320	2	11	11	NUM
alkej-949	320	3	]	]	PUNCT
alkej-949	320	4	m.	m.	NOUN
alkej-949	320	5	folgheraiter	folgheraiter	NOUN
alkej-949	320	6	,	,	PUNCT
alkej-949	320	7	a.	a.	NOUN
alkej-949	320	8	yessaly	yessaly	NOUN
alkej-949	320	9	,	,	PUNCT
alkej-949	320	10	g.	g.	PROPN
alkej-949	320	11	kaliyev	kaliyev	PROPN
alkej-949	320	12	,	,	PUNCT
alkej-949	320	13	a.	a.	PROPN
alkej-949	320	14	yskak	yskak	PROPN
alkej-949	320	15	,	,	PUNCT
alkej-949	320	16	s.	s.	PROPN
alkej-949	320	17	yessirkepov	yessirkepov	PROPN
alkej-949	320	18	,	,	PUNCT
alkej-949	320	19	a.	a.	NOUN
alkej-949	320	20	oleinikov	oleinikov	PROPN
alkej-949	320	21	and	and	CCONJ
alkej-949	320	22	g.	g.	PROPN
alkej-949	320	23	gini	gini	PROPN
alkej-949	320	24	,	,	PUNCT
alkej-949	320	25	"	"	PUNCT
alkej-949	320	26	computational	computational	ADJ
alkej-949	320	27	efficient	efficient	ADJ
alkej-949	320	28	balance	balance	NOUN
alkej-949	320	29	control	control	NOUN
alkej-949	320	30	for	for	ADP
alkej-949	320	31	a	a	DET
alkej-949	320	32	lightweight	lightweight	ADJ
alkej-949	320	33	biped	biped	ADJ
alkej-949	320	34	robot	robot	NOUN
alkej-949	320	35	with	with	ADP
alkej-949	320	36	sensor	sensor	NOUN
alkej-949	320	37	based	base	VERB
alkej-949	320	38	zmp	zmp	NOUN
alkej-949	320	39	estimation	estimation	NOUN
alkej-949	320	40	,	,	PUNCT
alkej-949	320	41	"	"	PUNCT
alkej-949	320	42	in	in	ADP
alkej-949	320	43	18th	18th	ADJ
alkej-949	320	44	international	international	ADJ
alkej-949	320	45	conference	conference	NOUN
alkej-949	320	46	on	on	ADP
alkej-949	320	47	humanoid	humanoid	NOUN
alkej-949	320	48	robots	robot	NOUN
alkej-949	320	49	(	(	PUNCT
alkej-949	320	50	humanoids	humanoid	NOUN
alkej-949	320	51	)	)	PUNCT
alkej-949	320	52	,	,	PUNCT
alkej-949	320	53	2018	2018	NUM
alkej-949	320	54	.	.	PUNCT
alkej-949	321	1	[	[	X
alkej-949	321	2	12	12	NUM
alkej-949	321	3	]	]	PUNCT
alkej-949	321	4	p.	p.	NOUN
alkej-949	321	5	ghassemi	ghassemi	PROPN
alkej-949	321	6	,	,	PUNCT
alkej-949	321	7	m.	m.	NOUN
alkej-949	321	8	t.	t.	NOUN
alkej-949	321	9	masouleh	masouleh	NOUN
alkej-949	321	10	and	and	CCONJ
alkej-949	321	11	a.	a.	NOUN
alkej-949	321	12	kalhor	kalhor	PROPN
alkej-949	321	13	,	,	PUNCT
alkej-949	321	14	"	"	PUNCT
alkej-949	321	15	push	push	VERB
alkej-949	321	16	recovery	recovery	NOUN
alkej-949	321	17	for	for	ADP
alkej-949	321	18	nao	nao	PROPN
alkej-949	321	19	humanoid	humanoid	PROPN
alkej-949	321	20	robot	robot	NOUN
alkej-949	321	21	,	,	PUNCT
alkej-949	321	22	"	"	PUNCT
alkej-949	321	23	in	in	ADP
alkej-949	321	24	second	second	ADJ
alkej-949	321	25	rsi	rsi	NOUN
alkej-949	321	26	/	/	SYM
alkej-949	321	27	ism	ism	NOUN
alkej-949	321	28	international	international	ADJ
alkej-949	321	29	conference	conference	NOUN
alkej-949	321	30	on	on	ADP
alkej-949	321	31	robotics	robotic	NOUN
alkej-949	321	32	and	and	CCONJ
alkej-949	321	33	mechatronics	mechatronic	NOUN
alkej-949	321	34	(	(	PUNCT
alkej-949	321	35	icrom	icrom	PROPN
alkej-949	321	36	)	)	PUNCT
alkej-949	321	37	,	,	PUNCT
alkej-949	321	38	2014	2014	NUM
alkej-949	321	39	.	.	PUNCT
alkej-949	322	1	[	[	X
alkej-949	322	2	13	13	NUM
alkej-949	322	3	]	]	X
alkej-949	322	4	b.	b.	PROPN
alkej-949	322	5	j.	j.	PROPN
alkej-949	322	6	stephens	stephens	PROPN
alkej-949	322	7	and	and	CCONJ
alkej-949	322	8	c.	c.	PROPN
alkej-949	322	9	g.	g.	PROPN
alkej-949	322	10	atkeson	atkeson	PROPN
alkej-949	322	11	,	,	PUNCT
alkej-949	322	12	"	"	PUNCT
alkej-949	322	13	push	push	VERB
alkej-949	322	14	recovery	recovery	NOUN
alkej-949	322	15	by	by	ADP
alkej-949	322	16	stepping	step	VERB
alkej-949	322	17	for	for	ADP
alkej-949	322	18	humanoid	humanoid	NOUN
alkej-949	322	19	robots	robot	NOUN
alkej-949	322	20	ibrahim	ibrahim	PROPN
alkej-949	322	21	altameemi	altameemi	ADP
alkej-949	322	22	al	al	PROPN
alkej-949	322	23	-	-	PUNCT
alkej-949	322	24	khwarizmi	khwarizmi	PROPN
alkej-949	322	25	engineering	engineering	NOUN
alkej-949	322	26	journal	journal	PROPN
alkej-949	322	27	,	,	PUNCT
alkej-949	322	28	vol	vol	NOUN
alkej-949	322	29	.	.	PROPN
alkej-949	322	30	20	20	NUM
alkej-949	322	31	,	,	PUNCT
alkej-949	322	32	no.3	no.3	VERB
alkej-949	322	33	,	,	PUNCT
alkej-949	322	34	p.p	p.p	PROPN
alkej-949	322	35	.	.	PROPN
alkej-949	322	36	2035	2035	NUM
alkej-949	322	37	(	(	PUNCT
alkej-949	322	38	2024	2024	NUM
alkej-949	322	39	)	)	PUNCT
alkej-949	322	40	33	33	NUM
alkej-949	322	41	with	with	ADP
alkej-949	322	42	force	force	NOUN
alkej-949	322	43	controlled	control	VERB
alkej-949	322	44	joints	joint	NOUN
alkej-949	322	45	,	,	PUNCT
alkej-949	322	46	"	"	PUNCT
alkej-949	322	47	in	in	ADP
alkej-949	322	48	10th	10th	ADJ
alkej-949	322	49	ieeeras	ieeeras	ADJ
alkej-949	322	50	international	international	ADJ
alkej-949	322	51	conference	conference	NOUN
alkej-949	322	52	on	on	ADP
alkej-949	322	53	humanoid	humanoid	NOUN
alkej-949	322	54	robots	robot	NOUN
alkej-949	322	55	,	,	PUNCT
alkej-949	322	56	2010	2010	NUM
alkej-949	322	57	.	.	PUNCT
alkej-949	323	1	[	[	X
alkej-949	323	2	14	14	NUM
alkej-949	323	3	]	]	X
alkej-949	323	4	j.	j.	PROPN
alkej-949	323	5	li	li	PROPN
alkej-949	323	6	,	,	PUNCT
alkej-949	323	7	z.	z.	PROPN
alkej-949	323	8	yuan	yuan	PROPN
alkej-949	323	9	,	,	PUNCT
alkej-949	323	10	s.	s.	PROPN
alkej-949	323	11	dong	dong	PROPN
alkej-949	323	12	,	,	PUNCT
alkej-949	323	13	j.	j.	PROPN
alkej-949	323	14	zhang	zhang	PROPN
alkej-949	323	15	and	and	CCONJ
alkej-949	323	16	x.	x.	PROPN
alkej-949	323	17	sang	sing	VERB
alkej-949	323	18	,	,	PUNCT
alkej-949	323	19	"	"	PUNCT
alkej-949	323	20	external	external	ADJ
alkej-949	323	21	force	force	NOUN
alkej-949	323	22	observer	observer	NOUN
alkej-949	323	23	aided	aid	VERB
alkej-949	323	24	push	push	NOUN
alkej-949	323	25	recovery	recovery	NOUN
alkej-949	323	26	for	for	ADP
alkej-949	323	27	torque	torque	NOUN
alkej-949	323	28	-	-	PUNCT
alkej-949	323	29	controlled	control	VERB
alkej-949	323	30	biped	biped	ADJ
alkej-949	323	31	robots	robot	NOUN
alkej-949	323	32	,	,	PUNCT
alkej-949	323	33	"	"	PUNCT
alkej-949	323	34	autonomous	autonomous	ADJ
alkej-949	323	35	robots	robot	NOUN
alkej-949	323	36	,	,	PUNCT
alkej-949	323	37	vol	vol	NOUN
alkej-949	323	38	.	.	PROPN
alkej-949	323	39	46	46	NUM
alkej-949	323	40	,	,	PUNCT
alkej-949	323	41	p.	p.	NOUN
alkej-949	323	42	553–568	553–568	NUM
alkej-949	323	43	,	,	PUNCT
alkej-949	323	44	2022	2022	NUM
alkej-949	323	45	.	.	PUNCT
alkej-949	324	1	[	[	X
alkej-949	324	2	15	15	NUM
alkej-949	324	3	]	]	X
alkej-949	324	4	r.	r.	PROPN
alkej-949	324	5	featherstone	featherstone	PROPN
alkej-949	324	6	,	,	PUNCT
alkej-949	324	7	rigid	rigid	ADJ
alkej-949	324	8	body	body	NOUN
alkej-949	324	9	dynamics	dynamic	NOUN
alkej-949	324	10	algorithms	algorithms	PROPN
alkej-949	324	11	roy	roy	PROPN
alkej-949	324	12	featherstone	featherstone	PROPN
alkej-949	324	13	,	,	PUNCT
alkej-949	324	14	new	new	PROPN
alkej-949	324	15	york	york	PROPN
alkej-949	324	16	,	,	PUNCT
alkej-949	324	17	ny	ny	PROPN
alkej-949	324	18	:	:	PUNCT
alkej-949	324	19	springer	springer	NOUN
alkej-949	324	20	,	,	PUNCT
alkej-949	324	21	2007	2007	NUM
alkej-949	324	22	.	.	PUNCT
alkej-949	325	1	[	[	X
alkej-949	325	2	16	16	NUM
alkej-949	325	3	]	]	X
alkej-949	325	4	f.	f.	PROPN
alkej-949	325	5	horak	horak	PROPN
alkej-949	325	6	and	and	CCONJ
alkej-949	325	7	l.	l.	PROPN
alkej-949	325	8	nashner	nashner	PROPN
alkej-949	325	9	,	,	PUNCT
alkej-949	325	10	"	"	PUNCT
alkej-949	325	11	central	central	ADJ
alkej-949	325	12	programming	programming	NOUN
alkej-949	325	13	of	of	ADP
alkej-949	325	14	postural	postural	ADJ
alkej-949	325	15	movements	movement	NOUN
alkej-949	325	16	:	:	PUNCT
alkej-949	325	17	adaptation	adaptation	NOUN
alkej-949	325	18	to	to	PART
alkej-949	325	19	altered	altered	VERB
alkej-949	325	20	support	support	NOUN
alkej-949	325	21	-	-	PUNCT
alkej-949	325	22	surface	surface	NOUN
alkej-949	325	23	configurations	configuration	NOUN
alkej-949	325	24	,	,	PUNCT
alkej-949	325	25	"	"	PUNCT
alkej-949	325	26	journal	journal	NOUN
alkej-949	325	27	of	of	ADP
alkej-949	325	28	neurophysiology	neurophysiology	NOUN
alkej-949	325	29	,	,	PUNCT
alkej-949	325	30	vol	vol	NOUN
alkej-949	325	31	.	.	PROPN
alkej-949	325	32	55	55	NUM
alkej-949	325	33	,	,	PUNCT
alkej-949	325	34	p.	p.	NOUN
alkej-949	325	35	1369–1381	1369–1381	NUM
alkej-949	325	36	,	,	PUNCT
alkej-949	325	37	1986	1986	NUM
alkej-949	325	38	.	.	PUNCT
alkej-949	326	1	[	[	X
alkej-949	326	2	17	17	NUM
alkej-949	326	3	]	]	X
alkej-949	326	4	b.	b.	PROPN
alkej-949	326	5	e.	e.	PROPN
alkej-949	326	6	maki	maki	PROPN
alkej-949	326	7	and	and	CCONJ
alkej-949	326	8	w.	w.	PROPN
alkej-949	326	9	e.	e.	PROPN
alkej-949	326	10	mcllroy	mcllroy	PROPN
alkej-949	326	11	,	,	PUNCT
alkej-949	326	12	"	"	PUNCT
alkej-949	326	13	the	the	DET
alkej-949	326	14	role	role	NOUN
alkej-949	326	15	of	of	ADP
alkej-949	326	16	limb	limb	NOUN
alkej-949	326	17	movements	movement	NOUN
alkej-949	326	18	in	in	ADP
alkej-949	326	19	maintaining	maintain	VERB
alkej-949	326	20	upright	upright	ADJ
alkej-949	326	21	stance	stance	NOUN
alkej-949	326	22	:	:	PUNCT
alkej-949	326	23	the	the	DET
alkej-949	326	24	‘	'	PUNCT
alkej-949	326	25	change	change	VERB
alkej-949	326	26	-	-	PUNCT
alkej-949	326	27	in	in	ADP
alkej-949	326	28	-	-	PUNCT
alkej-949	326	29	support	support	NOUN
alkej-949	326	30	’	'	PUNCT
alkej-949	326	31	strategy	strategy	NOUN
alkej-949	326	32	,	,	PUNCT
alkej-949	326	33	"	"	PUNCT
alkej-949	326	34	physical	physical	ADJ
alkej-949	326	35	therapy	therapy	NOUN
alkej-949	326	36	,	,	PUNCT
alkej-949	326	37	vol	vol	NOUN
alkej-949	326	38	.	.	PROPN
alkej-949	326	39	77	77	NUM
alkej-949	326	40	,	,	PUNCT
alkej-949	326	41	p.	p.	NOUN
alkej-949	326	42	488–507	488–507	NUM
alkej-949	326	43	,	,	PUNCT
alkej-949	326	44	1997	1997	NUM
alkej-949	326	45	.	.	PUNCT
alkej-949	327	1	[	[	X
alkej-949	327	2	18	18	NUM
alkej-949	327	3	]	]	X
alkej-949	327	4	j.	j.	PROPN
alkej-949	327	5	shan	shan	PROPN
alkej-949	327	6	,	,	PUNCT
alkej-949	327	7	c.	c.	PROPN
alkej-949	327	8	junshi	junshi	PROPN
alkej-949	327	9	and	and	CCONJ
alkej-949	327	10	c.	c.	PROPN
alkej-949	327	11	jiapin	jiapin	PROPN
alkej-949	327	12	,	,	PUNCT
alkej-949	327	13	"	"	PUNCT
alkej-949	327	14	design	design	NOUN
alkej-949	327	15	of	of	ADP
alkej-949	327	16	central	central	ADJ
alkej-949	327	17	pattern	pattern	NOUN
alkej-949	327	18	generator	generator	NOUN
alkej-949	327	19	for	for	ADP
alkej-949	327	20	humanoid	humanoid	NOUN
alkej-949	327	21	robot	robot	NOUN
alkej-949	327	22	walking	walk	VERB
alkej-949	327	23	based	base	VERB
alkej-949	327	24	on	on	ADP
alkej-949	327	25	multi	multi	ADJ
alkej-949	327	26	-	-	ADJ
alkej-949	327	27	objective	objective	ADJ
alkej-949	327	28	ga	ga	PROPN
alkej-949	327	29	,	,	PUNCT
alkej-949	327	30	"	"	PUNCT
alkej-949	327	31	in	in	ADP
alkej-949	327	32	ieee	ieee	NOUN
alkej-949	327	33	/	/	SYM
alkej-949	327	34	rsj	rsj	NOUN
alkej-949	327	35	international	international	ADJ
alkej-949	327	36	conference	conference	NOUN
alkej-949	327	37	on	on	ADP
alkej-949	327	38	intelligent	intelligent	ADJ
alkej-949	327	39	robots	robot	NOUN
alkej-949	327	40	and	and	CCONJ
alkej-949	327	41	systems	system	NOUN
alkej-949	327	42	(	(	PUNCT
alkej-949	327	43	iros	iro	NOUN
alkej-949	327	44	2000	2000	NUM
alkej-949	327	45	)	)	PUNCT
alkej-949	327	46	,	,	PUNCT
alkej-949	327	47	2000	2000	NUM
alkej-949	327	48	.	.	PUNCT
alkej-949	328	1	[	[	X
alkej-949	328	2	19	19	NUM
alkej-949	328	3	]	]	X
alkej-949	328	4	d.	d.	PROPN
alkej-949	328	5	katic	katic	PROPN
alkej-949	328	6	and	and	CCONJ
alkej-949	328	7	m.	m.	NOUN
alkej-949	328	8	vukobratovic	vukobratovic	NOUN
alkej-949	328	9	,	,	PUNCT
alkej-949	328	10	"	"	PUNCT
alkej-949	328	11	intelligent	intelligent	ADJ
alkej-949	328	12	control	control	NOUN
alkej-949	328	13	techniques	technique	NOUN
alkej-949	328	14	for	for	ADP
alkej-949	328	15	humanoid	humanoid	NOUN
alkej-949	328	16	robots	robot	NOUN
alkej-949	328	17	,	,	PUNCT
alkej-949	328	18	"	"	PUNCT
alkej-949	328	19	in	in	ADP
alkej-949	328	20	european	european	PROPN
alkej-949	328	21	control	control	PROPN
alkej-949	328	22	conference	conference	PROPN
alkej-949	328	23	(	(	PUNCT
alkej-949	328	24	ecc	ecc	PROPN
alkej-949	328	25	)	)	PUNCT
alkej-949	328	26	,	,	PUNCT
alkej-949	328	27	2003	2003	NUM
alkej-949	328	28	.	.	PUNCT
alkej-949	329	1	[	[	X
alkej-949	329	2	20	20	NUM
alkej-949	329	3	]	]	PUNCT
alkej-949	329	4	a.	a.	NOUN
alkej-949	329	5	yasin	yasin	PROPN
alkej-949	329	6	,	,	PUNCT
alkej-949	329	7	q.	q.	PROPN
alkej-949	329	8	huang	huang	PROPN
alkej-949	329	9	,	,	PUNCT
alkej-949	329	10	q.	q.	PROPN
alkej-949	329	11	xu	xu	PROPN
alkej-949	329	12	and	and	CCONJ
alkej-949	329	13	m.	m.	PROPN
alkej-949	329	14	s.	s.	PROPN
alkej-949	329	15	sultan	sultan	PROPN
alkej-949	329	16	,	,	PUNCT
alkej-949	329	17	"	"	PUNCT
alkej-949	329	18	humanoid	humanoid	ADJ
alkej-949	329	19	robot	robot	NOUN
alkej-949	329	20	push	push	VERB
alkej-949	329	21	recovery	recovery	NOUN
alkej-949	329	22	through	through	ADP
alkej-949	329	23	foot	foot	NOUN
alkej-949	329	24	placement	placement	NOUN
alkej-949	329	25	,	,	PUNCT
alkej-949	329	26	"	"	PUNCT
alkej-949	329	27	in	in	ADP
alkej-949	329	28	ieee	ieee	PROPN
alkej-949	329	29	international	international	ADJ
alkej-949	329	30	conference	conference	NOUN
alkej-949	329	31	on	on	ADP
alkej-949	329	32	mechatronics	mechatronic	NOUN
alkej-949	329	33	and	and	CCONJ
alkej-949	329	34	automation	automation	NOUN
alkej-949	329	35	,	,	PUNCT
alkej-949	329	36	2012	2012	NUM
alkej-949	329	37	.	.	PUNCT
alkej-949	330	1	[	[	X
alkej-949	330	2	21	21	NUM
alkej-949	330	3	]	]	X
alkej-949	330	4	h.	h.	NOUN
alkej-949	330	5	song	song	PROPN
alkej-949	330	6	,	,	PUNCT
alkej-949	330	7	w.	w.	PROPN
alkej-949	330	8	z.	z.	PROPN
alkej-949	330	9	peng	peng	PROPN
alkej-949	330	10	and	and	CCONJ
alkej-949	330	11	.	.	PUNCT
alkej-949	331	1	j.	j.	PROPN
alkej-949	331	2	h.	h.	PROPN
alkej-949	331	3	kim	kim	PROPN
alkej-949	331	4	,	,	PUNCT
alkej-949	331	5	"	"	PUNCT
alkej-949	331	6	partition	partition	NOUN
alkej-949	331	7	-	-	PUNCT
alkej-949	331	8	aware	aware	ADJ
alkej-949	331	9	stability	stability	NOUN
alkej-949	331	10	control	control	NOUN
alkej-949	331	11	for	for	SCONJ
alkej-949	331	12	humanoid	humanoid	NOUN
alkej-949	331	13	robot	robot	NOUN
alkej-949	331	14	push	push	VERB
alkej-949	331	15	recovery	recovery	NOUN
alkej-949	331	16	with	with	ADP
alkej-949	331	17	wholebody	wholebody	NOUN
alkej-949	331	18	capturability	capturability	NOUN
alkej-949	331	19	,	,	PUNCT
alkej-949	331	20	"	"	PUNCT
alkej-949	331	21	journal	journal	NOUN
alkej-949	331	22	of	of	ADP
alkej-949	331	23	mechanisms	mechanism	NOUN
alkej-949	331	24	and	and	CCONJ
alkej-949	331	25	robotics	robotic	NOUN
alkej-949	331	26	,	,	PUNCT
alkej-949	331	27	vol	vol	NOUN
alkej-949	331	28	.	.	PROPN
alkej-949	331	29	16	16	NUM
alkej-949	331	30	,	,	PUNCT
alkej-949	331	31	p.	p.	NOUN
alkej-949	331	32	1	1	NUM
alkej-949	331	33	,	,	PUNCT
alkej-949	331	34	2023	2023	NUM
alkej-949	331	35	.	.	PUNCT
alkej-949	332	1	[	[	X
alkej-949	332	2	22	22	NUM
alkej-949	332	3	]	]	PUNCT
alkej-949	332	4	w.	w.	PROPN
alkej-949	332	5	z.	z.	PROPN
alkej-949	332	6	peng	peng	PROPN
alkej-949	332	7	,	,	PUNCT
alkej-949	332	8	c.	c.	PROPN
alkej-949	332	9	mummolo	mummolo	PROPN
alkej-949	332	10	,	,	PUNCT
alkej-949	332	11	h.	h.	PROPN
alkej-949	332	12	song	song	PROPN
alkej-949	332	13	and	and	CCONJ
alkej-949	332	14	j.	j.	PROPN
alkej-949	332	15	h.	h.	PROPN
alkej-949	332	16	kim	kim	PROPN
alkej-949	332	17	,	,	PUNCT
alkej-949	332	18	"	"	PUNCT
alkej-949	332	19	whole	whole	ADJ
alkej-949	332	20	-	-	PUNCT
alkej-949	332	21	body	body	NOUN
alkej-949	332	22	balance	balance	NOUN
alkej-949	332	23	stability	stability	NOUN
alkej-949	332	24	regions	region	NOUN
alkej-949	332	25	for	for	ADP
alkej-949	332	26	multi	multi	ADJ
alkej-949	332	27	-	-	ADJ
alkej-949	332	28	level	level	ADJ
alkej-949	332	29	momentum	momentum	NOUN
alkej-949	332	30	and	and	CCONJ
alkej-949	332	31	stepping	stepping	ADJ
alkej-949	332	32	strategies	strategy	NOUN
alkej-949	332	33	,	,	PUNCT
alkej-949	332	34	"	"	PUNCT
alkej-949	332	35	mechanism	mechanism	NOUN
alkej-949	332	36	and	and	CCONJ
alkej-949	332	37	machine	machine	NOUN
alkej-949	332	38	theory	theory	NOUN
alkej-949	332	39	,	,	PUNCT
alkej-949	332	40	vol	vol	NOUN
alkej-949	332	41	.	.	PROPN
alkej-949	332	42	174	174	NUM
alkej-949	332	43	,	,	PUNCT
alkej-949	332	44	p.	p.	NOUN
alkej-949	332	45	104880	104880	NUM
alkej-949	332	46	,	,	PUNCT
alkej-949	332	47	2022	2022	NUM
alkej-949	332	48	.	.	PUNCT
alkej-949	333	1	[	[	X
alkej-949	333	2	23	23	NUM
alkej-949	333	3	]	]	X
alkej-949	333	4	h.	h.	PROPN
alkej-949	333	5	ono	ono	PROPN
alkej-949	333	6	,	,	PUNCT
alkej-949	333	7	t.	t.	NOUN
alkej-949	333	8	sato	sato	PROPN
alkej-949	333	9	and	and	CCONJ
alkej-949	333	10	k.	k.	PROPN
alkej-949	333	11	ohnishi	ohnishi	PROPN
alkej-949	333	12	,	,	PUNCT
alkej-949	333	13	"	"	PUNCT
alkej-949	333	14	balance	balance	NOUN
alkej-949	333	15	recovery	recovery	NOUN
alkej-949	333	16	of	of	ADP
alkej-949	333	17	ankle	ankle	NOUN
alkej-949	333	18	strategy	strategy	NOUN
alkej-949	333	19	:	:	PUNCT
alkej-949	333	20	using	use	VERB
alkej-949	333	21	knee	knee	NOUN
alkej-949	333	22	joint	joint	NOUN
alkej-949	333	23	for	for	ADP
alkej-949	333	24	biped	biped	ADJ
alkej-949	333	25	robot	robot	NOUN
alkej-949	333	26	,	,	PUNCT
alkej-949	333	27	"	"	PUNCT
alkej-949	333	28	in	in	ADP
alkej-949	333	29	1st	1st	ADJ
alkej-949	333	30	international	international	ADJ
alkej-949	333	31	symposium	symposium	NOUN
alkej-949	333	32	on	on	ADP
alkej-949	333	33	access	access	NOUN
alkej-949	333	34	spaces	space	NOUN
alkej-949	333	35	(	(	PUNCT
alkej-949	333	36	isas	isa	NOUN
alkej-949	333	37	)	)	PUNCT
alkej-949	333	38	,	,	PUNCT
alkej-949	333	39	2011	2011	NUM
alkej-949	333	40	.	.	PUNCT
alkej-949	334	1	[	[	X
alkej-949	334	2	24	24	NUM
alkej-949	334	3	]	]	PUNCT
alkej-949	334	4	d.	d.	PROPN
alkej-949	334	5	n.	n.	PROPN
alkej-949	334	6	nenchev	nenchev	PROPN
alkej-949	334	7	and	and	CCONJ
alkej-949	334	8	a.	a.	NOUN
alkej-949	334	9	nishio	nishio	PROPN
alkej-949	334	10	,	,	PUNCT
alkej-949	334	11	"	"	PUNCT
alkej-949	334	12	ankle	ankle	NOUN
alkej-949	334	13	and	and	CCONJ
alkej-949	334	14	hip	hip	NOUN
alkej-949	334	15	strategies	strategy	NOUN
alkej-949	334	16	for	for	ADP
alkej-949	334	17	balance	balance	NOUN
alkej-949	334	18	recovery	recovery	NOUN
alkej-949	334	19	of	of	ADP
alkej-949	334	20	a	a	DET
alkej-949	334	21	biped	biped	NOUN
alkej-949	334	22	subjected	subject	VERB
alkej-949	334	23	to	to	ADP
alkej-949	334	24	an	an	DET
alkej-949	334	25	impact	impact	NOUN
alkej-949	334	26	,	,	PUNCT
alkej-949	334	27	"	"	PUNCT
alkej-949	334	28	robotica	robotica	PROPN
alkej-949	334	29	,	,	PUNCT
alkej-949	334	30	vol	vol	NOUN
alkej-949	334	31	.	.	PROPN
alkej-949	334	32	26	26	NUM
alkej-949	334	33	,	,	PUNCT
alkej-949	334	34	p.	p.	NOUN
alkej-949	334	35	643–653	643–653	NUM
alkej-949	334	36	,	,	PUNCT
alkej-949	334	37	2008	2008	NUM
alkej-949	334	38	.	.	PUNCT
alkej-949	335	1	[	[	X
alkej-949	335	2	25	25	NUM
alkej-949	335	3	]	]	X
alkej-949	335	4	d.	d.	PROPN
alkej-949	335	5	n.	n.	PROPN
alkej-949	335	6	nenchev	nenchev	PROPN
alkej-949	335	7	and	and	CCONJ
alkej-949	335	8	a.	a.	NOUN
alkej-949	335	9	nishio	nishio	PROPN
alkej-949	335	10	,	,	PUNCT
alkej-949	335	11	"	"	PUNCT
alkej-949	335	12	experimental	experimental	ADJ
alkej-949	335	13	validation	validation	NOUN
alkej-949	335	14	of	of	ADP
alkej-949	335	15	ankle	ankle	NOUN
alkej-949	335	16	and	and	CCONJ
alkej-949	335	17	hip	hip	NOUN
alkej-949	335	18	strategies	strategy	NOUN
alkej-949	335	19	for	for	ADP
alkej-949	335	20	balance	balance	NOUN
alkej-949	335	21	recovery	recovery	NOUN
alkej-949	335	22	with	with	ADP
alkej-949	335	23	a	a	DET
alkej-949	335	24	biped	biped	NOUN
alkej-949	335	25	subjected	subject	VERB
alkej-949	335	26	to	to	ADP
alkej-949	335	27	an	an	DET
alkej-949	335	28	impact	impact	NOUN
alkej-949	335	29	,	,	PUNCT
alkej-949	335	30	"	"	PUNCT
alkej-949	335	31	in	in	ADP
alkej-949	335	32	ieee	ieee	NOUN
alkej-949	335	33	/	/	SYM
alkej-949	335	34	rsj	rsj	NOUN
alkej-949	335	35	international	international	ADJ
alkej-949	335	36	conference	conference	NOUN
alkej-949	335	37	on	on	ADP
alkej-949	335	38	intelligent	intelligent	ADJ
alkej-949	335	39	robots	robot	NOUN
alkej-949	335	40	and	and	CCONJ
alkej-949	335	41	systems	system	NOUN
alkej-949	335	42	,	,	PUNCT
alkej-949	335	43	2007	2007	NUM
alkej-949	335	44	.	.	PUNCT
alkej-949	336	1	[	[	X
alkej-949	336	2	26	26	NUM
alkej-949	336	3	]	]	X
alkej-949	336	4	y.	y.	PROPN
alkej-949	336	5	liu	liu	PROPN
alkej-949	336	6	,	,	PUNCT
alkej-949	336	7	j.	j.	PROPN
alkej-949	336	8	shen	shen	PROPN
alkej-949	336	9	,	,	PUNCT
alkej-949	336	10	j.	j.	PROPN
alkej-949	336	11	zhang	zhang	PROPN
alkej-949	336	12	,	,	PUNCT
alkej-949	336	13	x.	x.	PROPN
alkej-949	336	14	zhang	zhang	PROPN
alkej-949	336	15	,	,	PUNCT
alkej-949	336	16	t.	t.	PROPN
alkej-949	336	17	zhu	zhu	PROPN
alkej-949	336	18	and	and	CCONJ
alkej-949	336	19	d.	d.	PROPN
alkej-949	336	20	hong	hong	PROPN
alkej-949	336	21	,	,	PUNCT
alkej-949	336	22	"	"	PUNCT
alkej-949	336	23	design	design	NOUN
alkej-949	336	24	and	and	CCONJ
alkej-949	336	25	control	control	NOUN
alkej-949	336	26	of	of	ADP
alkej-949	336	27	a	a	DET
alkej-949	336	28	miniature	miniature	ADJ
alkej-949	336	29	bipedal	bipedal	ADJ
alkej-949	336	30	robot	robot	NOUN
alkej-949	336	31	with	with	ADP
alkej-949	336	32	proprioceptive	proprioceptive	ADJ
alkej-949	336	33	actuation	actuation	NOUN
alkej-949	336	34	for	for	ADP
alkej-949	336	35	dynamic	dynamic	ADJ
alkej-949	336	36	behaviors	behavior	NOUN
alkej-949	336	37	,	,	PUNCT
alkej-949	336	38	"	"	PUNCT
alkej-949	336	39	in	in	ADP
alkej-949	336	40	international	international	ADJ
alkej-949	336	41	conference	conference	NOUN
alkej-949	336	42	on	on	ADP
alkej-949	336	43	robotics	robotic	NOUN
alkej-949	336	44	and	and	CCONJ
alkej-949	336	45	automation	automation	NOUN
alkej-949	336	46	(	(	PUNCT
alkej-949	336	47	icra	icra	PROPN
alkej-949	336	48	)	)	PUNCT
alkej-949	336	49	,	,	PUNCT
alkej-949	336	50	2022	2022	NUM
alkej-949	336	51	.	.	PUNCT
alkej-949	337	1	[	[	X
alkej-949	337	2	27	27	NUM
alkej-949	337	3	]	]	X
alkej-949	337	4	b.	b.	PROPN
alkej-949	337	5	stephens	stephens	PROPN
alkej-949	337	6	,	,	PUNCT
alkej-949	337	7	"	"	PUNCT
alkej-949	337	8	integral	integral	ADJ
alkej-949	337	9	control	control	NOUN
alkej-949	337	10	of	of	ADP
alkej-949	337	11	humanoid	humanoid	ADJ
alkej-949	337	12	balance	balance	NOUN
alkej-949	337	13	,	,	PUNCT
alkej-949	337	14	"	"	PUNCT
alkej-949	337	15	in	in	ADP
alkej-949	337	16	ieee	ieee	NOUN
alkej-949	337	17	/	/	SYM
alkej-949	337	18	rsj	rsj	NOUN
alkej-949	337	19	international	international	ADJ
alkej-949	337	20	conference	conference	NOUN
alkej-949	337	21	on	on	ADP
alkej-949	337	22	intelligent	intelligent	ADJ
alkej-949	337	23	robots	robot	NOUN
alkej-949	337	24	and	and	CCONJ
alkej-949	337	25	systems	system	NOUN
alkej-949	337	26	,	,	PUNCT
alkej-949	337	27	2007	2007	NUM
alkej-949	337	28	.	.	PUNCT
alkej-949	338	1	[	[	X
alkej-949	338	2	28	28	NUM
alkej-949	338	3	]	]	X
alkej-949	338	4	s.	s.	PROPN
alkej-949	338	5	yi	yi	PROPN
alkej-949	338	6	,	,	PUNCT
alkej-949	338	7	b.	b.	PROPN
alkej-949	338	8	zhang	zhang	PROPN
alkej-949	338	9	,	,	PUNCT
alkej-949	338	10	d.	d.	PROPN
alkej-949	338	11	hong	hong	PROPN
alkej-949	338	12	and	and	CCONJ
alkej-949	338	13	d.	d.	PROPN
alkej-949	338	14	d.	d.	PROPN
alkej-949	338	15	lee	lee	PROPN
alkej-949	338	16	,	,	PUNCT
alkej-949	338	17	"	"	PUNCT
alkej-949	338	18	learning	learn	VERB
alkej-949	338	19	full	full	ADJ
alkej-949	338	20	body	body	NOUN
alkej-949	338	21	push	push	NOUN
alkej-949	338	22	recovery	recovery	NOUN
alkej-949	338	23	control	control	NOUN
alkej-949	338	24	for	for	ADP
alkej-949	338	25	small	small	ADJ
alkej-949	338	26	humanoid	humanoid	NOUN
alkej-949	338	27	robots	robot	NOUN
alkej-949	338	28	,	,	PUNCT
alkej-949	338	29	"	"	PUNCT
alkej-949	338	30	in	in	ADP
alkej-949	338	31	ieee	ieee	PROPN
alkej-949	338	32	international	international	ADJ
alkej-949	338	33	conference	conference	NOUN
alkej-949	338	34	on	on	ADP
alkej-949	338	35	robotics	robotic	NOUN
alkej-949	338	36	and	and	CCONJ
alkej-949	338	37	automation	automation	NOUN
alkej-949	338	38	,	,	PUNCT
alkej-949	338	39	2011	2011	NUM
alkej-949	338	40	.	.	PUNCT
alkej-949	339	1	[	[	X
alkej-949	339	2	29	29	NUM
alkej-949	339	3	]	]	PUNCT
alkej-949	339	4	m.	m.	NOUN
alkej-949	339	5	missura	missura	PROPN
alkej-949	339	6	and	and	CCONJ
alkej-949	339	7	s.	s.	PROPN
alkej-949	339	8	behnke	behnke	PROPN
alkej-949	339	9	,	,	PUNCT
alkej-949	339	10	"	"	PUNCT
alkej-949	339	11	gradient	gradient	NOUN
alkej-949	339	12	-	-	PUNCT
alkej-949	339	13	driven	drive	VERB
alkej-949	339	14	online	online	ADJ
alkej-949	339	15	learning	learning	NOUN
alkej-949	339	16	of	of	ADP
alkej-949	339	17	bipedal	bipedal	ADJ
alkej-949	339	18	push	push	NOUN
alkej-949	339	19	recovery	recovery	NOUN
alkej-949	339	20	,	,	PUNCT
alkej-949	339	21	"	"	PUNCT
alkej-949	339	22	in	in	ADP
alkej-949	339	23	ieee	ieee	NOUN
alkej-949	339	24	/	/	SYM
alkej-949	339	25	rsj	rsj	NOUN
alkej-949	339	26	international	international	ADJ
alkej-949	339	27	conference	conference	NOUN
alkej-949	339	28	on	on	ADP
alkej-949	339	29	intelligent	intelligent	ADJ
alkej-949	339	30	robots	robot	NOUN
alkej-949	339	31	and	and	CCONJ
alkej-949	339	32	systems	system	NOUN
alkej-949	339	33	(	(	PUNCT
alkej-949	339	34	iros	iro	NOUN
alkej-949	339	35	)	)	PUNCT
alkej-949	339	36	,	,	PUNCT
alkej-949	339	37	2015	2015	NUM
alkej-949	339	38	.	.	PUNCT
alkej-949	340	1	[	[	X
alkej-949	340	2	30	30	NUM
alkej-949	340	3	]	]	PUNCT
alkej-949	340	4	j.	j.	PROPN
alkej-949	340	5	pratt	pratt	PROPN
alkej-949	340	6	,	,	PUNCT
alkej-949	340	7	j.	j.	PROPN
alkej-949	340	8	carff	carff	PROPN
alkej-949	340	9	,	,	PUNCT
alkej-949	340	10	s.	s.	PROPN
alkej-949	340	11	drakunov	drakunov	PROPN
alkej-949	340	12	and	and	CCONJ
alkej-949	340	13	a.	a.	NOUN
alkej-949	340	14	goswami	goswami	NOUN
alkej-949	340	15	,	,	PUNCT
alkej-949	340	16	"	"	PUNCT
alkej-949	340	17	capture	capture	NOUN
alkej-949	340	18	point	point	NOUN
alkej-949	340	19	:	:	PUNCT
alkej-949	340	20	a	a	DET
alkej-949	340	21	step	step	NOUN
alkej-949	340	22	toward	toward	ADP
alkej-949	340	23	humanoid	humanoid	NOUN
alkej-949	340	24	push	push	NOUN
alkej-949	340	25	recovery	recovery	NOUN
alkej-949	340	26	,	,	PUNCT
alkej-949	340	27	"	"	PUNCT
alkej-949	340	28	in	in	ADP
alkej-949	340	29	6th	6th	ADJ
alkej-949	340	30	ieee	ieee	NOUN
alkej-949	340	31	-	-	PUNCT
alkej-949	340	32	ras	ras	X
alkej-949	340	33	international	international	ADJ
alkej-949	340	34	conference	conference	NOUN
alkej-949	340	35	on	on	ADP
alkej-949	340	36	humanoid	humanoid	NOUN
alkej-949	340	37	robots	robot	NOUN
alkej-949	340	38	,	,	PUNCT
alkej-949	340	39	2006	2006	NUM
alkej-949	340	40	.	.	PUNCT
alkej-949	341	1	[	[	X
alkej-949	341	2	31	31	NUM
alkej-949	341	3	]	]	PUNCT
alkej-949	341	4	c.	c.	PROPN
alkej-949	341	5	g.	g.	PROPN
alkej-949	341	6	atkeson	atkeson	PROPN
alkej-949	341	7	and	and	CCONJ
alkej-949	341	8	b.	b.	PROPN
alkej-949	341	9	j.	j.	PROPN
alkej-949	341	10	stephens	stephens	PROPN
alkej-949	341	11	,	,	PUNCT
alkej-949	341	12	"	"	PUNCT
alkej-949	341	13	dynamic	dynamic	ADJ
alkej-949	341	14	balance	balance	NOUN
alkej-949	341	15	force	force	NOUN
alkej-949	341	16	control	control	NOUN
alkej-949	341	17	for	for	ADP
alkej-949	341	18	compliant	compliant	ADJ
alkej-949	341	19	humanoid	humanoid	ADJ
alkej-949	341	20	robots	robot	NOUN
alkej-949	341	21	,	,	PUNCT
alkej-949	341	22	"	"	PUNCT
alkej-949	341	23	in	in	ADP
alkej-949	341	24	ieee	ieee	NOUN
alkej-949	341	25	/	/	SYM
alkej-949	341	26	rsj	rsj	NOUN
alkej-949	341	27	international	international	ADJ
alkej-949	341	28	conference	conference	NOUN
alkej-949	341	29	on	on	ADP
alkej-949	341	30	intelligent	intelligent	ADJ
alkej-949	341	31	robots	robot	NOUN
alkej-949	341	32	and	and	CCONJ
alkej-949	341	33	systems	system	NOUN
alkej-949	341	34	,	,	PUNCT
alkej-949	341	35	2010	2010	NUM
alkej-949	341	36	.	.	PUNCT
alkej-949	342	1	[	[	X
alkej-949	342	2	32	32	NUM
alkej-949	342	3	]	]	PUNCT
alkej-949	342	4	m.	m.	NOUN
alkej-949	342	5	ashtiani	ashtiani	PROPN
alkej-949	342	6	,	,	PUNCT
alkej-949	342	7	a.	a.	NOUN
alkej-949	342	8	koma	koma	PROPN
alkej-949	342	9	,	,	PUNCT
alkej-949	342	10	m.	m.	NOUN
alkej-949	342	11	panahi	panahi	NOUN
alkej-949	342	12	and	and	CCONJ
alkej-949	342	13	m.	m.	NOUN
alkej-949	342	14	khadiv	khadiv	PROPN
alkej-949	342	15	,	,	PUNCT
alkej-949	342	16	"	"	PUNCT
alkej-949	342	17	push	push	VERB
alkej-949	342	18	recovery	recovery	NOUN
alkej-949	342	19	of	of	ADP
alkej-949	342	20	a	a	DET
alkej-949	342	21	humanoid	humanoid	NOUN
alkej-949	342	22	robot	robot	NOUN
alkej-949	342	23	based	base	VERB
alkej-949	342	24	on	on	ADP
alkej-949	342	25	model	model	NOUN
alkej-949	342	26	predictive	predictive	ADJ
alkej-949	342	27	control	control	NOUN
alkej-949	342	28	and	and	CCONJ
alkej-949	342	29	capture	capture	NOUN
alkej-949	342	30	point	point	NOUN
alkej-949	342	31	,	,	PUNCT
alkej-949	342	32	"	"	PUNCT
alkej-949	342	33	in	in	ADP
alkej-949	342	34	4th	4th	ADJ
alkej-949	342	35	international	international	ADJ
alkej-949	342	36	conference	conference	NOUN
alkej-949	342	37	on	on	ADP
alkej-949	342	38	robotics	robotic	NOUN
alkej-949	342	39	and	and	CCONJ
alkej-949	342	40	mechatronics	mechatronic	NOUN
alkej-949	342	41	(	(	PUNCT
alkej-949	342	42	icrom	icrom	PROPN
alkej-949	342	43	)	)	PUNCT
alkej-949	342	44	,	,	PUNCT
alkej-949	342	45	2016	2016	NUM
alkej-949	342	46	.	.	PUNCT
alkej-949	343	1	[	[	X
alkej-949	343	2	33	33	NUM
alkej-949	343	3	]	]	PUNCT
alkej-949	343	4	c.	c.	PROPN
alkej-949	343	5	ott	ott	PROPN
alkej-949	343	6	,	,	PUNCT
alkej-949	343	7	m.	m.	NOUN
alkej-949	343	8	a.	a.	PROPN
alkej-949	343	9	roa	roa	PROPN
alkej-949	343	10	and	and	CCONJ
alkej-949	343	11	g.	g.	PROPN
alkej-949	343	12	hirzinger	hirzinger	PROPN
alkej-949	343	13	,	,	PUNCT
alkej-949	343	14	"	"	PUNCT
alkej-949	343	15	posture	posture	NOUN
alkej-949	343	16	and	and	CCONJ
alkej-949	343	17	balance	balance	NOUN
alkej-949	343	18	control	control	NOUN
alkej-949	343	19	for	for	ADP
alkej-949	343	20	biped	biped	ADJ
alkej-949	343	21	robots	robot	NOUN
alkej-949	343	22	based	base	VERB
alkej-949	343	23	on	on	ADP
alkej-949	343	24	contact	contact	NOUN
alkej-949	343	25	force	force	NOUN
alkej-949	343	26	optimization	optimization	NOUN
alkej-949	343	27	,	,	PUNCT
alkej-949	343	28	"	"	PUNCT
alkej-949	343	29	in	in	ADP
alkej-949	343	30	11th	11th	ADJ
alkej-949	343	31	ieeeras	ieeeras	ADJ
alkej-949	343	32	international	international	ADJ
alkej-949	343	33	conference	conference	NOUN
alkej-949	343	34	on	on	ADP
alkej-949	343	35	humanoid	humanoid	NOUN
alkej-949	343	36	robots	robot	NOUN
alkej-949	343	37	,	,	PUNCT
alkej-949	343	38	2011	2011	NUM
alkej-949	343	39	.	.	PUNCT
alkej-949	344	1	ibrahim	ibrahim	PROPN
alkej-949	344	2	altameemi	altameemi	VERB
alkej-949	344	3	al	al	PROPN
alkej-949	344	4	-	-	PUNCT
alkej-949	344	5	khwarizmi	khwarizmi	PROPN
alkej-949	344	6	engineering	engineering	NOUN
alkej-949	344	7	journal	journal	PROPN
alkej-949	344	8	,	,	PUNCT
alkej-949	344	9	vol	vol	NOUN
alkej-949	344	10	.	.	PROPN
alkej-949	344	11	20	20	NUM
alkej-949	344	12	,	,	PUNCT
alkej-949	344	13	no.3	no.3	VERB
alkej-949	344	14	,	,	PUNCT
alkej-949	344	15	p.p	p.p	PROPN
alkej-949	344	16	.	.	PROPN
alkej-949	344	17	2035	2035	NUM
alkej-949	344	18	(	(	PUNCT
alkej-949	344	19	2024	2024	NUM
alkej-949	344	20	)	)	PUNCT
alkej-949	344	21	34	34	NUM
alkej-949	345	1	[	[	X
alkej-949	345	2	34	34	NUM
alkej-949	345	3	]	]	X
alkej-949	345	4	r.	r.	PROPN
alkej-949	345	5	schuller	schuller	PROPN
alkej-949	345	6	,	,	PUNCT
alkej-949	345	7	g.	g.	PROPN
alkej-949	345	8	mesesan	mesesan	PROPN
alkej-949	345	9	,	,	PUNCT
alkej-949	345	10	j.	j.	PROPN
alkej-949	345	11	englsberger	englsberger	PROPN
alkej-949	345	12	,	,	PUNCT
alkej-949	345	13	j.	j.	PROPN
alkej-949	345	14	lee	lee	PROPN
alkej-949	345	15	and	and	CCONJ
alkej-949	345	16	c.	c.	PROPN
alkej-949	345	17	ott	ott	PROPN
alkej-949	345	18	,	,	PUNCT
alkej-949	345	19	"	"	PUNCT
alkej-949	345	20	online	online	ADJ
alkej-949	345	21	centroidal	centroidal	ADJ
alkej-949	345	22	angular	angular	ADJ
alkej-949	345	23	momentum	momentum	NOUN
alkej-949	345	24	reference	reference	NOUN
alkej-949	345	25	generation	generation	NOUN
alkej-949	345	26	and	and	CCONJ
alkej-949	345	27	motion	motion	NOUN
alkej-949	345	28	optimization	optimization	NOUN
alkej-949	345	29	for	for	ADP
alkej-949	345	30	humanoid	humanoid	ADJ
alkej-949	345	31	push	push	NOUN
alkej-949	345	32	recovery	recovery	NOUN
alkej-949	345	33	,	,	PUNCT
alkej-949	345	34	"	"	PUNCT
alkej-949	345	35	ieee	ieee	NOUN
alkej-949	345	36	robotics	robotic	NOUN
alkej-949	345	37	and	and	CCONJ
alkej-949	345	38	automation	automation	NOUN
alkej-949	345	39	letters	letter	NOUN
alkej-949	345	40	,	,	PUNCT
alkej-949	345	41	vol	vol	NOUN
alkej-949	345	42	.	.	PROPN
alkej-949	345	43	6	6	NUM
alkej-949	345	44	,	,	PUNCT
alkej-949	345	45	no	no	INTJ
alkej-949	345	46	.	.	NOUN
alkej-949	345	47	3	3	NUM
alkej-949	345	48	,	,	PUNCT
alkej-949	345	49	pp	pp	ADJ
alkej-949	345	50	.	.	PUNCT
alkej-949	346	1	5689	5689	NUM
alkej-949	346	2	-	-	SYM
alkej-949	346	3	5696	5696	NUM
alkej-949	346	4	,	,	PUNCT
alkej-949	346	5	2021	2021	NUM
alkej-949	346	6	.	.	PUNCT
alkej-949	347	1	[	[	X
alkej-949	347	2	35	35	NUM
alkej-949	347	3	]	]	X
alkej-949	347	4	g.	g.	PROPN
alkej-949	347	5	mesesan	mesesan	PROPN
alkej-949	347	6	,	,	PUNCT
alkej-949	347	7	j.	j.	PROPN
alkej-949	347	8	englsberger	englsberger	PROPN
alkej-949	347	9	,	,	PUNCT
alkej-949	347	10	g.	g.	PROPN
alkej-949	347	11	garofalo	garofalo	PROPN
alkej-949	347	12	,	,	PUNCT
alkej-949	347	13	c.	c.	PROPN
alkej-949	347	14	ott	ott	PROPN
alkej-949	347	15	and	and	CCONJ
alkej-949	347	16	a.	a.	PROPN
alkej-949	347	17	albu	albu	PROPN
alkej-949	347	18	-	-	PUNCT
alkej-949	347	19	schaffer	schaffer	PROPN
alkej-949	347	20	,	,	PUNCT
alkej-949	347	21	"	"	PUNCT
alkej-949	347	22	dynamic	dynamic	ADJ
alkej-949	347	23	walking	walking	NOUN
alkej-949	347	24	on	on	ADP
alkej-949	347	25	compliant	compliant	ADJ
alkej-949	347	26	and	and	CCONJ
alkej-949	347	27	uneven	uneven	ADJ
alkej-949	347	28	terrain	terrain	NOUN
alkej-949	347	29	using	use	VERB
alkej-949	347	30	dcm	dcm	PROPN
alkej-949	347	31	and	and	CCONJ
alkej-949	347	32	passivity	passivity	NOUN
alkej-949	347	33	-	-	PUNCT
alkej-949	347	34	based	base	VERB
alkej-949	347	35	whole	whole	ADJ
alkej-949	347	36	-	-	PUNCT
alkej-949	347	37	body	body	NOUN
alkej-949	347	38	control	control	NOUN
alkej-949	347	39	,	,	PUNCT
alkej-949	347	40	"	"	PUNCT
alkej-949	347	41	in	in	ADP
alkej-949	347	42	dynamic	dynamic	ADJ
alkej-949	347	43	walking	walking	NOUN
alkej-949	347	44	on	on	ADP
alkej-949	347	45	compliant	compliant	ADJ
alkej-949	347	46	and	and	CCONJ
alkej-949	347	47	uneven	uneven	ADJ
alkej-949	347	48	terrain	terrain	NOUN
alkej-949	347	49	using	use	VERB
alkej-949	347	50	dcm	dcm	PROPN
alkej-949	347	51	ieee	ieee	PROPN
alkej-949	347	52	-	-	PUNCT
alkej-949	347	53	ras	ras	PROPN
alkej-949	347	54	19th	19th	ADJ
alkej-949	347	55	international	international	ADJ
alkej-949	347	56	conference	conference	NOUN
alkej-949	347	57	on	on	ADP
alkej-949	347	58	humanoid	humanoid	NOUN
alkej-949	347	59	robots	robot	NOUN
alkej-949	347	60	(	(	PUNCT
alkej-949	347	61	humanoids	humanoid	NOUN
alkej-949	347	62	)	)	PUNCT
alkej-949	347	63	,	,	PUNCT
alkej-949	347	64	2019	2019	NUM
alkej-949	347	65	.	.	PUNCT
alkej-949	348	1	[	[	X
alkej-949	348	2	36	36	NUM
alkej-949	348	3	]	]	X
alkej-949	348	4	j.	j.	PROPN
alkej-949	348	5	zhao	zhao	PROPN
alkej-949	348	6	,	,	PUNCT
alkej-949	348	7	s.	s.	PROPN
alkej-949	348	8	schütz	schütz	PROPN
alkej-949	348	9	and	and	CCONJ
alkej-949	348	10	k.	k.	PROPN
alkej-949	348	11	berns	berns	PROPN
alkej-949	348	12	,	,	PUNCT
alkej-949	348	13	"	"	PUNCT
alkej-949	348	14	biologically	biologically	ADV
alkej-949	348	15	motivated	motivated	ADJ
alkej-949	348	16	push	push	NOUN
alkej-949	348	17	recovery	recovery	NOUN
alkej-949	348	18	strategies	strategy	NOUN
alkej-949	348	19	for	for	ADP
alkej-949	348	20	a	a	DET
alkej-949	348	21	3d	3d	PROPN
alkej-949	348	22	bipedal	bipedal	NOUN
alkej-949	348	23	robot	robot	NOUN
alkej-949	348	24	walking	walk	VERB
alkej-949	348	25	in	in	ADP
alkej-949	348	26	complex	complex	ADJ
alkej-949	348	27	environments	environment	NOUN
alkej-949	348	28	,	,	PUNCT
alkej-949	348	29	"	"	PUNCT
alkej-949	348	30	in	in	ADP
alkej-949	348	31	ieee	ieee	PROPN
alkej-949	348	32	international	international	ADJ
alkej-949	348	33	conference	conference	NOUN
alkej-949	348	34	on	on	ADP
alkej-949	348	35	robotics	robotic	NOUN
alkej-949	348	36	and	and	CCONJ
alkej-949	348	37	biomimetics	biomimetic	NOUN
alkej-949	348	38	(	(	PUNCT
alkej-949	348	39	robio	robio	NOUN
alkej-949	348	40	)	)	PUNCT
alkej-949	348	41	,	,	PUNCT
alkej-949	348	42	2013	2013	NUM
alkej-949	348	43	.	.	PUNCT
alkej-949	349	1	[	[	X
alkej-949	349	2	37	37	NUM
alkej-949	349	3	]	]	PUNCT
alkej-949	349	4	r.	r.	PROPN
alkej-949	349	5	c.	c.	PROPN
alkej-949	349	6	luo	luo	PROPN
alkej-949	349	7	,	,	PUNCT
alkej-949	349	8	c.	c.	PROPN
alkej-949	349	9	huang	huang	PROPN
alkej-949	349	10	and	and	CCONJ
alkej-949	349	11	w.	w.	PROPN
alkej-949	349	12	hung	hung	PROPN
alkej-949	349	13	,	,	PUNCT
alkej-949	349	14	"	"	PUNCT
alkej-949	349	15	bipedal	bipedal	ADJ
alkej-949	349	16	robot	robot	NOUN
alkej-949	349	17	push	push	VERB
alkej-949	349	18	recovery	recovery	NOUN
alkej-949	349	19	control	control	NOUN
alkej-949	349	20	mimicking	mimic	VERB
alkej-949	349	21	human	human	ADJ
alkej-949	349	22	reaction	reaction	NOUN
alkej-949	349	23	,	,	PUNCT
alkej-949	349	24	"	"	PUNCT
alkej-949	349	25	in	in	ADP
alkej-949	349	26	ieee	ieee	NOUN
alkej-949	349	27	14th	14th	ADJ
alkej-949	349	28	international	international	ADJ
alkej-949	349	29	workshop	workshop	NOUN
alkej-949	349	30	on	on	ADP
alkej-949	349	31	advanced	advanced	ADJ
alkej-949	349	32	motion	motion	NOUN
alkej-949	349	33	control	control	NOUN
alkej-949	349	34	(	(	PUNCT
alkej-949	349	35	amc	amc	PROPN
alkej-949	349	36	)	)	PUNCT
alkej-949	349	37	,	,	PUNCT
alkej-949	349	38	2016	2016	NUM
alkej-949	349	39	.	.	PUNCT
alkej-949	350	1	[	[	X
alkej-949	350	2	38	38	NUM
alkej-949	350	3	]	]	PUNCT
alkej-949	350	4	a.	a.	NOUN
alkej-949	350	5	adiwahono	adiwahono	PROPN
alkej-949	350	6	,	,	PUNCT
alkej-949	350	7	c.	c.	PROPN
alkej-949	350	8	chew	chew	PROPN
alkej-949	350	9	,	,	PUNCT
alkej-949	350	10	w.	w.	PROPN
alkej-949	350	11	huang	huang	PROPN
alkej-949	350	12	and	and	CCONJ
alkej-949	350	13	v.	v.	ADP
alkej-949	350	14	dau	dau	NOUN
alkej-949	350	15	,	,	PUNCT
alkej-949	350	16	"	"	PUNCT
alkej-949	350	17	humanoid	humanoid	ADJ
alkej-949	350	18	robot	robot	NOUN
alkej-949	350	19	push	push	VERB
alkej-949	350	20	recovery	recovery	NOUN
alkej-949	350	21	through	through	ADP
alkej-949	350	22	walking	walking	NOUN
alkej-949	350	23	phase	phase	NOUN
alkej-949	350	24	modification	modification	NOUN
alkej-949	350	25	,	,	PUNCT
alkej-949	350	26	"	"	PUNCT
alkej-949	350	27	in	in	ADP
alkej-949	350	28	ieee	ieee	NOUN
alkej-949	350	29	conference	conference	NOUN
alkej-949	350	30	on	on	ADP
alkej-949	350	31	robotics	robotic	NOUN
alkej-949	350	32	,	,	PUNCT
alkej-949	350	33	automation	automation	NOUN
alkej-949	350	34	and	and	CCONJ
alkej-949	350	35	mechatronics	mechatronic	NOUN
alkej-949	350	36	,	,	PUNCT
alkej-949	350	37	2010	2010	NUM
alkej-949	350	38	.	.	PUNCT
alkej-949	351	1	[	[	X
alkej-949	351	2	39	39	NUM
alkej-949	351	3	]	]	PUNCT
alkej-949	351	4	j.	j.	PROPN
alkej-949	351	5	shen	shen	PROPN
alkej-949	351	6	,	,	PUNCT
alkej-949	351	7	j.	j.	PROPN
alkej-949	351	8	zhang	zhang	PROPN
alkej-949	351	9	,	,	PUNCT
alkej-949	351	10	y.	y.	PROPN
alkej-949	351	11	liu	liu	PROPN
alkej-949	351	12	and	and	CCONJ
alkej-949	351	13	d.	d.	PROPN
alkej-949	351	14	hong	hong	PROPN
alkej-949	351	15	,	,	PUNCT
alkej-949	351	16	"	"	PUNCT
alkej-949	351	17	implementation	implementation	NOUN
alkej-949	351	18	of	of	ADP
alkej-949	351	19	a	a	DET
alkej-949	351	20	robust	robust	ADJ
alkej-949	351	21	dynamic	dynamic	ADJ
alkej-949	351	22	walking	walking	NOUN
alkej-949	351	23	controller	controller	NOUN
alkej-949	351	24	on	on	ADP
alkej-949	351	25	a	a	DET
alkej-949	351	26	miniature	miniature	ADJ
alkej-949	351	27	bipedal	bipedal	ADJ
alkej-949	351	28	robot	robot	NOUN
alkej-949	351	29	with	with	ADP
alkej-949	351	30	proprioceptive	proprioceptive	ADJ
alkej-949	351	31	actuation	actuation	NOUN
alkej-949	351	32	,	,	PUNCT
alkej-949	351	33	"	"	PUNCT
alkej-949	351	34	in	in	ADP
alkej-949	351	35	ieee	ieee	NOUN
alkej-949	351	36	-	-	PUNCT
alkej-949	351	37	ras	ras	NOUN
alkej-949	351	38	21st	21st	ADJ
alkej-949	351	39	international	international	ADJ
alkej-949	351	40	conference	conference	NOUN
alkej-949	351	41	on	on	ADP
alkej-949	351	42	humanoid	humanoid	NOUN
alkej-949	351	43	robots	robot	NOUN
alkej-949	351	44	(	(	PUNCT
alkej-949	351	45	humanoids	humanoid	NOUN
alkej-949	351	46	)	)	PUNCT
alkej-949	351	47	,	,	PUNCT
alkej-949	351	48	2022	2022	NUM
alkej-949	351	49	.	.	PUNCT
alkej-949	352	1	[	[	X
alkej-949	352	2	40	40	NUM
alkej-949	352	3	]	]	PUNCT
alkej-949	352	4	a.	a.	NOUN
alkej-949	352	5	parashar	parashar	PROPN
alkej-949	352	6	,	,	PUNCT
alkej-949	352	7	a.	a.	PROPN
alkej-949	352	8	parashar	parashar	PROPN
alkej-949	352	9	and	and	CCONJ
alkej-949	352	10	s.	s.	PROPN
alkej-949	352	11	goyal	goyal	PROPN
alkej-949	352	12	,	,	PUNCT
alkej-949	352	13	"	"	PUNCT
alkej-949	352	14	push	push	VERB
alkej-949	352	15	recovery	recovery	NOUN
alkej-949	352	16	for	for	ADP
alkej-949	352	17	humanoid	humanoid	NOUN
alkej-949	352	18	robot	robot	NOUN
alkej-949	352	19	in	in	ADP
alkej-949	352	20	dynamic	dynamic	ADJ
alkej-949	352	21	environment	environment	NOUN
alkej-949	352	22	and	and	CCONJ
alkej-949	352	23	classifying	classify	VERB
alkej-949	352	24	the	the	DET
alkej-949	352	25	data	datum	NOUN
alkej-949	352	26	using	use	VERB
alkej-949	352	27	k	k	NOUN
alkej-949	352	28	-	-	ADJ
alkej-949	352	29	mean	mean	ADJ
alkej-949	352	30	,	,	PUNCT
alkej-949	352	31	"	"	PUNCT
alkej-949	352	32	international	international	ADJ
alkej-949	352	33	journal	journal	NOUN
alkej-949	352	34	of	of	ADP
alkej-949	352	35	interactive	interactive	ADJ
alkej-949	352	36	multimedia	multimedia	NOUN
alkej-949	352	37	and	and	CCONJ
alkej-949	352	38	artificial	artificial	ADJ
alkej-949	352	39	intelligence	intelligence	NOUN
alkej-949	352	40	,	,	PUNCT
alkej-949	352	41	vol	vol	NOUN
alkej-949	352	42	.	.	PROPN
alkej-949	352	43	4	4	NUM
alkej-949	352	44	,	,	PUNCT
alkej-949	352	45	p.	p.	NOUN
alkej-949	352	46	29	29	NUM
alkej-949	352	47	,	,	PUNCT
alkej-949	352	48	2016	2016	NUM
alkej-949	352	49	.	.	PUNCT
alkej-949	353	1	[	[	X
alkej-949	353	2	41	41	NUM
alkej-949	353	3	]	]	PUNCT
alkej-949	353	4	k.	k.	PROPN
alkej-949	353	5	guan	guan	PROPN
alkej-949	353	6	,	,	PUNCT
alkej-949	353	7	k.	k.	PROPN
alkej-949	353	8	yamamoto	yamamoto	PROPN
alkej-949	353	9	and	and	CCONJ
alkej-949	353	10	y.	y.	PROPN
alkej-949	353	11	nakamura	nakamura	PROPN
alkej-949	353	12	,	,	PUNCT
alkej-949	353	13	"	"	PUNCT
alkej-949	353	14	push	push	VERB
alkej-949	353	15	recovery	recovery	NOUN
alkej-949	353	16	by	by	ADP
alkej-949	353	17	angular	angular	ADJ
alkej-949	353	18	momentum	momentum	NOUN
alkej-949	353	19	control	control	NOUN
alkej-949	353	20	during	during	ADP
alkej-949	353	21	3d	3d	PROPN
alkej-949	353	22	bipedal	bipedal	NOUN
alkej-949	353	23	walking	walking	NOUN
alkej-949	353	24	based	base	VERB
alkej-949	353	25	on	on	ADP
alkej-949	353	26	virtual	virtual	ADJ
alkej-949	353	27	-	-	PUNCT
alkej-949	353	28	mass	mass	NOUN
alkej-949	353	29	-	-	PUNCT
alkej-949	353	30	ellipsoid	ellipsoid	NOUN
alkej-949	353	31	inverted	invert	VERB
alkej-949	353	32	pendulum	pendulum	NOUN
alkej-949	353	33	model	model	NOUN
alkej-949	353	34	,	,	PUNCT
alkej-949	353	35	"	"	PUNCT
alkej-949	353	36	in	in	ADP
alkej-949	353	37	ieee	ieee	NOUN
alkej-949	353	38	-	-	PUNCT
alkej-949	353	39	ras	ras	NOUN
alkej-949	353	40	19th	19th	ADJ
alkej-949	353	41	international	international	ADJ
alkej-949	353	42	conference	conference	NOUN
alkej-949	353	43	on	on	ADP
alkej-949	353	44	humanoid	humanoid	NOUN
alkej-949	353	45	robots	robot	NOUN
alkej-949	353	46	(	(	PUNCT
alkej-949	353	47	humanoids	humanoid	NOUN
alkej-949	353	48	)	)	PUNCT
alkej-949	353	49	,	,	PUNCT
alkej-949	353	50	2019	2019	NUM
alkej-949	353	51	.	.	PUNCT
alkej-949	354	1	[	[	X
alkej-949	354	2	42	42	NUM
alkej-949	354	3	]	]	PUNCT
alkej-949	354	4	k.	k.	PROPN
alkej-949	354	5	guan	guan	PROPN
alkej-949	354	6	,	,	PUNCT
alkej-949	354	7	k.	k.	PROPN
alkej-949	354	8	yamamoto	yamamoto	PROPN
alkej-949	354	9	and	and	CCONJ
alkej-949	354	10	y.	y.	PROPN
alkej-949	354	11	nakamura	nakamura	PROPN
alkej-949	354	12	,	,	PUNCT
alkej-949	354	13	"	"	PUNCT
alkej-949	354	14	virtual	virtual	ADJ
alkej-949	354	15	-	-	PUNCT
alkej-949	354	16	mass	mass	NOUN
alkej-949	354	17	-	-	PUNCT
alkej-949	354	18	ellipsoid	ellipsoid	NOUN
alkej-949	354	19	inverted	invert	VERB
alkej-949	354	20	pendulum	pendulum	NOUN
alkej-949	354	21	model	model	NOUN
alkej-949	354	22	and	and	CCONJ
alkej-949	354	23	its	its	PRON
alkej-949	354	24	applications	application	NOUN
alkej-949	354	25	to	to	ADP
alkej-949	354	26	3d	3d	PROPN
alkej-949	354	27	bipedal	bipedal	ADJ
alkej-949	354	28	locomotion	locomotion	NOUN
alkej-949	354	29	on	on	ADP
alkej-949	354	30	uneven	uneven	ADJ
alkej-949	354	31	terrains	terrain	NOUN
alkej-949	354	32	,	,	PUNCT
alkej-949	354	33	"	"	PUNCT
alkej-949	354	34	in	in	ADP
alkej-949	354	35	ieee	ieee	NOUN
alkej-949	354	36	/	/	SYM
alkej-949	354	37	rsj	rsj	NOUN
alkej-949	354	38	international	international	ADJ
alkej-949	354	39	conference	conference	NOUN
alkej-949	354	40	on	on	ADP
alkej-949	354	41	intelligent	intelligent	ADJ
alkej-949	354	42	robots	robot	NOUN
alkej-949	354	43	and	and	CCONJ
alkej-949	354	44	systems	system	NOUN
alkej-949	354	45	(	(	PUNCT
alkej-949	354	46	iros	iro	NOUN
alkej-949	354	47	)	)	PUNCT
alkej-949	354	48	,	,	PUNCT
alkej-949	354	49	2019	2019	NUM
alkej-949	354	50	.	.	PUNCT
alkej-949	355	1	[	[	X
alkej-949	355	2	43	43	NUM
alkej-949	355	3	]	]	PUNCT
alkej-949	355	4	a.	a.	NOUN
alkej-949	355	5	adiwahono	adiwahono	PROPN
alkej-949	355	6	,	,	PUNCT
alkej-949	355	7	c.	c.	PROPN
alkej-949	355	8	chew	chew	PROPN
alkej-949	355	9	,	,	PUNCT
alkej-949	355	10	w.	w.	PROPN
alkej-949	355	11	huang	huang	PROPN
alkej-949	355	12	and	and	CCONJ
alkej-949	355	13	y.	y.	PROPN
alkej-949	355	14	zheng	zheng	PROPN
alkej-949	355	15	,	,	PUNCT
alkej-949	355	16	"	"	PUNCT
alkej-949	355	17	push	push	VERB
alkej-949	355	18	recovery	recovery	NOUN
alkej-949	355	19	controller	controller	NOUN
alkej-949	355	20	for	for	ADP
alkej-949	355	21	bipedal	bipedal	ADJ
alkej-949	355	22	robot	robot	NOUN
alkej-949	355	23	walking	walk	VERB
alkej-949	355	24	,	,	PUNCT
alkej-949	355	25	"	"	PUNCT
alkej-949	355	26	in	in	ADP
alkej-949	355	27	ieee	ieee	PROPN
alkej-949	355	28	/	/	SYM
alkej-949	355	29	asme	asme	PROPN
alkej-949	355	30	international	international	PROPN
alkej-949	355	31	conference	conference	PROPN
alkej-949	355	32	on	on	ADP
alkej-949	355	33	advanced	advanced	ADJ
alkej-949	355	34	intelligent	intelligent	ADJ
alkej-949	355	35	mechatronics	mechatronic	NOUN
alkej-949	355	36	,	,	PUNCT
alkej-949	355	37	2009	2009	NUM
alkej-949	355	38	.	.	PUNCT
alkej-949	356	1	[	[	X
alkej-949	356	2	44	44	NUM
alkej-949	356	3	]	]	PUNCT
alkej-949	356	4	s.	s.	PROPN
alkej-949	356	5	kajita	kajita	PROPN
alkej-949	356	6	,	,	PUNCT
alkej-949	356	7	f.	f.	PROPN
alkej-949	356	8	kanehiro	kanehiro	PROPN
alkej-949	356	9	,	,	PUNCT
alkej-949	356	10	k.	k.	PROPN
alkej-949	356	11	kaneko	kaneko	PROPN
alkej-949	356	12	,	,	PUNCT
alkej-949	356	13	k.	k.	PROPN
alkej-949	356	14	fujiwara	fujiwara	PROPN
alkej-949	356	15	,	,	PUNCT
alkej-949	356	16	k.	k.	PROPN
alkej-949	356	17	harada	harada	PROPN
alkej-949	356	18	,	,	PUNCT
alkej-949	356	19	k.	k.	PROPN
alkej-949	356	20	yokoi	yokoi	PROPN
alkej-949	356	21	and	and	CCONJ
alkej-949	356	22	h.	h.	PROPN
alkej-949	356	23	hirukawa	hirukawa	PROPN
alkej-949	356	24	,	,	PUNCT
alkej-949	356	25	"	"	PUNCT
alkej-949	356	26	biped	biped	ADJ
alkej-949	356	27	walking	walking	NOUN
alkej-949	356	28	pattern	pattern	NOUN
alkej-949	356	29	generation	generation	NOUN
alkej-949	356	30	by	by	ADP
alkej-949	356	31	using	use	VERB
alkej-949	356	32	preview	preview	NOUN
alkej-949	356	33	control	control	NOUN
alkej-949	356	34	of	of	ADP
alkej-949	356	35	zero	zero	NUM
alkej-949	356	36	-	-	PUNCT
alkej-949	356	37	moment	moment	NOUN
alkej-949	356	38	point	point	NOUN
alkej-949	356	39	,	,	PUNCT
alkej-949	356	40	"	"	PUNCT
alkej-949	356	41	in	in	ADP
alkej-949	356	42	ieee	ieee	PROPN
alkej-949	356	43	international	international	ADJ
alkej-949	356	44	conference	conference	NOUN
alkej-949	356	45	on	on	ADP
alkej-949	356	46	robotics	robotic	NOUN
alkej-949	356	47	and	and	CCONJ
alkej-949	356	48	automation	automation	NOUN
alkej-949	356	49	,	,	PUNCT
alkej-949	356	50	2003	2003	NUM
alkej-949	356	51	.	.	PUNCT
alkej-949	357	1	[	[	X
alkej-949	357	2	45	45	NUM
alkej-949	357	3	]	]	PUNCT
alkej-949	357	4	x.	x.	NOUN
alkej-949	357	5	xiong	xiong	PROPN
alkej-949	357	6	and	and	CCONJ
alkej-949	357	7	a.	a.	PROPN
alkej-949	357	8	d.	d.	PROPN
alkej-949	357	9	ames	ames	PROPN
alkej-949	357	10	,	,	PUNCT
alkej-949	357	11	"	"	PUNCT
alkej-949	357	12	dynamic	dynamic	ADJ
alkej-949	357	13	and	and	CCONJ
alkej-949	357	14	versatile	versatile	ADV
alkej-949	357	15	humanoid	humanoid	NOUN
alkej-949	357	16	walking	walk	VERB
alkej-949	357	17	via	via	ADP
alkej-949	357	18	embedding	embed	VERB
alkej-949	357	19	3d	3d	NOUN
alkej-949	357	20	actuated	actuate	VERB
alkej-949	357	21	slip	slip	NOUN
alkej-949	357	22	model	model	NOUN
alkej-949	357	23	with	with	ADP
alkej-949	357	24	hybrid	hybrid	ADJ
alkej-949	357	25	lip	lip	NOUN
alkej-949	357	26	based	base	VERB
alkej-949	357	27	stepping	step	VERB
alkej-949	357	28	,	,	PUNCT
alkej-949	357	29	"	"	PUNCT
alkej-949	357	30	ieee	ieee	NOUN
alkej-949	357	31	robotics	robotic	NOUN
alkej-949	357	32	and	and	CCONJ
alkej-949	357	33	automation	automation	NOUN
alkej-949	357	34	letters	letter	NOUN
alkej-949	357	35	,	,	PUNCT
alkej-949	357	36	vol	vol	NOUN
alkej-949	357	37	.	.	PROPN
alkej-949	357	38	5	5	NUM
alkej-949	357	39	,	,	PUNCT
alkej-949	357	40	p.	p.	NOUN
alkej-949	357	41	6286–6293	6286–6293	NUM
alkej-949	357	42	,	,	PUNCT
alkej-949	357	43	2020	2020	NUM
alkej-949	357	44	.	.	PUNCT
alkej-949	358	1	[	[	X
alkej-949	358	2	46	46	NUM
alkej-949	358	3	]	]	PUNCT
alkej-949	358	4	x.	x.	PROPN
alkej-949	358	5	xiong	xiong	PROPN
alkej-949	358	6	,	,	PUNCT
alkej-949	358	7	y.	y.	PROPN
alkej-949	358	8	chen	chen	PROPN
alkej-949	358	9	and	and	CCONJ
alkej-949	358	10	a.	a.	PROPN
alkej-949	358	11	d.	d.	PROPN
alkej-949	358	12	ames	ames	PROPN
alkej-949	358	13	,	,	PUNCT
alkej-949	358	14	"	"	PUNCT
alkej-949	358	15	robust	robust	ADJ
alkej-949	358	16	disturbance	disturbance	NOUN
alkej-949	358	17	rejection	rejection	NOUN
alkej-949	358	18	for	for	ADP
alkej-949	358	19	robotic	robotic	ADJ
alkej-949	358	20	bipedal	bipedal	ADJ
alkej-949	358	21	walking	walking	NOUN
alkej-949	358	22	:	:	PUNCT
alkej-949	358	23	system	system	NOUN
alkej-949	358	24	-	-	PUNCT
alkej-949	358	25	level	level	NOUN
alkej-949	358	26	-	-	PUNCT
alkej-949	358	27	synthesis	synthesis	NOUN
alkej-949	358	28	with	with	ADP
alkej-949	358	29	step	step	NOUN
alkej-949	358	30	-	-	PUNCT
alkej-949	358	31	tostep	tostep	NOUN
alkej-949	358	32	dynamics	dynamic	NOUN
alkej-949	358	33	approximation	approximation	NOUN
alkej-949	358	34	,	,	PUNCT
alkej-949	358	35	"	"	PUNCT
alkej-949	358	36	in	in	ADP
alkej-949	358	37	60th	60th	ADJ
alkej-949	358	38	ieee	ieee	NOUN
alkej-949	358	39	conference	conference	NOUN
alkej-949	358	40	on	on	ADP
alkej-949	358	41	decision	decision	NOUN
alkej-949	358	42	and	and	CCONJ
alkej-949	358	43	control	control	NOUN
alkej-949	358	44	(	(	PUNCT
alkej-949	358	45	cdc	cdc	PROPN
alkej-949	358	46	)	)	PUNCT
alkej-949	358	47	,	,	PUNCT
alkej-949	358	48	2021	2021	NUM
alkej-949	358	49	.	.	PUNCT
alkej-949	359	1	[	[	X
alkej-949	359	2	47	47	NUM
alkej-949	359	3	]	]	PUNCT
alkej-949	359	4	x.	x.	PROPN
alkej-949	359	5	xiong	xiong	PROPN
alkej-949	359	6	and	and	CCONJ
alkej-949	359	7	a.	a.	NOUN
alkej-949	359	8	ames	ames	PROPN
alkej-949	359	9	,	,	PUNCT
alkej-949	359	10	"	"	PUNCT
alkej-949	359	11	3	3	NUM
alkej-949	359	12	-	-	SYM
alkej-949	359	13	d	d	ADJ
alkej-949	359	14	underactuated	underactuated	ADJ
alkej-949	359	15	bipedal	bipedal	NOUN
alkej-949	359	16	walking	walk	VERB
alkej-949	359	17	via	via	ADP
alkej-949	359	18	h	h	NOUN
alkej-949	359	19	-	-	PUNCT
alkej-949	359	20	lip	lip	NOUN
alkej-949	359	21	based	base	VERB
alkej-949	359	22	gait	gait	ADJ
alkej-949	359	23	synthesis	synthesis	NOUN
alkej-949	359	24	and	and	CCONJ
alkej-949	359	25	stepping	stepping	ADJ
alkej-949	359	26	stabilization	stabilization	NOUN
alkej-949	359	27	,	,	PUNCT
alkej-949	359	28	"	"	PUNCT
alkej-949	359	29	ieee	ieee	NOUN
alkej-949	359	30	transactions	transaction	NOUN
alkej-949	359	31	on	on	ADP
alkej-949	359	32	robotics	robotic	NOUN
alkej-949	359	33	,	,	PUNCT
alkej-949	359	34	vol	vol	NOUN
alkej-949	359	35	.	.	PROPN
alkej-949	359	36	38	38	NUM
alkej-949	359	37	,	,	PUNCT
alkej-949	359	38	p.	p.	NOUN
alkej-949	359	39	2405	2405	NUM
alkej-949	359	40	–	–	PUNCT
alkej-949	359	41	2425	2425	NUM
alkej-949	359	42	,	,	PUNCT
alkej-949	359	43	2022	2022	NUM
alkej-949	359	44	.	.	PUNCT
alkej-949	360	1	[	[	X
alkej-949	360	2	48	48	NUM
alkej-949	360	3	]	]	PUNCT
alkej-949	360	4	j.	j.	PROPN
alkej-949	360	5	pratt	pratt	PROPN
alkej-949	360	6	,	,	PUNCT
alkej-949	360	7	t.	t.	PROPN
alkej-949	360	8	koolen	koolen	PROPN
alkej-949	360	9	,	,	PUNCT
alkej-949	360	10	t.	t.	PROPN
alkej-949	360	11	de	de	PROPN
alkej-949	360	12	boer	boer	PROPN
alkej-949	360	13	,	,	PUNCT
alkej-949	360	14	j.	j.	PROPN
alkej-949	360	15	rebula	rebula	PROPN
alkej-949	360	16	,	,	PUNCT
alkej-949	360	17	s.	s.	PROPN
alkej-949	360	18	cotton	cotton	PROPN
alkej-949	360	19	,	,	PUNCT
alkej-949	360	20	j.	j.	PROPN
alkej-949	360	21	carff	carff	PROPN
alkej-949	360	22	,	,	PUNCT
alkej-949	360	23	m.	m.	NOUN
alkej-949	360	24	johnson	johnson	PROPN
alkej-949	360	25	and	and	CCONJ
alkej-949	360	26	p.	p.	PROPN
alkej-949	360	27	neuhaus	neuhaus	PROPN
alkej-949	360	28	,	,	PUNCT
alkej-949	360	29	"	"	PUNCT
alkej-949	360	30	capturability	capturability	NOUN
alkej-949	360	31	-	-	PUNCT
alkej-949	360	32	based	base	VERB
alkej-949	360	33	analysis	analysis	NOUN
alkej-949	360	34	and	and	CCONJ
alkej-949	360	35	control	control	NOUN
alkej-949	360	36	of	of	ADP
alkej-949	360	37	legged	legged	ADJ
alkej-949	360	38	locomotion	locomotion	NOUN
alkej-949	360	39	,	,	PUNCT
alkej-949	360	40	part	part	NOUN
alkej-949	360	41	2	2	NUM
alkej-949	360	42	:	:	PUNCT
alkej-949	360	43	application	application	NOUN
alkej-949	360	44	to	to	ADP
alkej-949	360	45	m2v2	m2v2	PROPN
alkej-949	360	46	,	,	PUNCT
alkej-949	360	47	a	a	DET
alkej-949	360	48	lower	low	ADJ
alkej-949	360	49	-	-	PUNCT
alkej-949	360	50	body	body	NOUN
alkej-949	360	51	humanoid	humanoid	NOUN
alkej-949	360	52	,	,	PUNCT
alkej-949	360	53	”	"	PUNCT
alkej-949	360	54	the	the	DET
alkej-949	360	55	international	international	ADJ
alkej-949	360	56	journal	journal	NOUN
alkej-949	360	57	of	of	ADP
alkej-949	360	58	robotics	robotic	NOUN
alkej-949	360	59	research	research	NOUN
alkej-949	360	60	,	,	PUNCT
alkej-949	360	61	"	"	PUNCT
alkej-949	360	62	the	the	DET
alkej-949	360	63	international	international	ADJ
alkej-949	360	64	journal	journal	NOUN
alkej-949	360	65	of	of	ADP
alkej-949	360	66	robotics	robotic	NOUN
alkej-949	360	67	research	research	NOUN
alkej-949	360	68	,	,	PUNCT
alkej-949	360	69	vol	vol	NOUN
alkej-949	360	70	.	.	PROPN
alkej-949	360	71	31	31	NUM
alkej-949	360	72	,	,	PUNCT
alkej-949	360	73	p.	p.	NOUN
alkej-949	360	74	1117–1133	1117–1133	NUM
alkej-949	360	75	,	,	PUNCT
alkej-949	360	76	2012	2012	NUM
alkej-949	360	77	.	.	PUNCT
alkej-949	361	1	[	[	X
alkej-949	361	2	49	49	NUM
alkej-949	361	3	]	]	PUNCT
alkej-949	361	4	p.	p.	NOUN
alkej-949	361	5	bhounsule	bhounsule	PROPN
alkej-949	361	6	,	,	PUNCT
alkej-949	361	7	m.	m.	NOUN
alkej-949	361	8	kim	kim	PROPN
alkej-949	361	9	and	and	CCONJ
alkej-949	361	10	a.	a.	NOUN
alkej-949	361	11	alaeddini	alaeddini	PROPN
alkej-949	361	12	,	,	PUNCT
alkej-949	361	13	"	"	PUNCT
alkej-949	361	14	approximation	approximation	NOUN
alkej-949	361	15	of	of	ADP
alkej-949	361	16	the	the	DET
alkej-949	361	17	step	step	NOUN
alkej-949	361	18	-	-	PUNCT
alkej-949	361	19	to	to	ADP
alkej-949	361	20	-	-	PUNCT
alkej-949	361	21	step	step	NOUN
alkej-949	361	22	dynamics	dynamic	NOUN
alkej-949	361	23	enables	enable	VERB
alkej-949	361	24	computationally	computationally	ADV
alkej-949	361	25	efficient	efficient	ADJ
alkej-949	361	26	and	and	CCONJ
alkej-949	361	27	fast	fast	ADJ
alkej-949	361	28	optimal	optimal	ADJ
alkej-949	361	29	control	control	NOUN
alkej-949	361	30	of	of	ADP
alkej-949	361	31	legged	legged	ADJ
alkej-949	361	32	robots	robot	NOUN
alkej-949	361	33	,	,	PUNCT
alkej-949	361	34	"	"	PUNCT
alkej-949	361	35	in	in	ADP
alkej-949	361	36	44th	44th	ADJ
alkej-949	361	37	mechanisms	mechanism	NOUN
alkej-949	361	38	and	and	CCONJ
alkej-949	361	39	robotics	robotic	NOUN
alkej-949	361	40	conference	conference	NOUN
alkej-949	361	41	(	(	PUNCT
alkej-949	361	42	mr	mr	PROPN
alkej-949	361	43	)	)	PUNCT
alkej-949	361	44	,	,	PUNCT
alkej-949	361	45	2020	2020	NUM
alkej-949	361	46	..	..	PUNCT
alkej-949	362	1	[	[	X
alkej-949	362	2	50	50	NUM
alkej-949	362	3	]	]	PUNCT
alkej-949	362	4	a.	a.	NOUN
alkej-949	362	5	yasin	yasin	PROPN
alkej-949	362	6	,	,	PUNCT
alkej-949	362	7	q.	q.	PROPN
alkej-949	362	8	huang	huang	PROPN
alkej-949	362	9	,	,	PUNCT
alkej-949	362	10	q.	q.	PROPN
alkej-949	362	11	xu	xu	PROPN
alkej-949	362	12	and	and	CCONJ
alkej-949	362	13	w.	w.	PROPN
alkej-949	362	14	zhang	zhang	PROPN
alkej-949	362	15	,	,	PUNCT
alkej-949	362	16	"	"	PUNCT
alkej-949	362	17	biped	biped	ADJ
alkej-949	362	18	robot	robot	NOUN
alkej-949	362	19	push	push	NOUN
alkej-949	362	20	detection	detection	NOUN
alkej-949	362	21	and	and	CCONJ
alkej-949	362	22	recovery	recovery	NOUN
alkej-949	362	23	,	,	PUNCT
alkej-949	362	24	"	"	PUNCT
alkej-949	362	25	in	in	ADP
alkej-949	362	26	ieee	ieee	PROPN
alkej-949	362	27	international	international	ADJ
alkej-949	362	28	conference	conference	NOUN
alkej-949	362	29	on	on	ADP
alkej-949	362	30	information	information	NOUN
alkej-949	362	31	and	and	CCONJ
alkej-949	362	32	automation	automation	NOUN
alkej-949	362	33	,	,	PUNCT
alkej-949	362	34	2012	2012	NUM
alkej-949	362	35	.	.	PUNCT
alkej-949	363	1	ibrahim	ibrahim	PROPN
alkej-949	363	2	altameemi	altameemi	VERB
alkej-949	363	3	al	al	PROPN
alkej-949	363	4	-	-	PUNCT
alkej-949	363	5	khwarizmi	khwarizmi	PROPN
alkej-949	363	6	engineering	engineering	NOUN
alkej-949	363	7	journal	journal	PROPN
alkej-949	363	8	,	,	PUNCT
alkej-949	363	9	vol	vol	NOUN
alkej-949	363	10	.	.	PROPN
alkej-949	363	11	20	20	NUM
alkej-949	363	12	,	,	PUNCT
alkej-949	363	13	no.3	no.3	VERB
alkej-949	363	14	,	,	PUNCT
alkej-949	363	15	p.p	p.p	PROPN
alkej-949	363	16	.	.	PROPN
alkej-949	363	17	2035	2035	NUM
alkej-949	363	18	(	(	PUNCT
alkej-949	363	19	2024	2024	NUM
alkej-949	363	20	)	)	PUNCT
alkej-949	363	21	35	35	NUM
alkej-949	364	1	[	[	X
alkej-949	364	2	51	51	NUM
alkej-949	364	3	]	]	PUNCT
alkej-949	364	4	a.	a.	NOUN
alkej-949	364	5	hosseinmemar	hosseinmemar	PROPN
alkej-949	364	6	,	,	PUNCT
alkej-949	364	7	j.	j.	PROPN
alkej-949	364	8	baltes	baltes	PROPN
alkej-949	364	9	,	,	PUNCT
alkej-949	364	10	j.	j.	PROPN
alkej-949	364	11	anderson	anderson	PROPN
alkej-949	364	12	,	,	PUNCT
alkej-949	364	13	m.	m.	PROPN
alkej-949	364	14	cheng	cheng	PROPN
alkej-949	364	15	lau	lau	PROPN
alkej-949	364	16	,	,	PUNCT
alkej-949	364	17	c.	c.	PROPN
alkej-949	364	18	fung	fung	PROPN
alkej-949	364	19	lun	lun	PROPN
alkej-949	364	20	and	and	CCONJ
alkej-949	364	21	z.	z.	PROPN
alkej-949	364	22	wang	wang	PROPN
alkej-949	364	23	,	,	PUNCT
alkej-949	364	24	"	"	PUNCT
alkej-949	364	25	closed	closed	ADJ
alkej-949	364	26	-	-	PUNCT
alkej-949	364	27	loop	loop	NOUN
alkej-949	364	28	push	push	NOUN
alkej-949	364	29	recovery	recovery	NOUN
alkej-949	364	30	for	for	ADP
alkej-949	364	31	inexpensive	inexpensive	ADJ
alkej-949	364	32	humanoid	humanoid	NOUN
alkej-949	364	33	robots	robot	NOUN
alkej-949	364	34	,	,	PUNCT
alkej-949	364	35	"	"	PUNCT
alkej-949	364	36	applied	apply	VERB
alkej-949	364	37	intelligence	intelligence	NOUN
alkej-949	364	38	,	,	PUNCT
alkej-949	364	39	vol	vol	NOUN
alkej-949	364	40	.	.	PROPN
alkej-949	364	41	49	49	NUM
alkej-949	364	42	,	,	PUNCT
alkej-949	364	43	p.	p.	NOUN
alkej-949	364	44	3801–3814	3801–3814	NUM
alkej-949	364	45	,	,	PUNCT
alkej-949	364	46	2019	2019	NUM
alkej-949	364	47	.	.	PUNCT
alkej-949	365	1	[	[	X
alkej-949	365	2	52	52	NUM
alkej-949	365	3	]	]	PUNCT
alkej-949	365	4	j.	j.	PROPN
alkej-949	365	5	urata	urata	PROPN
alkej-949	365	6	,	,	PUNCT
alkej-949	365	7	k.	k.	PROPN
alkej-949	365	8	nshiwaki	nshiwaki	PROPN
alkej-949	365	9	,	,	PUNCT
alkej-949	365	10	y.	y.	PROPN
alkej-949	365	11	nakanishi	nakanishi	PROPN
alkej-949	365	12	,	,	PUNCT
alkej-949	365	13	k.	k.	PROPN
alkej-949	365	14	okada	okada	PROPN
alkej-949	365	15	,	,	PUNCT
alkej-949	365	16	s.	s.	PROPN
alkej-949	365	17	kagami	kagami	PROPN
alkej-949	365	18	and	and	CCONJ
alkej-949	365	19	m.	m.	PROPN
alkej-949	365	20	inaba	inaba	PROPN
alkej-949	365	21	,	,	PUNCT
alkej-949	365	22	"	"	PUNCT
alkej-949	365	23	online	online	ADJ
alkej-949	365	24	walking	walking	NOUN
alkej-949	365	25	pattern	pattern	NOUN
alkej-949	365	26	generation	generation	NOUN
alkej-949	365	27	for	for	ADP
alkej-949	365	28	push	push	NOUN
alkej-949	365	29	recovery	recovery	NOUN
alkej-949	365	30	and	and	CCONJ
alkej-949	365	31	minimum	minimum	ADJ
alkej-949	365	32	delay	delay	NOUN
alkej-949	365	33	to	to	ADP
alkej-949	365	34	commanded	commanded	ADJ
alkej-949	365	35	change	change	NOUN
alkej-949	365	36	of	of	ADP
alkej-949	365	37	direction	direction	NOUN
alkej-949	365	38	and	and	CCONJ
alkej-949	365	39	speed	speed	NOUN
alkej-949	365	40	,	,	PUNCT
alkej-949	365	41	"	"	PUNCT
alkej-949	365	42	in	in	ADP
alkej-949	365	43	ieee	ieee	NOUN
alkej-949	365	44	/	/	SYM
alkej-949	365	45	rsj	rsj	NOUN
alkej-949	365	46	international	international	ADJ
alkej-949	365	47	conference	conference	NOUN
alkej-949	365	48	on	on	ADP
alkej-949	365	49	intelligent	intelligent	ADJ
alkej-949	365	50	robots	robot	NOUN
alkej-949	365	51	and	and	CCONJ
alkej-949	365	52	systems	system	NOUN
alkej-949	365	53	,	,	PUNCT
alkej-949	365	54	2012	2012	NUM
alkej-949	365	55	.	.	PUNCT
alkej-949	366	1	[	[	X
alkej-949	366	2	53	53	NUM
alkej-949	366	3	]	]	PUNCT
alkej-949	366	4	l.-f	l.-f	NOUN
alkej-949	366	5	.	.	PUNCT
alkej-949	367	1	wu	wu	PROPN
alkej-949	367	2	and	and	CCONJ
alkej-949	367	3	l.	l.	PROPN
alkej-949	367	4	tzuu	tzuu	PROPN
alkej-949	367	5	-	-	PUNCT
alkej-949	367	6	hseng	hseng	NOUN
alkej-949	367	7	s.	s.	PROPN
alkej-949	367	8	,	,	PUNCT
alkej-949	367	9	"	"	PUNCT
alkej-949	367	10	fuzzy	fuzzy	ADJ
alkej-949	367	11	dynamic	dynamic	ADJ
alkej-949	367	12	gait	gait	NOUN
alkej-949	367	13	pattern	pattern	NOUN
alkej-949	367	14	generation	generation	NOUN
alkej-949	367	15	for	for	ADP
alkej-949	367	16	real	real	ADJ
alkej-949	367	17	-	-	PUNCT
alkej-949	367	18	time	time	NOUN
alkej-949	367	19	push	push	NOUN
alkej-949	367	20	recovery	recovery	NOUN
alkej-949	367	21	control	control	NOUN
alkej-949	367	22	of	of	ADP
alkej-949	367	23	a	a	DET
alkej-949	367	24	teen	teen	NOUN
alkej-949	367	25	-	-	PUNCT
alkej-949	367	26	sized	sized	ADJ
alkej-949	367	27	humanoid	humanoid	ADJ
alkej-949	367	28	robot	robot	NOUN
alkej-949	367	29	,	,	PUNCT
alkej-949	367	30	"	"	PUNCT
alkej-949	367	31	ieee	ieee	NOUN
alkej-949	367	32	access	access	NOUN
alkej-949	367	33	,	,	PUNCT
alkej-949	367	34	vol	vol	NOUN
alkej-949	367	35	.	.	PROPN
alkej-949	367	36	8	8	NUM
alkej-949	367	37	,	,	PUNCT
alkej-949	367	38	pp	pp	ADJ
alkej-949	367	39	.	.	PUNCT
alkej-949	368	1	36441	36441	NUM
alkej-949	368	2	-	-	SYM
alkej-949	368	3	36453	36453	NUM
alkej-949	368	4	,	,	PUNCT
alkej-949	368	5	2020	2020	NUM
alkej-949	368	6	.	.	PUNCT