id	sid	tid	token	lemma	pos
cet-4976	1	1	microsoft	microsoft	PROPN
cet-4976	1	2	word	word	PROPN
cet-4976	1	3	476hernandez.docx	476hernandez.docx	NUM
cet-4976	1	4	chemical	chemical	NOUN
cet-4976	1	5	engineeringtransactions	engineeringtransaction	NOUN
cet-4976	1	6	vol	vol	NOUN
cet-4976	1	7	.	.	PROPN
cet-4976	1	8	43	43	NUM
cet-4976	1	9	,	,	PUNCT
cet-4976	1	10	2015	2015	NUM
cet-4976	1	11	a	a	DET
cet-4976	1	12	publication	publication	NOUN
cet-4976	1	13	of	of	ADP
cet-4976	1	14	the	the	DET
cet-4976	1	15	italian	italian	ADJ
cet-4976	1	16	association	association	NOUN
cet-4976	1	17	of	of	ADP
cet-4976	1	18	chemical	chemical	PROPN
cet-4976	1	19	engineering	engineering	NOUN
cet-4976	1	20	online	online	ADV
cet-4976	1	21	at	at	ADP
cet-4976	1	22	www.aidic.it/cet	www.aidic.it/cet	PROPN
cet-4976	1	23	chief	chief	ADJ
cet-4976	1	24	editors	editor	NOUN
cet-4976	1	25	:	:	PUNCT
cet-4976	1	26	sauropierucci	sauropierucci	NOUN
cet-4976	1	27	,	,	PUNCT
cet-4976	1	28	jiříj	jiříj	NOUN
cet-4976	1	29	.	.	PUNCT
cet-4976	2	1	klemeš	klemeš	ADJ
cet-4976	2	2	copyright	copyright	NOUN
cet-4976	2	3	©	©	PROPN
cet-4976	2	4	2015	2015	NUM
cet-4976	2	5	,	,	PUNCT
cet-4976	2	6	aidic	aidic	ADJ
cet-4976	2	7	servizis.r.l	servizis.r.l	NOUN
cet-4976	2	8	.	.	PUNCT
cet-4976	3	1	,	,	PUNCT
cet-4976	3	2	isbn	isbn	PROPN
cet-4976	3	3	978	978	NUM
cet-4976	3	4	-	-	SYM
cet-4976	3	5	88	88	NUM
cet-4976	3	6	-	-	PUNCT
cet-4976	3	7	95608	95608	NUM
cet-4976	3	8	-	-	PUNCT
cet-4976	3	9	34	34	NUM
cet-4976	3	10	-	-	SYM
cet-4976	3	11	1	1	NUM
cet-4976	3	12	;	;	PUNCT
cet-4976	3	13	issn	issn	PROPN
cet-4976	3	14	2283	2283	NUM
cet-4976	3	15	-	-	SYM
cet-4976	3	16	9216	9216	NUM
cet-4976	3	17	risked	risk	VERB
cet-4976	3	18	-	-	PUNCT
cet-4976	3	19	based	base	VERB
cet-4976	3	20	design	design	NOUN
cet-4976	3	21	for	for	ADP
cet-4976	3	22	the	the	DET
cet-4976	3	23	physical	physical	ADJ
cet-4976	3	24	human	human	ADJ
cet-4976	3	25	-	-	PUNCT
cet-4976	3	26	robot	robot	NOUN
cet-4976	3	27	interaction	interaction	NOUN
cet-4976	3	28	(	(	PUNCT
cet-4976	3	29	phri	phri	NOUN
cet-4976	3	30	):	):	PUNCT
cet-4976	3	31	an	an	DET
cet-4976	3	32	overview	overview	NOUN
cet-4976	3	33	fahimeh	fahimeh	VERB
cet-4976	3	34	rezazadegan*a	rezazadegan*a	ADP
cet-4976	3	35	,	,	PUNCT
cet-4976	3	36	jie	jie	PROPN
cet-4976	3	37	gengb	gengb	PROPN
cet-4976	3	38	,	,	PUNCT
cet-4976	3	39	marco	marco	PROPN
cet-4976	3	40	ghirardi	ghirardi	PROPN
cet-4976	3	41	a	a	PROPN
cet-4976	3	42	,	,	PUNCT
cet-4976	3	43	giuseppe	giuseppe	PROPN
cet-4976	3	44	menga	menga	VERB
cet-4976	3	45	a	a	PRON
cet-4976	3	46	,	,	PUNCT
cet-4976	3	47	salvina	salvina	NOUN
cet-4976	3	48	murèb	murèb	PROPN
cet-4976	3	49	,	,	PUNCT
cet-4976	3	50	gianfranco	gianfranco	PROPN
cet-4976	3	51	camuncolib	camuncolib	PROPN
cet-4976	3	52	,	,	PUNCT
cet-4976	3	53	micaela	micaela	PROPN
cet-4976	3	54	demichelac	demichelac	VERB
cet-4976	3	55	a	a	DET
cet-4976	3	56	dipartimento	dipartimento	NOUN
cet-4976	3	57	di	di	X
cet-4976	3	58	automatica	automatica	PROPN
cet-4976	3	59	e	e	PROPN
cet-4976	3	60	informatica	informatica	PROPN
cet-4976	3	61	,	,	PUNCT
cet-4976	3	62	politecnico	politecnico	PROPN
cet-4976	3	63	di	di	PROPN
cet-4976	3	64	torino	torino	PROPN
cet-4976	3	65	,	,	PUNCT
cet-4976	3	66	corso	corso	PROPN
cet-4976	3	67	duca	duca	PROPN
cet-4976	3	68	degli	degli	PROPN
cet-4976	3	69	abruzzi	abruzzi	NOUN
cet-4976	3	70	,	,	PUNCT
cet-4976	3	71	24	24	NUM
cet-4976	3	72	–	–	SYM
cet-4976	3	73	10129	10129	NUM
cet-4976	3	74	torino	torino	NOUN
cet-4976	3	75	,	,	PUNCT
cet-4976	3	76	italia	italia	PROPN
cet-4976	3	77	b	b	PROPN
cet-4976	3	78	aria	aria	PROPN
cet-4976	3	79	s.r.l	s.r.l	NOUN
cet-4976	3	80	.	.	PUNCT
cet-4976	3	81	–	–	PUNCT
cet-4976	3	82	corso	corso	PROPN
cet-4976	3	83	mediterraneo	mediterraneo	PROPN
cet-4976	3	84	140	140	NUM
cet-4976	3	85	-10129	-10129	PROPN
cet-4976	3	86	torino	torino	PROPN
cet-4976	3	87	,	,	PUNCT
cet-4976	3	88	italia	italia	PROPN
cet-4976	3	89	c	c	PROPN
cet-4976	3	90	safer	safe	ADJ
cet-4976	3	91	,	,	PUNCT
cet-4976	3	92	dipartimento	dipartimento	ADP
cet-4976	3	93	di	di	NOUN
cet-4976	3	94	scienza	scienza	NOUN
cet-4976	3	95	applicata	applicata	PROPN
cet-4976	3	96	e	e	SYM
cet-4976	3	97	tecnologia	tecnologia	NOUN
cet-4976	3	98	,	,	PUNCT
cet-4976	3	99	politecnico	politecnico	PROPN
cet-4976	3	100	di	di	PROPN
cet-4976	3	101	torino	torino	PROPN
cet-4976	3	102	,	,	PUNCT
cet-4976	3	103	corso	corso	PROPN
cet-4976	3	104	duca	duca	PROPN
cet-4976	3	105	degli	degli	PROPN
cet-4976	3	106	abruzzi	abruzzi	NOUN
cet-4976	3	107	,	,	PUNCT
cet-4976	3	108	24	24	NUM
cet-4976	3	109	–	–	SYM
cet-4976	3	110	10129	10129	NUM
cet-4976	3	111	torino	torino	NOUN
cet-4976	3	112	,	,	PUNCT
cet-4976	3	113	italia	italia	PROPN
cet-4976	3	114	fahimeh.rezazadegan@polito.it	fahimeh.rezazadegan@polito.it	PROPN
cet-4976	3	115	collaboration	collaboration	NOUN
cet-4976	3	116	and	and	CCONJ
cet-4976	3	117	sharing	share	VERB
cet-4976	3	118	workspace	workspace	NOUN
cet-4976	3	119	between	between	ADP
cet-4976	3	120	human	human	NOUN
cet-4976	3	121	and	and	CCONJ
cet-4976	3	122	robots	robot	NOUN
cet-4976	3	123	has	have	AUX
cet-4976	3	124	turned	turn	VERB
cet-4976	3	125	into	into	ADP
cet-4976	3	126	a	a	DET
cet-4976	3	127	challenge	challenge	NOUN
cet-4976	3	128	that	that	PRON
cet-4976	3	129	has	have	VERB
cet-4976	3	130	to	to	PART
cet-4976	3	131	be	be	AUX
cet-4976	3	132	taken	take	VERB
cet-4976	3	133	into	into	ADP
cet-4976	3	134	account	account	NOUN
cet-4976	3	135	in	in	ADP
cet-4976	3	136	many	many	ADJ
cet-4976	3	137	industrial	industrial	ADJ
cet-4976	3	138	domains	domain	NOUN
cet-4976	3	139	,	,	PUNCT
cet-4976	3	140	including	include	VERB
cet-4976	3	141	the	the	DET
cet-4976	3	142	process	process	NOUN
cet-4976	3	143	industry	industry	NOUN
cet-4976	3	144	.	.	PUNCT
cet-4976	4	1	in	in	ADP
cet-4976	4	2	this	this	DET
cet-4976	4	3	study	study	NOUN
cet-4976	4	4	,	,	PUNCT
cet-4976	4	5	literature	literature	NOUN
cet-4976	4	6	related	relate	VERB
cet-4976	4	7	to	to	ADP
cet-4976	4	8	risk	risk	NOUN
cet-4976	4	9	-	-	PUNCT
cet-4976	4	10	based	base	VERB
cet-4976	4	11	safety	safety	NOUN
cet-4976	4	12	system	system	NOUN
cet-4976	4	13	design	design	NOUN
cet-4976	4	14	is	be	AUX
cet-4976	4	15	reviewed	review	VERB
cet-4976	4	16	as	as	ADV
cet-4976	4	17	well	well	ADV
cet-4976	4	18	as	as	ADP
cet-4976	4	19	relevant	relevant	ADJ
cet-4976	4	20	research	research	NOUN
cet-4976	4	21	of	of	ADP
cet-4976	4	22	control	control	NOUN
cet-4976	4	23	design	design	NOUN
cet-4976	4	24	for	for	ADP
cet-4976	4	25	safety	safety	NOUN
cet-4976	4	26	issues	issue	NOUN
cet-4976	4	27	.	.	PUNCT
cet-4976	5	1	the	the	DET
cet-4976	5	2	paper	paper	NOUN
cet-4976	5	3	mainly	mainly	ADV
cet-4976	5	4	presents	present	VERB
cet-4976	5	5	two	two	NUM
cet-4976	5	6	key	key	ADJ
cet-4976	5	7	contributions	contribution	NOUN
cet-4976	5	8	.	.	PUNCT
cet-4976	6	1	1	1	X
cet-4976	6	2	)	)	PUNCT
cet-4976	6	3	planning	planning	NOUN
cet-4976	6	4	for	for	ADP
cet-4976	6	5	safety	safety	NOUN
cet-4976	6	6	:	:	PUNCT
cet-4976	6	7	risk	risk	NOUN
cet-4976	6	8	-	-	PUNCT
cet-4976	6	9	based	base	VERB
cet-4976	6	10	safety	safety	NOUN
cet-4976	6	11	analysis	analysis	NOUN
cet-4976	6	12	methodologies	methodology	NOUN
cet-4976	6	13	are	be	AUX
cet-4976	6	14	reviewed	review	VERB
cet-4976	6	15	to	to	PART
cet-4976	6	16	analyze	analyze	VERB
cet-4976	6	17	current	current	ADJ
cet-4976	6	18	methods	method	NOUN
cet-4976	6	19	for	for	ADP
cet-4976	6	20	identifying	identify	VERB
cet-4976	6	21	the	the	DET
cet-4976	6	22	potential	potential	ADJ
cet-4976	6	23	risks	risk	NOUN
cet-4976	6	24	caused	cause	VERB
cet-4976	6	25	by	by	ADP
cet-4976	6	26	abnormal	abnormal	ADJ
cet-4976	6	27	operation	operation	NOUN
cet-4976	6	28	and	and	CCONJ
cet-4976	6	29	failures	failure	NOUN
cet-4976	6	30	in	in	ADP
cet-4976	6	31	the	the	DET
cet-4976	6	32	human	human	ADJ
cet-4976	6	33	-	-	PUNCT
cet-4976	6	34	robot	robot	NOUN
cet-4976	6	35	interaction	interaction	NOUN
cet-4976	6	36	environment	environment	NOUN
cet-4976	6	37	.	.	PUNCT
cet-4976	7	1	the	the	DET
cet-4976	7	2	risk	risk	NOUN
cet-4976	7	3	assessment	assessment	NOUN
cet-4976	7	4	methodologies	methodology	NOUN
cet-4976	7	5	are	be	AUX
cet-4976	7	6	including	include	VERB
cet-4976	7	7	not	not	PART
cet-4976	7	8	only	only	ADV
cet-4976	7	9	functional	functional	ADJ
cet-4976	7	10	risk	risk	NOUN
cet-4976	7	11	analysis	analysis	NOUN
cet-4976	7	12	,	,	PUNCT
cet-4976	7	13	but	but	CCONJ
cet-4976	7	14	also	also	ADV
cet-4976	7	15	human	human	ADJ
cet-4976	7	16	reliability	reliability	NOUN
cet-4976	7	17	analysis	analysis	NOUN
cet-4976	7	18	.	.	PUNCT
cet-4976	8	1	the	the	DET
cet-4976	8	2	results	result	NOUN
cet-4976	8	3	from	from	ADP
cet-4976	8	4	risk	risk	NOUN
cet-4976	8	5	evaluation	evaluation	NOUN
cet-4976	8	6	will	will	AUX
cet-4976	8	7	help	help	VERB
cet-4976	8	8	making	make	VERB
cet-4976	8	9	hri	hri	PROPN
cet-4976	8	10	safety	safety	NOUN
cet-4976	8	11	strategies	strategy	NOUN
cet-4976	8	12	which	which	PRON
cet-4976	8	13	are	be	AUX
cet-4976	8	14	series	series	NOUN
cet-4976	8	15	decision	decision	NOUN
cet-4976	8	16	makings	making	NOUN
cet-4976	8	17	to	to	PART
cet-4976	8	18	support	support	VERB
cet-4976	8	19	the	the	DET
cet-4976	8	20	further	further	ADJ
cet-4976	8	21	engineering	engineering	NOUN
cet-4976	8	22	design	design	NOUN
cet-4976	8	23	of	of	ADP
cet-4976	8	24	a	a	DET
cet-4976	8	25	phri	phri	NOUN
cet-4976	8	26	safety	safety	NOUN
cet-4976	8	27	system	system	NOUN
cet-4976	8	28	.	.	PUNCT
cet-4976	9	1	2	2	X
cet-4976	9	2	)	)	PUNCT
cet-4976	9	3	control	control	NOUN
cet-4976	9	4	design	design	NOUN
cet-4976	9	5	system	system	NOUN
cet-4976	9	6	for	for	ADP
cet-4976	9	7	achieving	achieve	VERB
cet-4976	9	8	safety	safety	NOUN
cet-4976	9	9	:	:	PUNCT
cet-4976	9	10	to	to	PART
cet-4976	9	11	reach	reach	VERB
cet-4976	9	12	a	a	DET
cet-4976	9	13	comprehensive	comprehensive	ADJ
cet-4976	9	14	safety	safety	NOUN
cet-4976	9	15	system	system	NOUN
cet-4976	9	16	design	design	NOUN
cet-4976	9	17	and	and	CCONJ
cet-4976	9	18	limit	limit	VERB
cet-4976	9	19	accidents	accident	NOUN
cet-4976	9	20	in	in	ADP
cet-4976	9	21	the	the	DET
cet-4976	9	22	human	human	ADJ
cet-4976	9	23	-	-	PUNCT
cet-4976	9	24	robot	robot	NOUN
cet-4976	9	25	interaction	interaction	NOUN
cet-4976	9	26	environment	environment	NOUN
cet-4976	9	27	,	,	PUNCT
cet-4976	9	28	four	four	NUM
cet-4976	9	29	scenarios	scenario	NOUN
cet-4976	9	30	are	be	AUX
cet-4976	9	31	taken	take	VERB
cet-4976	9	32	into	into	ADP
cet-4976	9	33	consideration	consideration	NOUN
cet-4976	9	34	:	:	PUNCT
cet-4976	9	35	proximity	proximity	NOUN
cet-4976	9	36	detection	detection	NOUN
cet-4976	9	37	,	,	PUNCT
cet-4976	9	38	collision	collision	NOUN
cet-4976	9	39	avoidance	avoidance	NOUN
cet-4976	9	40	,	,	PUNCT
cet-4976	9	41	docking	docking	NOUN
cet-4976	9	42	and	and	CCONJ
cet-4976	9	43	compliance	compliance	NOUN
cet-4976	9	44	control	control	NOUN
cet-4976	9	45	.	.	PUNCT
cet-4976	10	1	current	current	ADJ
cet-4976	10	2	control	control	NOUN
cet-4976	10	3	techniques	technique	NOUN
cet-4976	10	4	in	in	ADP
cet-4976	10	5	each	each	DET
cet-4976	10	6	domain	domain	NOUN
cet-4976	10	7	to	to	PART
cet-4976	10	8	guarantee	guarantee	VERB
cet-4976	10	9	the	the	DET
cet-4976	10	10	safety	safety	NOUN
cet-4976	10	11	of	of	ADP
cet-4976	10	12	system	system	NOUN
cet-4976	10	13	are	be	AUX
cet-4976	10	14	reviewed	review	VERB
cet-4976	10	15	.	.	PUNCT
cet-4976	11	1	finally	finally	ADV
cet-4976	11	2	,	,	PUNCT
cet-4976	11	3	most	most	ADV
cet-4976	11	4	common	common	ADJ
cet-4976	11	5	used	use	VERB
cet-4976	11	6	methods	method	NOUN
cet-4976	11	7	in	in	ADP
cet-4976	11	8	the	the	DET
cet-4976	11	9	above	above	ADV
cet-4976	11	10	-	-	PUNCT
cet-4976	11	11	mentioned	mention	VERB
cet-4976	11	12	areas	area	NOUN
cet-4976	11	13	are	be	AUX
cet-4976	11	14	introduced	introduce	VERB
cet-4976	11	15	and	and	CCONJ
cet-4976	11	16	their	their	PRON
cet-4976	11	17	performance	performance	NOUN
cet-4976	11	18	is	be	AUX
cet-4976	11	19	discussed	discuss	VERB
cet-4976	11	20	.	.	PUNCT
cet-4976	12	1	1	1	X
cet-4976	12	2	.	.	X
cet-4976	12	3	introduction	introduction	NOUN
cet-4976	12	4	today	today	NOUN
cet-4976	12	5	,	,	PUNCT
cet-4976	12	6	one	one	NUM
cet-4976	12	7	of	of	ADP
cet-4976	12	8	the	the	DET
cet-4976	12	9	most	most	ADV
cet-4976	12	10	prominent	prominent	ADJ
cet-4976	12	11	milestones	milestone	NOUN
cet-4976	12	12	luring	lure	VERB
cet-4976	12	13	the	the	DET
cet-4976	12	14	robotic	robotic	ADJ
cet-4976	12	15	community	community	NOUN
cet-4976	12	16	is	be	AUX
cet-4976	12	17	the	the	DET
cet-4976	12	18	integration	integration	NOUN
cet-4976	12	19	of	of	ADP
cet-4976	12	20	a	a	DET
cet-4976	12	21	robot	robot	NOUN
cet-4976	12	22	’s	’s	PART
cet-4976	12	23	and	and	CCONJ
cet-4976	12	24	a	a	DET
cet-4976	12	25	human	human	NOUN
cet-4976	12	26	’s	’s	NOUN
cet-4976	12	27	workspace	workspace	NOUN
cet-4976	12	28	(	(	PUNCT
cet-4976	12	29	santis	santis	NOUN
cet-4976	12	30	,	,	PUNCT
cet-4976	12	31	2008	2008	NUM
cet-4976	12	32	)	)	PUNCT
cet-4976	12	33	.	.	PUNCT
cet-4976	13	1	considering	consider	VERB
cet-4976	13	2	the	the	DET
cet-4976	13	3	increasing	increase	VERB
cet-4976	13	4	robot	robot	NOUN
cet-4976	13	5	use	use	NOUN
cet-4976	13	6	in	in	ADP
cet-4976	13	7	all	all	DET
cet-4976	13	8	fields	field	NOUN
cet-4976	13	9	from	from	ADP
cet-4976	13	10	industrial	industrial	ADJ
cet-4976	13	11	factories	factory	NOUN
cet-4976	13	12	to	to	ADP
cet-4976	13	13	medical	medical	ADJ
cet-4976	13	14	environments	environment	NOUN
cet-4976	13	15	and	and	CCONJ
cet-4976	13	16	a	a	DET
cet-4976	13	17	wide	wide	ADJ
cet-4976	13	18	variety	variety	NOUN
cet-4976	13	19	of	of	ADP
cet-4976	13	20	its	its	PRON
cet-4976	13	21	applications	application	NOUN
cet-4976	13	22	in	in	ADP
cet-4976	13	23	close	close	ADJ
cet-4976	13	24	vicinity	vicinity	NOUN
cet-4976	13	25	of	of	ADP
cet-4976	13	26	human	human	NOUN
cet-4976	13	27	,	,	PUNCT
cet-4976	13	28	the	the	DET
cet-4976	13	29	need	need	NOUN
cet-4976	13	30	of	of	ADP
cet-4976	13	31	a	a	DET
cet-4976	13	32	safe	safe	ADJ
cet-4976	13	33	comprehensive	comprehensive	ADJ
cet-4976	13	34	control	control	NOUN
cet-4976	13	35	design	design	NOUN
cet-4976	13	36	that	that	PRON
cet-4976	13	37	can	can	AUX
cet-4976	13	38	overcome	overcome	VERB
cet-4976	13	39	all	all	DET
cet-4976	13	40	difficulties	difficulty	NOUN
cet-4976	13	41	in	in	ADP
cet-4976	13	42	human	human	ADJ
cet-4976	13	43	-	-	PUNCT
cet-4976	13	44	robot	robot	NOUN
cet-4976	13	45	interaction	interaction	NOUN
cet-4976	13	46	domain	domain	NOUN
cet-4976	13	47	and	and	CCONJ
cet-4976	13	48	guarantee	guarantee	VERB
cet-4976	13	49	the	the	DET
cet-4976	13	50	safety	safety	NOUN
cet-4976	13	51	of	of	ADP
cet-4976	13	52	human	human	ADJ
cet-4976	13	53	using	use	VERB
cet-4976	13	54	risk	risk	NOUN
cet-4976	13	55	reduction	reduction	NOUN
cet-4976	13	56	strategies	strategy	NOUN
cet-4976	13	57	,	,	PUNCT
cet-4976	13	58	is	be	AUX
cet-4976	13	59	required	require	VERB
cet-4976	13	60	for	for	ADP
cet-4976	13	61	cooperative	cooperative	ADJ
cet-4976	13	62	tasks	task	NOUN
cet-4976	13	63	between	between	ADP
cet-4976	13	64	human	human	NOUN
cet-4976	13	65	and	and	CCONJ
cet-4976	13	66	robot	robot	NOUN
cet-4976	13	67	in	in	ADP
cet-4976	13	68	common	common	ADJ
cet-4976	13	69	workspace	workspace	NOUN
cet-4976	13	70	.	.	PUNCT
cet-4976	14	1	in	in	ADP
cet-4976	14	2	pervez	pervez	PROPN
cet-4976	14	3	&	&	CCONJ
cet-4976	14	4	ryu	ryu	PROPN
cet-4976	14	5	(	(	PUNCT
cet-4976	14	6	2008	2008	NUM
cet-4976	14	7	)	)	PUNCT
cet-4976	14	8	’s	’s	PART
cet-4976	14	9	review	review	NOUN
cet-4976	14	10	works	work	VERB
cet-4976	14	11	,	,	PUNCT
cet-4976	14	12	the	the	DET
cet-4976	14	13	classification	classification	NOUN
cet-4976	14	14	of	of	ADP
cet-4976	14	15	robots	robot	NOUN
cet-4976	14	16	based	base	VERB
cet-4976	14	17	on	on	ADP
cet-4976	14	18	their	their	PRON
cet-4976	14	19	application	application	NOUN
cet-4976	14	20	modes	mode	NOUN
cet-4976	14	21	can	can	AUX
cet-4976	14	22	be	be	AUX
cet-4976	14	23	divided	divide	VERB
cet-4976	14	24	into	into	ADP
cet-4976	14	25	cooperation	cooperation	NOUN
cet-4976	14	26	,	,	PUNCT
cet-4976	14	27	assistance	assistance	NOUN
cet-4976	14	28	,	,	PUNCT
cet-4976	14	29	teleoperation	teleoperation	NOUN
cet-4976	14	30	and	and	CCONJ
cet-4976	14	31	entertainment	entertainment	NOUN
cet-4976	14	32	,	,	PUNCT
cet-4976	14	33	etc	etc	X
cet-4976	14	34	.	.	X
cet-4976	15	1	this	this	DET
cet-4976	15	2	overview	overview	NOUN
cet-4976	15	3	mainly	mainly	ADV
cet-4976	15	4	considers	consider	VERB
cet-4976	15	5	the	the	DET
cet-4976	15	6	cooperation	cooperation	NOUN
cet-4976	15	7	mode	mode	NOUN
cet-4976	15	8	.	.	PUNCT
cet-4976	16	1	especially	especially	ADV
cet-4976	16	2	,	,	PUNCT
cet-4976	16	3	according	accord	VERB
cet-4976	16	4	to	to	ADP
cet-4976	16	5	a	a	DET
cet-4976	16	6	report	report	NOUN
cet-4976	16	7	from	from	ADP
cet-4976	16	8	phriends	phriend	NOUN
cet-4976	16	9	6th	6th	PROPN
cet-4976	16	10	fp	fp	PROPN
cet-4976	16	11	eu	eu	PROPN
cet-4976	16	12	project	project	PROPN
cet-4976	16	13	(	(	PUNCT
cet-4976	16	14	santis	santis	PROPN
cet-4976	16	15	,	,	PUNCT
cet-4976	16	16	2008),humanrobot	2008),humanrobot	NUM
cet-4976	16	17	interaction	interaction	NOUN
cet-4976	16	18	will	will	AUX
cet-4976	16	19	certainly	certainly	ADV
cet-4976	16	20	happen	happen	VERB
cet-4976	16	21	at	at	ADP
cet-4976	16	22	both	both	PRON
cet-4976	16	23	of	of	ADP
cet-4976	16	24	the	the	DET
cet-4976	16	25	cognitive	cognitive	ADJ
cet-4976	16	26	human	human	ADJ
cet-4976	16	27	-	-	PUNCT
cet-4976	16	28	robot	robot	NOUN
cet-4976	16	29	interaction	interaction	NOUN
cet-4976	16	30	(	(	PUNCT
cet-4976	16	31	chri	chri	PROPN
cet-4976	16	32	)	)	PUNCT
cet-4976	16	33	and	and	CCONJ
cet-4976	16	34	physical	physical	ADJ
cet-4976	16	35	human	human	ADJ
cet-4976	16	36	-	-	PUNCT
cet-4976	16	37	robot	robot	NOUN
cet-4976	16	38	interaction	interaction	NOUN
cet-4976	16	39	(	(	PUNCT
cet-4976	16	40	phri	phri	NOUN
cet-4976	16	41	)	)	PUNCT
cet-4976	16	42	.	.	PUNCT
cet-4976	17	1	the	the	DET
cet-4976	17	2	chri	chri	PROPN
cet-4976	17	3	fundamentally	fundamentally	ADV
cet-4976	17	4	concerns	concern	VERB
cet-4976	17	5	mental	mental	ADJ
cet-4976	17	6	models	model	NOUN
cet-4976	17	7	and	and	CCONJ
cet-4976	17	8	communication	communication	NOUN
cet-4976	17	9	between	between	ADP
cet-4976	17	10	human	human	NOUN
cet-4976	17	11	and	and	CCONJ
cet-4976	17	12	robot	robot	NOUN
cet-4976	17	13	;	;	PUNCT
cet-4976	17	14	and	and	CCONJ
cet-4976	17	15	the	the	DET
cet-4976	17	16	phri	phri	NOUN
cet-4976	17	17	concerns	concern	VERB
cet-4976	17	18	the	the	DET
cet-4976	17	19	scenario	scenario	NOUN
cet-4976	17	20	that	that	SCONJ
cet-4976	17	21	humans	human	NOUN
cet-4976	17	22	and	and	CCONJ
cet-4976	17	23	robots	robot	NOUN
cet-4976	17	24	share	share	VERB
cet-4976	17	25	the	the	DET
cet-4976	17	26	same	same	ADJ
cet-4976	17	27	workspace	workspace	NOUN
cet-4976	17	28	,	,	PUNCT
cet-4976	17	29	come	come	VERB
cet-4976	17	30	in	in	ADP
cet-4976	17	31	touch	touch	NOUN
cet-4976	17	32	with	with	ADP
cet-4976	17	33	each	each	DET
cet-4976	17	34	other	other	ADJ
cet-4976	17	35	,	,	PUNCT
cet-4976	17	36	exchange	exchange	NOUN
cet-4976	17	37	force	force	NOUN
cet-4976	17	38	,	,	PUNCT
cet-4976	17	39	and	and	CCONJ
cet-4976	17	40	cooperate	cooperate	VERB
cet-4976	17	41	in	in	ADP
cet-4976	17	42	doing	do	VERB
cet-4976	17	43	actions	action	NOUN
cet-4976	17	44	on	on	ADP
cet-4976	17	45	the	the	DET
cet-4976	17	46	environment	environment	NOUN
cet-4976	17	47	.	.	PUNCT
cet-4976	18	1	this	this	DET
cet-4976	18	2	study	study	NOUN
cet-4976	18	3	is	be	AUX
cet-4976	18	4	only	only	ADV
cet-4976	18	5	involving	involve	VERB
cet-4976	18	6	physical	physical	ADJ
cet-4976	18	7	human	human	ADJ
cet-4976	18	8	-	-	PUNCT
cet-4976	18	9	robot	robot	NOUN
cet-4976	18	10	interaction	interaction	NOUN
cet-4976	18	11	(	(	PUNCT
cet-4976	18	12	phri	phri	NOUN
cet-4976	18	13	)	)	PUNCT
cet-4976	18	14	.	.	PUNCT
cet-4976	19	1	the	the	DET
cet-4976	19	2	main	main	ADJ
cet-4976	19	3	requirement	requirement	NOUN
cet-4976	19	4	of	of	ADP
cet-4976	19	5	phri	phri	NOUN
cet-4976	19	6	is	be	AUX
cet-4976	19	7	to	to	PART
cet-4976	19	8	guarantee	guarantee	VERB
cet-4976	19	9	the	the	DET
cet-4976	19	10	safety	safety	NOUN
cet-4976	19	11	of	of	ADP
cet-4976	19	12	non	non	ADJ
cet-4976	19	13	-	-	ADJ
cet-4976	19	14	professional	professional	ADJ
cet-4976	19	15	people	people	NOUN
cet-4976	19	16	who	who	PRON
cet-4976	19	17	are	be	AUX
cet-4976	19	18	using	use	VERB
cet-4976	19	19	or	or	CCONJ
cet-4976	19	20	are	be	AUX
cet-4976	19	21	present	present	ADJ
cet-4976	19	22	around	around	ADP
cet-4976	19	23	the	the	DET
cet-4976	19	24	robot	robot	NOUN
cet-4976	19	25	.	.	PUNCT
cet-4976	20	1	the	the	DET
cet-4976	20	2	safety	safety	NOUN
cet-4976	20	3	of	of	ADP
cet-4976	20	4	human	human	NOUN
cet-4976	20	5	through	through	ADP
cet-4976	20	6	the	the	DET
cet-4976	20	7	sharing	sharing	NOUN
cet-4976	20	8	of	of	ADP
cet-4976	20	9	a	a	DET
cet-4976	20	10	robot	robot	NOUN
cet-4976	20	11	’s	’s	PART
cet-4976	20	12	workspace	workspace	NOUN
cet-4976	20	13	has	have	AUX
cet-4976	20	14	been	be	AUX
cet-4976	20	15	the	the	DET
cet-4976	20	16	purpose	purpose	NOUN
cet-4976	20	17	of	of	ADP
cet-4976	20	18	this	this	DET
cet-4976	20	19	research	research	NOUN
cet-4976	20	20	.	.	PUNCT
cet-4976	21	1	the	the	DET
cet-4976	21	2	work	work	NOUN
cet-4976	21	3	was	be	AUX
cet-4976	21	4	carried	carry	VERB
cet-4976	21	5	out	out	ADP
cet-4976	21	6	on	on	ADP
cet-4976	21	7	different	different	ADJ
cet-4976	21	8	fronts	front	NOUN
cet-4976	21	9	which	which	PRON
cet-4976	21	10	can	can	AUX
cet-4976	21	11	be	be	AUX
cet-4976	21	12	described	describe	VERB
cet-4976	21	13	under	under	ADP
cet-4976	21	14	headings	heading	NOUN
cet-4976	21	15	of	of	ADP
cet-4976	21	16	risk	risk	NOUN
cet-4976	21	17	-	-	PUNCT
cet-4976	21	18	based	base	VERB
cet-4976	21	19	hri	hri	PROPN
cet-4976	21	20	safety	safety	NOUN
cet-4976	21	21	planning	planning	NOUN
cet-4976	21	22	,	,	PUNCT
cet-4976	21	23	hri	hri	PROPN
cet-4976	21	24	safety	safety	NOUN
cet-4976	21	25	strategies	strategy	NOUN
cet-4976	21	26	and	and	CCONJ
cet-4976	21	27	hri	hri	PROPN
cet-4976	21	28	safety	safety	NOUN
cet-4976	21	29	control	control	NOUN
cet-4976	21	30	system	system	NOUN
cet-4976	21	31	.	.	PUNCT
cet-4976	22	1	the	the	DET
cet-4976	22	2	concept	concept	NOUN
cet-4976	22	3	of	of	ADP
cet-4976	22	4	risk	risk	NOUN
cet-4976	22	5	assessment	assessment	NOUN
cet-4976	22	6	,	,	PUNCT
cet-4976	22	7	which	which	PRON
cet-4976	22	8	is	be	AUX
cet-4976	22	9	more	more	ADJ
cet-4976	22	10	doi	doi	ADJ
cet-4976	22	11	:	:	PUNCT
cet-4976	22	12	10.3303	10.3303	NUM
cet-4976	22	13	/	/	SYM
cet-4976	22	14	cet1543209	cet1543209	NOUN
cet-4976	22	15	please	please	INTJ
cet-4976	22	16	cite	cite	VERB
cet-4976	22	17	this	this	DET
cet-4976	22	18	article	article	NOUN
cet-4976	22	19	as	as	SCONJ
cet-4976	22	20	:	:	PUNCT
cet-4976	22	21	rezazadegan	rezazadegan	PROPN
cet-4976	22	22	f.	f.	PROPN
cet-4976	22	23	,	,	PUNCT
cet-4976	22	24	geng	geng	PROPN
cet-4976	22	25	j.	j.	PROPN
cet-4976	22	26	,	,	PUNCT
cet-4976	22	27	ghirardi	ghirardi	PROPN
cet-4976	22	28	m.	m.	NOUN
cet-4976	22	29	,	,	PUNCT
cet-4976	22	30	menga	menga	PROPN
cet-4976	22	31	g.	g.	PROPN
cet-4976	22	32	,	,	PUNCT
cet-4976	22	33	mure	mure	PROPN
cet-4976	22	34	s.	s.	PROPN
cet-4976	22	35	,	,	PUNCT
cet-4976	22	36	camuncoli	camuncoli	PROPN
cet-4976	22	37	g.	g.	PROPN
cet-4976	22	38	,	,	PUNCT
cet-4976	22	39	demichela	demichela	PROPN
cet-4976	22	40	m.	m.	NOUN
cet-4976	22	41	,	,	PUNCT
cet-4976	22	42	2015	2015	NUM
cet-4976	22	43	,	,	PUNCT
cet-4976	22	44	risked	risk	VERB
cet-4976	22	45	-	-	PUNCT
cet-4976	22	46	based	base	VERB
cet-4976	22	47	design	design	NOUN
cet-4976	22	48	for	for	ADP
cet-4976	22	49	the	the	DET
cet-4976	22	50	physical	physical	ADJ
cet-4976	22	51	human	human	ADJ
cet-4976	22	52	-	-	PUNCT
cet-4976	22	53	robot	robot	NOUN
cet-4976	22	54	interaction	interaction	NOUN
cet-4976	22	55	(	(	PUNCT
cet-4976	22	56	phri	phri	NOUN
cet-4976	22	57	):	):	PUNCT
cet-4976	22	58	an	an	DET
cet-4976	22	59	overview	overview	NOUN
cet-4976	22	60	,	,	PUNCT
cet-4976	22	61	chemical	chemical	ADJ
cet-4976	22	62	engineering	engineering	NOUN
cet-4976	22	63	transactions	transaction	NOUN
cet-4976	22	64	,	,	PUNCT
cet-4976	22	65	43	43	NUM
cet-4976	22	66	,	,	PUNCT
cet-4976	22	67	1249	1249	NUM
cet-4976	22	68	-	-	SYM
cet-4976	22	69	1254	1254	NUM
cet-4976	22	70	doi	doi	NOUN
cet-4976	22	71	:	:	PUNCT
cet-4976	22	72	10.3303	10.3303	NUM
cet-4976	22	73	/	/	SYM
cet-4976	22	74	cet1543209	cet1543209	NOUN
cet-4976	22	75	1249	1249	NUM
cet-4976	22	76	common	common	NOUN
cet-4976	22	77	used	use	VERB
cet-4976	22	78	in	in	ADP
cet-4976	22	79	industrial	industrial	ADJ
cet-4976	22	80	environment	environment	NOUN
cet-4976	22	81	,	,	PUNCT
cet-4976	22	82	is	be	AUX
cet-4976	22	83	included	include	VERB
cet-4976	22	84	in	in	ADP
cet-4976	22	85	relevant	relevant	ADJ
cet-4976	22	86	robot	robot	NOUN
cet-4976	22	87	standards	standard	NOUN
cet-4976	22	88	to	to	PART
cet-4976	22	89	guarantee	guarantee	VERB
cet-4976	22	90	safety	safety	NOUN
cet-4976	22	91	by	by	ADP
cet-4976	22	92	defining	define	VERB
cet-4976	22	93	an	an	DET
cet-4976	22	94	area	area	NOUN
cet-4976	22	95	where	where	SCONJ
cet-4976	22	96	the	the	DET
cet-4976	22	97	robot	robot	NOUN
cet-4976	22	98	stops	stop	VERB
cet-4976	22	99	when	when	SCONJ
cet-4976	22	100	detecting	detect	VERB
cet-4976	22	101	human	human	NOUN
cet-4976	22	102	is	be	AUX
cet-4976	22	103	approaching	approach	VERB
cet-4976	22	104	(	(	PUNCT
cet-4976	22	105	macfarlane	macfarlane	PROPN
cet-4976	22	106	&	&	CCONJ
cet-4976	22	107	croft	croft	PROPN
cet-4976	22	108	,	,	PUNCT
cet-4976	22	109	2003	2003	NUM
cet-4976	22	110	)	)	PUNCT
cet-4976	22	111	.	.	PUNCT
cet-4976	23	1	in	in	ADP
cet-4976	23	2	this	this	DET
cet-4976	23	3	study	study	NOUN
cet-4976	23	4	,	,	PUNCT
cet-4976	23	5	risk	risk	NOUN
cet-4976	23	6	-	-	PUNCT
cet-4976	23	7	based	base	VERB
cet-4976	23	8	phri	phri	NOUN
cet-4976	23	9	safety	safety	NOUN
cet-4976	23	10	system	system	NOUN
cet-4976	23	11	design	design	NOUN
cet-4976	23	12	concept	concept	NOUN
cet-4976	23	13	is	be	AUX
cet-4976	23	14	proposed	propose	VERB
cet-4976	23	15	,	,	PUNCT
cet-4976	23	16	and	and	CCONJ
cet-4976	23	17	relevant	relevant	ADJ
cet-4976	23	18	safety	safety	NOUN
cet-4976	23	19	assessment	assessment	NOUN
cet-4976	23	20	methodologies	methodology	NOUN
cet-4976	23	21	are	be	AUX
cet-4976	23	22	reviewed	review	VERB
cet-4976	23	23	.	.	PUNCT
cet-4976	24	1	it	it	PRON
cet-4976	24	2	helps	help	VERB
cet-4976	24	3	phri	phri	VERB
cet-4976	24	4	safety	safety	NOUN
cet-4976	24	5	system	system	NOUN
cet-4976	24	6	designer	designer	NOUN
cet-4976	24	7	to	to	PART
cet-4976	24	8	make	make	VERB
cet-4976	24	9	safety	safety	NOUN
cet-4976	24	10	strategies	strategy	NOUN
cet-4976	24	11	for	for	SCONJ
cet-4976	24	12	the	the	DET
cet-4976	24	13	further	further	ADJ
cet-4976	24	14	control	control	NOUN
cet-4976	24	15	system	system	NOUN
cet-4976	24	16	design	design	NOUN
cet-4976	24	17	through	through	ADP
cet-4976	24	18	four	four	NUM
cet-4976	24	19	scenarios	scenario	NOUN
cet-4976	24	20	:	:	PUNCT
cet-4976	24	21	proximity	proximity	NOUN
cet-4976	24	22	detection	detection	NOUN
cet-4976	24	23	,	,	PUNCT
cet-4976	24	24	collision	collision	NOUN
cet-4976	24	25	avoidance	avoidance	NOUN
cet-4976	24	26	,	,	PUNCT
cet-4976	24	27	docking	docking	NOUN
cet-4976	24	28	and	and	CCONJ
cet-4976	24	29	compliance	compliance	NOUN
cet-4976	24	30	control	control	NOUN
cet-4976	24	31	.	.	PUNCT
cet-4976	25	1	2	2	X
cet-4976	25	2	.	.	X
cet-4976	25	3	framework	framework	NOUN
cet-4976	25	4	of	of	ADP
cet-4976	25	5	the	the	DET
cet-4976	25	6	study	study	NOUN
cet-4976	25	7	risk	risk	NOUN
cet-4976	25	8	-	-	PUNCT
cet-4976	25	9	based	base	VERB
cet-4976	25	10	phri	phri	NOUN
cet-4976	25	11	safety	safety	NOUN
cet-4976	25	12	system	system	NOUN
cet-4976	25	13	design	design	NOUN
cet-4976	25	14	is	be	AUX
cet-4976	25	15	a	a	DET
cet-4976	25	16	design	design	NOUN
cet-4976	25	17	method	method	NOUN
cet-4976	25	18	that	that	PRON
cet-4976	25	19	is	be	AUX
cet-4976	25	20	a	a	DET
cet-4976	25	21	risk	risk	NOUN
cet-4976	25	22	based	base	VERB
cet-4976	25	23	,	,	PUNCT
cet-4976	25	24	through	through	ADP
cet-4976	25	25	hri	hri	PROPN
cet-4976	25	26	safety	safety	NOUN
cet-4976	25	27	risk	risk	NOUN
cet-4976	25	28	assessment	assessment	NOUN
cet-4976	25	29	on	on	ADP
cet-4976	25	30	both	both	DET
cet-4976	25	31	of	of	ADP
cet-4976	25	32	robots	robot	NOUN
cet-4976	25	33	and	and	CCONJ
cet-4976	25	34	humans	human	NOUN
cet-4976	25	35	’	’	PART
cet-4976	25	36	reliability	reliability	NOUN
cet-4976	25	37	,	,	PUNCT
cet-4976	25	38	to	to	PART
cet-4976	25	39	provide	provide	VERB
cet-4976	25	40	the	the	DET
cet-4976	25	41	potential	potential	ADJ
cet-4976	25	42	hazard	hazard	NOUN
cet-4976	25	43	identification	identification	NOUN
cet-4976	25	44	,	,	PUNCT
cet-4976	25	45	risk	risk	VERB
cet-4976	25	46	analysis	analysis	NOUN
cet-4976	25	47	and	and	CCONJ
cet-4976	25	48	risk	risk	NOUN
cet-4976	25	49	evaluation	evaluation	NOUN
cet-4976	25	50	results	result	NOUN
cet-4976	25	51	for	for	ADP
cet-4976	25	52	the	the	DET
cet-4976	25	53	hri	hri	PROPN
cet-4976	25	54	safety	safety	NOUN
cet-4976	25	55	strategies	strategy	NOUN
cet-4976	25	56	design	design	NOUN
cet-4976	25	57	.	.	PUNCT
cet-4976	26	1	hri	hri	PROPN
cet-4976	26	2	safety	safety	NOUN
cet-4976	26	3	strategies	strategy	NOUN
cet-4976	26	4	are	be	AUX
cet-4976	26	5	a	a	DET
cet-4976	26	6	series	series	NOUN
cet-4976	26	7	of	of	ADP
cet-4976	26	8	decisions	decision	NOUN
cet-4976	26	9	with	with	ADP
cet-4976	26	10	considering	consider	VERB
cet-4976	26	11	which	which	DET
cet-4976	26	12	type	type	NOUN
cet-4976	26	13	of	of	ADP
cet-4976	26	14	safety	safety	NOUN
cet-4976	26	15	components	component	NOUN
cet-4976	26	16	should	should	AUX
cet-4976	26	17	be	be	AUX
cet-4976	26	18	applied	apply	VERB
cet-4976	26	19	in	in	ADP
cet-4976	26	20	different	different	ADJ
cet-4976	26	21	identified	identify	VERB
cet-4976	26	22	risky	risky	ADJ
cet-4976	26	23	scenarios	scenario	NOUN
cet-4976	26	24	,	,	PUNCT
cet-4976	26	25	e.g.	e.g.	ADV
cet-4976	26	26	monitoring	monitor	VERB
cet-4976	26	27	techniques	technique	NOUN
cet-4976	26	28	,	,	PUNCT
cet-4976	26	29	prevention	prevention	NOUN
cet-4976	26	30	or	or	CCONJ
cet-4976	26	31	protection	protection	NOUN
cet-4976	26	32	techniques	technique	NOUN
cet-4976	26	33	.	.	PUNCT
cet-4976	27	1	in	in	ADP
cet-4976	27	2	a	a	DET
cet-4976	27	3	control	control	NOUN
cet-4976	27	4	system	system	NOUN
cet-4976	27	5	design	design	VERB
cet-4976	27	6	the	the	DET
cet-4976	27	7	proximity	proximity	NOUN
cet-4976	27	8	detection	detection	NOUN
cet-4976	27	9	is	be	AUX
cet-4976	27	10	one	one	NUM
cet-4976	27	11	of	of	ADP
cet-4976	27	12	the	the	DET
cet-4976	27	13	first	first	ADJ
cet-4976	27	14	section	section	NOUN
cet-4976	27	15	that	that	PRON
cet-4976	27	16	should	should	AUX
cet-4976	27	17	be	be	AUX
cet-4976	27	18	taken	take	VERB
cet-4976	27	19	into	into	ADP
cet-4976	27	20	consideration	consideration	NOUN
cet-4976	27	21	,	,	PUNCT
cet-4976	27	22	because	because	SCONJ
cet-4976	27	23	if	if	SCONJ
cet-4976	27	24	a	a	DET
cet-4976	27	25	human	human	ADJ
cet-4976	27	26	presence	presence	NOUN
cet-4976	27	27	in	in	ADP
cet-4976	27	28	a	a	DET
cet-4976	27	29	workspace	workspace	NOUN
cet-4976	27	30	can	can	AUX
cet-4976	27	31	be	be	AUX
cet-4976	27	32	detected	detect	VERB
cet-4976	27	33	by	by	ADP
cet-4976	27	34	the	the	DET
cet-4976	27	35	robot	robot	NOUN
cet-4976	27	36	,	,	PUNCT
cet-4976	27	37	suitable	suitable	ADJ
cet-4976	27	38	control	control	NOUN
cet-4976	27	39	strategies	strategy	NOUN
cet-4976	27	40	could	could	AUX
cet-4976	27	41	be	be	AUX
cet-4976	27	42	implemented	implement	VERB
cet-4976	27	43	.	.	PUNCT
cet-4976	28	1	as	as	ADV
cet-4976	28	2	far	far	ADV
cet-4976	28	3	as	as	ADP
cet-4976	28	4	preventing	prevent	VERB
cet-4976	28	5	a	a	DET
cet-4976	28	6	contact	contact	NOUN
cet-4976	28	7	occurrence	occurrence	NOUN
cet-4976	28	8	is	be	AUX
cet-4976	28	9	the	the	DET
cet-4976	28	10	objective	objective	NOUN
cet-4976	28	11	,	,	PUNCT
cet-4976	28	12	an	an	DET
cet-4976	28	13	effective	effective	ADJ
cet-4976	28	14	collision	collision	NOUN
cet-4976	28	15	avoidance	avoidance	NOUN
cet-4976	28	16	method	method	NOUN
cet-4976	28	17	should	should	AUX
cet-4976	28	18	be	be	AUX
cet-4976	28	19	performed	perform	VERB
cet-4976	28	20	.	.	PUNCT
cet-4976	29	1	if	if	SCONJ
cet-4976	29	2	a	a	DET
cet-4976	29	3	cooperative	cooperative	ADJ
cet-4976	29	4	task	task	NOUN
cet-4976	29	5	between	between	ADP
cet-4976	29	6	human	human	NOUN
cet-4976	29	7	and	and	CCONJ
cet-4976	29	8	robot	robot	NOUN
cet-4976	29	9	is	be	AUX
cet-4976	29	10	aimed	aim	VERB
cet-4976	29	11	,	,	PUNCT
cet-4976	29	12	designers	designer	NOUN
cet-4976	29	13	need	need	VERB
cet-4976	29	14	to	to	PART
cet-4976	29	15	find	find	VERB
cet-4976	29	16	an	an	DET
cet-4976	29	17	optimal	optimal	ADJ
cet-4976	29	18	solution	solution	NOUN
cet-4976	29	19	for	for	ADP
cet-4976	29	20	docking	docking	NOUN
cet-4976	29	21	and	and	CCONJ
cet-4976	29	22	compliance	compliance	NOUN
cet-4976	29	23	control	control	NOUN
cet-4976	29	24	.	.	PUNCT
cet-4976	30	1	strategy	strategy	NOUN
cet-4976	30	2	of	of	ADP
cet-4976	30	3	docking	docking	NOUN
cet-4976	30	4	tries	try	VERB
cet-4976	30	5	to	to	PART
cet-4976	30	6	reach	reach	VERB
cet-4976	30	7	contact	contact	NOUN
cet-4976	30	8	position	position	NOUN
cet-4976	30	9	with	with	ADP
cet-4976	30	10	zero	zero	NUM
cet-4976	30	11	velocity	velocity	NOUN
cet-4976	30	12	,	,	PUNCT
cet-4976	30	13	while	while	SCONJ
cet-4976	30	14	the	the	DET
cet-4976	30	15	compliance	compliance	NOUN
cet-4976	30	16	control	control	NOUN
cet-4976	30	17	has	have	VERB
cet-4976	30	18	to	to	PART
cet-4976	30	19	be	be	AUX
cet-4976	30	20	implemented	implement	VERB
cet-4976	30	21	in	in	ADP
cet-4976	30	22	order	order	NOUN
cet-4976	30	23	to	to	PART
cet-4976	30	24	keep	keep	VERB
cet-4976	30	25	the	the	DET
cet-4976	30	26	force	force	NOUN
cet-4976	30	27	exchanged	exchange	VERB
cet-4976	30	28	between	between	ADP
cet-4976	30	29	human	human	NOUN
cet-4976	30	30	and	and	CCONJ
cet-4976	30	31	robot	robot	NOUN
cet-4976	30	32	,	,	PUNCT
cet-4976	30	33	under	under	ADP
cet-4976	30	34	desired	desire	VERB
cet-4976	30	35	bounds	bound	NOUN
cet-4976	30	36	.	.	PUNCT
cet-4976	31	1	as	as	ADP
cet-4976	31	2	a	a	DET
cet-4976	31	3	result	result	NOUN
cet-4976	31	4	,	,	PUNCT
cet-4976	31	5	the	the	DET
cet-4976	31	6	framework	framework	NOUN
cet-4976	31	7	of	of	ADP
cet-4976	31	8	a	a	DET
cet-4976	31	9	phri	phri	NOUN
cet-4976	31	10	safety	safety	NOUN
cet-4976	31	11	system	system	NOUN
cet-4976	31	12	design	design	NOUN
cet-4976	31	13	can	can	AUX
cet-4976	31	14	be	be	AUX
cet-4976	31	15	assumed	assume	VERB
cet-4976	31	16	as	as	ADP
cet-4976	31	17	in	in	ADP
cet-4976	31	18	figure	figure	NOUN
cet-4976	31	19	.	.	PUNCT
cet-4976	32	1	1	1	X
cet-4976	32	2	.	.	X
cet-4976	32	3	figure.1	figure.1	PROPN
cet-4976	32	4	.	.	PUNCT
cet-4976	32	5	framework	framework	NOUN
cet-4976	32	6	of	of	ADP
cet-4976	32	7	phri	phri	NOUN
cet-4976	32	8	safe	safe	ADJ
cet-4976	32	9	system	system	NOUN
cet-4976	32	10	design	design	NOUN
cet-4976	32	11	3	3	NUM
cet-4976	32	12	.	.	NOUN
cet-4976	32	13	overview	overview	NOUN
cet-4976	32	14	of	of	ADP
cet-4976	32	15	risk	risk	NOUN
cet-4976	32	16	-	-	PUNCT
cet-4976	32	17	based	base	VERB
cet-4976	32	18	hri	hri	PROPN
cet-4976	32	19	safety	safety	NOUN
cet-4976	32	20	assessment	assessment	NOUN
cet-4976	32	21	in	in	ADP
cet-4976	32	22	the	the	DET
cet-4976	32	23	early	early	ADJ
cet-4976	32	24	robot	robot	NOUN
cet-4976	32	25	design	design	NOUN
cet-4976	32	26	phase	phase	NOUN
cet-4976	32	27	,	,	PUNCT
cet-4976	32	28	planning	plan	VERB
cet-4976	32	29	for	for	ADP
cet-4976	32	30	safety	safety	NOUN
cet-4976	32	31	coupled	couple	VERB
cet-4976	32	32	with	with	ADP
cet-4976	32	33	the	the	DET
cet-4976	32	34	potential	potential	ADJ
cet-4976	32	35	hri	hri	PROPN
cet-4976	32	36	hazard	hazard	NOUN
cet-4976	32	37	identification	identification	NOUN
cet-4976	32	38	has	have	AUX
cet-4976	32	39	received	receive	VERB
cet-4976	32	40	less	less	ADJ
cet-4976	32	41	attention	attention	NOUN
cet-4976	32	42	than	than	ADP
cet-4976	32	43	control	control	NOUN
cet-4976	32	44	techniques	technique	NOUN
cet-4976	32	45	.	.	PUNCT
cet-4976	33	1	however	however	ADV
cet-4976	33	2	,	,	PUNCT
cet-4976	33	3	safe	safe	ADJ
cet-4976	33	4	planning	planning	NOUN
cet-4976	33	5	is	be	AUX
cet-4976	33	6	important	important	ADJ
cet-4976	33	7	as	as	ADP
cet-4976	33	8	a	a	DET
cet-4976	33	9	means	means	NOUN
cet-4976	33	10	of	of	ADP
cet-4976	33	11	reducing	reduce	VERB
cet-4976	33	12	potential	potential	ADJ
cet-4976	33	13	hazards	hazard	NOUN
cet-4976	33	14	by	by	ADP
cet-4976	33	15	covering	cover	VERB
cet-4976	33	16	safety	safety	NOUN
cet-4976	33	17	criteria	criterion	NOUN
cet-4976	33	18	and	and	CCONJ
cet-4976	33	19	can	can	AUX
cet-4976	33	20	improve	improve	VERB
cet-4976	33	21	the	the	DET
cet-4976	33	22	control	control	NOUN
cet-4976	33	23	outcome	outcome	NOUN
cet-4976	33	24	.	.	PUNCT
cet-4976	34	1	functional	functional	ADJ
cet-4976	34	2	risk	risk	NOUN
cet-4976	34	3	assessment	assessment	NOUN
cet-4976	34	4	(	(	PUNCT
cet-4976	34	5	fra	fra	NOUN
cet-4976	34	6	):	):	PUNCT
cet-4976	34	7	in	in	ADP
cet-4976	34	8	order	order	NOUN
cet-4976	34	9	to	to	PART
cet-4976	34	10	deal	deal	VERB
cet-4976	34	11	with	with	ADP
cet-4976	34	12	the	the	DET
cet-4976	34	13	further	further	ADJ
cet-4976	34	14	robot	robot	NOUN
cet-4976	34	15	functional	functional	ADJ
cet-4976	34	16	risk	risk	NOUN
cet-4976	34	17	assessment	assessment	NOUN
cet-4976	34	18	,	,	PUNCT
cet-4976	34	19	some	some	DET
cet-4976	34	20	classical	classical	ADJ
cet-4976	34	21	risk	risk	NOUN
cet-4976	34	22	assessment	assessment	NOUN
cet-4976	34	23	methodologies	methodology	NOUN
cet-4976	34	24	are	be	AUX
cet-4976	34	25	presented	present	VERB
cet-4976	34	26	.	.	PUNCT
cet-4976	35	1	those	those	DET
cet-4976	35	2	methodologies	methodology	NOUN
cet-4976	35	3	are	be	AUX
cet-4976	35	4	categorized	categorize	VERB
cet-4976	35	5	into	into	ADP
cet-4976	35	6	three	three	NUM
cet-4976	35	7	groups	group	NOUN
cet-4976	35	8	(	(	PUNCT
cet-4976	35	9	marhavilas	marhavilas	PROPN
cet-4976	35	10	et	et	PROPN
cet-4976	35	11	.	.	PUNCT
cet-4976	36	1	al	al	PROPN
cet-4976	36	2	,	,	PUNCT
cet-4976	36	3	2011	2011	NUM
cet-4976	36	4	;	;	PUNCT
cet-4976	36	5	&	&	CCONJ
cet-4976	36	6	iso	iso	PROPN
cet-4976	36	7	/	/	SYM
cet-4976	36	8	iec	iec	PROPN
cet-4976	36	9	31010	31010	NUM
cet-4976	36	10	,	,	PUNCT
cet-4976	36	11	2009	2009	NUM
cet-4976	36	12	):	):	PUNCT
cet-4976	36	13	1	1	X
cet-4976	36	14	)	)	PUNCT
cet-4976	36	15	qualitative	qualitative	ADJ
cet-4976	36	16	risk	risk	NOUN
cet-4976	36	17	assessment	assessment	NOUN
cet-4976	36	18	techniques	technique	NOUN
cet-4976	36	19	,	,	PUNCT
cet-4976	36	20	like	like	ADP
cet-4976	36	21	checklists	checklist	NOUN
cet-4976	36	22	,	,	PUNCT
cet-4976	36	23	preliminary	preliminary	ADJ
cet-4976	36	24	hazard	hazard	NOUN
cet-4976	36	25	analysis	analysis	NOUN
cet-4976	36	26	(	(	PUNCT
cet-4976	36	27	pha	pha	NOUN
cet-4976	36	28	)	)	PUNCT
cet-4976	36	29	,	,	PUNCT
cet-4976	36	30	what	what	PRON
cet-4976	36	31	-	-	PUNCT
cet-4976	36	32	if	if	SCONJ
cet-4976	36	33	analysis	analysis	NOUN
cet-4976	36	34	,	,	PUNCT
cet-4976	36	35	sequentially	sequentially	ADV
cet-4976	36	36	timed	time	VERB
cet-4976	36	37	event	event	NOUN
cet-4976	36	38	plotting	plot	VERB
cet-4976	36	39	(	(	PUNCT
cet-4976	36	40	step	step	NOUN
cet-4976	36	41	)	)	PUNCT
cet-4976	36	42	technique	technique	NOUN
cet-4976	36	43	,	,	PUNCT
cet-4976	36	44	hazard	hazard	NOUN
cet-4976	36	45	and	and	CCONJ
cet-4976	36	46	operability	operability	NOUN
cet-4976	36	47	study	study	NOUN
cet-4976	36	48	(	(	PUNCT
cet-4976	36	49	hazop	hazop	PROPN
cet-4976	36	50	)	)	PUNCT
cet-4976	36	51	,	,	PUNCT
cet-4976	36	52	failure	failure	NOUN
cet-4976	36	53	mode	mode	NOUN
cet-4976	36	54	and	and	CCONJ
cet-4976	36	55	effects	effect	NOUN
cet-4976	36	56	analysis	analysis	NOUN
cet-4976	36	57	(	(	PUNCT
cet-4976	36	58	fmea	fmea	NOUN
cet-4976	36	59	)	)	PUNCT
cet-4976	36	60	.	.	PUNCT
cet-4976	37	1	2	2	X
cet-4976	37	2	)	)	PUNCT
cet-4976	37	3	the	the	DET
cet-4976	37	4	classical	classical	ADJ
cet-4976	37	5	quantitative	quantitative	ADJ
cet-4976	37	6	risk	risk	NOUN
cet-4976	37	7	assessment	assessment	NOUN
cet-4976	37	8	techniques	technique	NOUN
cet-4976	37	9	are	be	AUX
cet-4976	37	10	:	:	PUNCT
cet-4976	37	11	proportional	proportional	ADJ
cet-4976	37	12	risk	risk	NOUN
cet-4976	37	13	assessment	assessment	NOUN
cet-4976	37	14	technique	technique	NOUN
cet-4976	37	15	(	(	PUNCT
cet-4976	37	16	prat	prat	NOUN
cet-4976	37	17	)	)	PUNCT
cet-4976	37	18	,	,	PUNCT
cet-4976	37	19	f	f	X
cet-4976	37	20	-	-	PUNCT
cet-4976	37	21	n	n	PRON
cet-4976	37	22	curve	curve	NOUN
cet-4976	37	23	,	,	PUNCT
cet-4976	37	24	domino	domino	NOUN
cet-4976	37	25	scenarios	scenario	NOUN
cet-4976	37	26	(	(	PUNCT
cet-4976	37	27	qads	qad	NOUN
cet-4976	37	28	)	)	PUNCT
cet-4976	37	29	,	,	PUNCT
cet-4976	37	30	weighted	weight	VERB
cet-4976	37	31	risk	risk	NOUN
cet-4976	37	32	analysis	analysis	NOUN
cet-4976	37	33	(	(	PUNCT
cet-4976	37	34	wra	wra	PROPN
cet-4976	37	35	)	)	PUNCT
cet-4976	37	36	.	.	PUNCT
cet-4976	38	1	3	3	X
cet-4976	38	2	)	)	PUNCT
cet-4976	38	3	moreover	moreover	ADV
cet-4976	38	4	,	,	PUNCT
cet-4976	38	5	hybrid	hybrid	ADJ
cet-4976	38	6	techniques	technique	NOUN
cet-4976	38	7	combine	combine	VERB
cet-4976	38	8	advantages	advantage	NOUN
cet-4976	38	9	both	both	PRON
cet-4976	38	10	of	of	ADP
cet-4976	38	11	qualitative	qualitative	ADJ
cet-4976	38	12	techniques	technique	NOUN
cet-4976	38	13	and	and	CCONJ
cet-4976	38	14	quantitative	quantitative	ADJ
cet-4976	38	15	techniques	technique	NOUN
cet-4976	38	16	and	and	CCONJ
cet-4976	38	17	are	be	AUX
cet-4976	38	18	more	more	ADV
cet-4976	38	19	reliable	reliable	ADJ
cet-4976	38	20	that	that	PRON
cet-4976	38	21	can	can	AUX
cet-4976	38	22	be	be	AUX
cet-4976	38	23	used	use	VERB
cet-4976	38	24	in	in	ADP
cet-4976	38	25	the	the	DET
cet-4976	38	26	real	real	ADJ
cet-4976	38	27	practical	practical	ADJ
cet-4976	38	28	environment	environment	NOUN
cet-4976	38	29	,	,	PUNCT
cet-4976	38	30	such	such	ADJ
cet-4976	38	31	as	as	ADP
cet-4976	38	32	event	event	NOUN
cet-4976	38	33	tree	tree	NOUN
cet-4976	38	34	analysis	analysis	NOUN
cet-4976	38	35	(	(	PUNCT
cet-4976	38	36	eta	eta	NOUN
cet-4976	38	37	)	)	PUNCT
cet-4976	38	38	and	and	CCONJ
cet-4976	38	39	fault	fault	VERB
cet-4976	38	40	tree	tree	NOUN
cet-4976	38	41	analysis	analysis	NOUN
cet-4976	38	42	(	(	PUNCT
cet-4976	38	43	fta	fta	NOUN
cet-4976	38	44	)	)	PUNCT
cet-4976	38	45	.	.	PUNCT
cet-4976	39	1	human	human	ADJ
cet-4976	39	2	reliability	reliability	NOUN
cet-4976	39	3	analysis	analysis	NOUN
cet-4976	39	4	(	(	PUNCT
cet-4976	39	5	hra	hra	NOUN
cet-4976	39	6	):	):	PUNCT
cet-4976	39	7	many	many	ADJ
cet-4976	39	8	risk	risk	NOUN
cet-4976	39	9	assessment	assessment	NOUN
cet-4976	39	10	techniques	technique	NOUN
cet-4976	39	11	are	be	AUX
cet-4976	39	12	mainly	mainly	ADV
cet-4976	39	13	concerning	concern	VERB
cet-4976	39	14	machine	machine	NOUN
cet-4976	39	15	functional	functional	ADJ
cet-4976	39	16	failure	failure	NOUN
cet-4976	39	17	itself	itself	PRON
cet-4976	39	18	,	,	PUNCT
cet-4976	39	19	however	however	ADV
cet-4976	39	20	,	,	PUNCT
cet-4976	39	21	nowadays	nowadays	ADV
cet-4976	39	22	,	,	PUNCT
cet-4976	39	23	more	more	ADJ
cet-4976	39	24	and	and	CCONJ
cet-4976	39	25	more	more	ADJ
cet-4976	39	26	safety	safety	NOUN
cet-4976	39	27	managers	manager	NOUN
cet-4976	39	28	and	and	CCONJ
cet-4976	39	29	researchers	researcher	NOUN
cet-4976	39	30	realize	realize	VERB
cet-4976	39	31	that	that	SCONJ
cet-4976	39	32	the	the	DET
cet-4976	39	33	system	system	NOUN
cet-4976	39	34	of	of	ADP
cet-4976	39	35	mechanical	mechanical	ADJ
cet-4976	39	36	industry	industry	NOUN
cet-4976	39	37	is	be	AUX
cet-4976	39	38	a	a	DET
cet-4976	39	39	complex	complex	ADJ
cet-4976	39	40	human	human	ADJ
cet-4976	39	41	-	-	PUNCT
cet-4976	39	42	machine	machine	NOUN
cet-4976	39	43	system	system	NOUN
cet-4976	39	44	,	,	PUNCT
cet-4976	39	45	which	which	PRON
cet-4976	39	46	is	be	AUX
cet-4976	39	47	composed	compose	VERB
cet-4976	39	48	of	of	ADP
cet-4976	39	49	humans	human	NOUN
cet-4976	39	50	,	,	PUNCT
cet-4976	39	51	machines	machine	NOUN
cet-4976	39	52	,	,	PUNCT
cet-4976	39	53	and	and	CCONJ
cet-4976	39	54	the	the	DET
cet-4976	39	55	interaction	interaction	NOUN
cet-4976	39	56	between	between	ADP
cet-4976	39	57	them	they	PRON
cet-4976	39	58	.	.	PUNCT
cet-4976	40	1	evans	evans	PROPN
cet-4976	40	2	(	(	PUNCT
cet-4976	40	3	1976	1976	NUM
cet-4976	40	4	)	)	PUNCT
cet-4976	40	5	explained	explain	VERB
cet-4976	40	6	that	that	SCONJ
cet-4976	40	7	human	human	ADJ
cet-4976	40	8	reliability	reliability	NOUN
cet-4976	40	9	is	be	AUX
cet-4976	40	10	a	a	DET
cet-4976	40	11	probability	probability	NOUN
cet-4976	40	12	that	that	SCONJ
cet-4976	40	13	a	a	DET
cet-4976	40	14	person	person	NOUN
cet-4976	40	15	correctly	correctly	ADV
cet-4976	40	16	performs	perform	VERB
cet-4976	40	17	some	some	DET
cet-4976	40	18	system	system	NOUN
cet-4976	40	19	-	-	PUNCT
cet-4976	40	20	required	require	VERB
cet-4976	40	21	activities	activity	NOUN
cet-4976	40	22	in	in	ADP
cet-4976	40	23	a	a	DET
cet-4976	40	24	required	require	VERB
cet-4976	40	25	time	time	NOUN
cet-4976	40	26	period	period	NOUN
cet-4976	40	27	,	,	PUNCT
cet-4976	40	28	and	and	CCONJ
cet-4976	40	29	performs	perform	VERB
cet-4976	40	30	no	no	DET
cet-4976	40	31	extraneous	extraneous	ADJ
cet-4976	40	32	activity	activity	NOUN
cet-4976	40	33	that	that	PRON
cet-4976	40	34	can	can	AUX
cet-4976	40	35	degrade	degrade	VERB
cet-4976	40	36	the	the	DET
cet-4976	40	37	system	system	NOUN
cet-4976	40	38	.	.	PUNCT
cet-4976	41	1	human	human	ADJ
cet-4976	41	2	reliability	reliability	NOUN
cet-4976	41	3	analysis	analysis	NOUN
cet-4976	41	4	(	(	PUNCT
cet-4976	41	5	hra	hra	PROPN
cet-4976	41	6	)	)	PUNCT
cet-4976	41	7	is	be	AUX
cet-4976	41	8	a	a	DET
cet-4976	41	9	method	method	NOUN
cet-4976	41	10	for	for	ADP
cet-4976	41	11	the	the	DET
cet-4976	41	12	estimation	estimation	NOUN
cet-4976	41	13	of	of	ADP
cet-4976	41	14	human	human	ADJ
cet-4976	41	15	reliability	reliability	NOUN
cet-4976	41	16	.	.	PUNCT
cet-4976	42	1	some	some	DET
cet-4976	42	2	classical	classical	ADJ
cet-4976	42	3	hra	hra	PROPN
cet-4976	42	4	techniques	technique	NOUN
cet-4976	42	5	are	be	AUX
cet-4976	42	6	:	:	PUNCT
cet-4976	42	7	technique	technique	NOUN
cet-4976	42	8	for	for	ADP
cet-4976	42	9	human	human	ADJ
cet-4976	42	10	error	error	NOUN
cet-4976	42	11	rate	rate	NOUN
cet-4976	42	12	functional	functional	ADJ
cet-4976	42	13	risk	risk	NOUN
cet-4976	42	14	assessment	assessment	NOUN
cet-4976	42	15	(	(	PUNCT
cet-4976	42	16	fra	fra	NOUN
cet-4976	42	17	)	)	PUNCT
cet-4976	42	18	human	human	ADJ
cet-4976	42	19	reliability	reliability	NOUN
cet-4976	42	20	analysis	analysis	NOUN
cet-4976	42	21	(	(	PUNCT
cet-4976	42	22	hra	hra	NOUN
cet-4976	42	23	)	)	PUNCT
cet-4976	42	24	risk	risk	NOUN
cet-4976	42	25	-	-	PUNCT
cet-4976	42	26	based	base	VERB
cet-4976	42	27	hri	hri	PROPN
cet-4976	42	28	safety	safety	NOUN
cet-4976	42	29	assessment	assessment	NOUN
cet-4976	42	30	proximity	proximity	NOUN
cet-4976	42	31	detection	detection	NOUN
cet-4976	42	32	hri	hri	PROPN
cet-4976	42	33	safety	safety	PROPN
cet-4976	42	34	control	control	PROPN
cet-4976	42	35	system	system	NOUN
cet-4976	42	36	hri	hri	PROPN
cet-4976	42	37	safety	safety	NOUN
cet-4976	42	38	strategy	strategy	NOUN
cet-4976	42	39	collision	collision	NOUN
cet-4976	42	40	avoidance	avoidance	NOUN
cet-4976	42	41	docking	docking	NOUN
cet-4976	42	42	&	&	CCONJ
cet-4976	42	43	compliance	compliance	NOUN
cet-4976	42	44	control	control	PROPN
cet-4976	42	45	1250	1250	NUM
cet-4976	42	46	prediction	prediction	NOUN
cet-4976	42	47	(	(	PUNCT
cet-4976	42	48	therp	therp	NOUN
cet-4976	42	49	)	)	PUNCT
cet-4976	42	50	proposed	propose	VERB
cet-4976	42	51	by	by	ADP
cet-4976	42	52	swain	swain	PROPN
cet-4976	42	53	&	&	CCONJ
cet-4976	42	54	guttmann	guttmann	PROPN
cet-4976	42	55	(	(	PUNCT
cet-4976	42	56	1983	1983	NUM
cet-4976	42	57	)	)	PUNCT
cet-4976	42	58	,	,	PUNCT
cet-4976	42	59	cognitive	cognitive	ADJ
cet-4976	42	60	reliability	reliability	NOUN
cet-4976	42	61	and	and	CCONJ
cet-4976	42	62	error	error	NOUN
cet-4976	42	63	analysis	analysis	NOUN
cet-4976	42	64	method	method	NOUN
cet-4976	42	65	(	(	PUNCT
cet-4976	42	66	cream	cream	NOUN
cet-4976	42	67	)	)	PUNCT
cet-4976	42	68	proposed	propose	VERB
cet-4976	42	69	by	by	ADP
cet-4976	42	70	hollnagel(1998	hollnagel(1998	PRON
cet-4976	42	71	)	)	PUNCT
cet-4976	42	72	,	,	PUNCT
cet-4976	42	73	human	human	ADJ
cet-4976	42	74	error	error	NOUN
cet-4976	42	75	assessment	assessment	NOUN
cet-4976	42	76	and	and	CCONJ
cet-4976	42	77	reduction	reduction	NOUN
cet-4976	42	78	technique	technique	NOUN
cet-4976	42	79	(	(	PUNCT
cet-4976	42	80	heart	heart	NOUN
cet-4976	42	81	)	)	PUNCT
cet-4976	42	82	,	,	PUNCT
cet-4976	42	83	a	a	DET
cet-4976	42	84	technique	technique	NOUN
cet-4976	42	85	for	for	ADP
cet-4976	42	86	human	human	ADJ
cet-4976	42	87	event	event	NOUN
cet-4976	42	88	analysis	analysis	NOUN
cet-4976	42	89	(	(	PUNCT
cet-4976	42	90	atheana	atheana	PROPN
cet-4976	42	91	)	)	PUNCT
cet-4976	42	92	,	,	PUNCT
cet-4976	42	93	etc	etc	X
cet-4976	42	94	.	.	X
cet-4976	42	95	current	current	ADJ
cet-4976	42	96	risk	risk	NOUN
cet-4976	42	97	assessment	assessment	NOUN
cet-4976	42	98	application	application	NOUN
cet-4976	42	99	in	in	ADP
cet-4976	42	100	phri	phri	NOUN
cet-4976	42	101	:	:	PUNCT
cet-4976	42	102	among	among	ADP
cet-4976	42	103	these	these	DET
cet-4976	42	104	current	current	ADJ
cet-4976	42	105	risk	risk	NOUN
cet-4976	42	106	assessment	assessment	NOUN
cet-4976	42	107	techniques	technique	NOUN
cet-4976	42	108	,	,	PUNCT
cet-4976	42	109	some	some	PRON
cet-4976	42	110	of	of	ADP
cet-4976	42	111	them	they	PRON
cet-4976	42	112	are	be	AUX
cet-4976	42	113	already	already	ADV
cet-4976	42	114	applied	apply	VERB
cet-4976	42	115	in	in	ADP
cet-4976	42	116	phri	phri	PROPN
cet-4976	42	117	environment.1	environment.1	PROPN
cet-4976	42	118	)	)	PUNCT
cet-4976	43	1	hri	hri	PROPN
cet-4976	43	2	safety	safety	PROPN
cet-4976	43	3	index	index	PROPN
cet-4976	43	4	:	:	PUNCT
cet-4976	43	5	the	the	DET
cet-4976	43	6	most	most	ADV
cet-4976	43	7	common	common	ADJ
cet-4976	43	8	use	use	NOUN
cet-4976	43	9	are	be	AUX
cet-4976	43	10	gadd	gadd	NOUN
cet-4976	43	11	severity	severity	NOUN
cet-4976	43	12	index	index	NOUN
cet-4976	43	13	(	(	PUNCT
cet-4976	43	14	gsi	gsi	PROPN
cet-4976	43	15	)	)	PUNCT
cet-4976	43	16	and	and	CCONJ
cet-4976	43	17	head	head	NOUN
cet-4976	43	18	injury	injury	NOUN
cet-4976	43	19	criterion	criterion	NOUN
cet-4976	43	20	(	(	PUNCT
cet-4976	43	21	hic).2	hic).2	NUM
cet-4976	43	22	)	)	PUNCT
cet-4976	43	23	uml	uml	NOUN
cet-4976	43	24	-	-	PUNCT
cet-4976	43	25	based	base	VERB
cet-4976	43	26	hazop	hazop	ADJ
cet-4976	43	27	analysis	analysis	NOUN
cet-4976	43	28	was	be	AUX
cet-4976	43	29	proposed	propose	VERB
cet-4976	43	30	by	by	ADP
cet-4976	43	31	guillerez	guillerez	PROPN
cet-4976	43	32	et	et	PROPN
cet-4976	43	33	al	al	PROPN
cet-4976	43	34	.	.	PUNCT
cet-4976	44	1	(	(	PUNCT
cet-4976	44	2	2010	2010	NUM
cet-4976	44	3	)	)	PUNCT
cet-4976	44	4	.	.	PUNCT
cet-4976	45	1	uml	uml	PROPN
cet-4976	45	2	,	,	PUNCT
cet-4976	45	3	unified	unify	VERB
cet-4976	45	4	modeling	modeling	NOUN
cet-4976	45	5	language	language	NOUN
cet-4976	45	6	is	be	AUX
cet-4976	45	7	used	use	VERB
cet-4976	45	8	to	to	PART
cet-4976	45	9	describe	describe	VERB
cet-4976	45	10	the	the	DET
cet-4976	45	11	hri	hri	PROPN
cet-4976	45	12	as	as	ADP
cet-4976	45	13	the	the	DET
cet-4976	45	14	system	system	NOUN
cet-4976	45	15	description	description	NOUN
cet-4976	45	16	.	.	PUNCT
cet-4976	46	1	hazop	hazop	PROPN
cet-4976	46	2	risk	risk	NOUN
cet-4976	46	3	analysis	analysis	NOUN
cet-4976	46	4	method	method	NOUN
cet-4976	46	5	is	be	AUX
cet-4976	46	6	used	use	VERB
cet-4976	46	7	for	for	ADP
cet-4976	46	8	the	the	DET
cet-4976	46	9	risk	risk	NOUN
cet-4976	46	10	analysis	analysis	NOUN
cet-4976	46	11	.	.	PUNCT
cet-4976	47	1	3	3	X
cet-4976	47	2	)	)	PUNCT
cet-4976	47	3	risk	risk	NOUN
cet-4976	47	4	management	management	NOUN
cet-4976	47	5	simulator	simulator	NOUN
cet-4976	47	6	:	:	PUNCT
cet-4976	47	7	ogure	ogure	VERB
cet-4976	47	8	et	et	PROPN
cet-4976	47	9	al	al	PROPN
cet-4976	47	10	.	.	PROPN
cet-4976	47	11	(	(	PUNCT
cet-4976	47	12	2009	2009	NUM
cet-4976	47	13	)	)	PUNCT
cet-4976	47	14	proposed	propose	VERB
cet-4976	47	15	for	for	ADP
cet-4976	47	16	low	low	ADV
cet-4976	47	17	-	-	PUNCT
cet-4976	47	18	powered	power	VERB
cet-4976	47	19	human	human	ADJ
cet-4976	47	20	-	-	PUNCT
cet-4976	47	21	collaborative	collaborative	ADJ
cet-4976	47	22	industrial	industrial	ADJ
cet-4976	47	23	robots	robot	NOUN
cet-4976	47	24	,	,	PUNCT
cet-4976	47	25	and	and	CCONJ
cet-4976	47	26	is	be	AUX
cet-4976	47	27	considering	consider	VERB
cet-4976	47	28	phri	phri	VERB
cet-4976	47	29	scenario	scenario	NOUN
cet-4976	47	30	.	.	PUNCT
cet-4976	48	1	the	the	DET
cet-4976	48	2	risk	risk	NOUN
cet-4976	48	3	management	management	NOUN
cet-4976	48	4	simulator	simulator	NOUN
cet-4976	48	5	is	be	AUX
cet-4976	48	6	based	base	VERB
cet-4976	48	7	on	on	ADP
cet-4976	48	8	chat	chat	PROPN
cet-4976	48	9	(	(	PUNCT
cet-4976	48	10	coexistence	coexistence	NOUN
cet-4976	48	11	hazard	hazard	NOUN
cet-4976	48	12	-	-	PUNCT
cet-4976	48	13	avoidance	avoidance	NOUN
cet-4976	48	14	technology	technology	NOUN
cet-4976	48	15	)	)	PUNCT
cet-4976	48	16	.	.	PUNCT
cet-4976	49	1	the	the	DET
cet-4976	49	2	potential	potential	ADJ
cet-4976	49	3	phri	phri	NOUN
cet-4976	49	4	hazard	hazard	NOUN
cet-4976	49	5	identification	identification	NOUN
cet-4976	49	6	uses	use	VERB
cet-4976	49	7	preliminary	preliminary	ADJ
cet-4976	49	8	hazard	hazard	NOUN
cet-4976	49	9	analysis	analysis	NOUN
cet-4976	49	10	(	(	PUNCT
cet-4976	49	11	pha	pha	NOUN
cet-4976	49	12	)	)	PUNCT
cet-4976	49	13	method.4	method.4	NOUN
cet-4976	49	14	)	)	PUNCT
cet-4976	49	15	fuzzy	fuzzy	ADV
cet-4976	49	16	-	-	PUNCT
cet-4976	49	17	based	base	VERB
cet-4976	49	18	risk	risk	NOUN
cet-4976	49	19	assessment	assessment	NOUN
cet-4976	49	20	:	:	PUNCT
cet-4976	49	21	ogorodnikova	ogorodnikova	PROPN
cet-4976	49	22	(	(	PUNCT
cet-4976	49	23	2009	2009	NUM
cet-4976	49	24	)	)	PUNCT
cet-4976	49	25	proposed	propose	VERB
cet-4976	49	26	an	an	DET
cet-4976	49	27	extended	extended	ADJ
cet-4976	49	28	approach	approach	NOUN
cet-4976	49	29	for	for	ADP
cet-4976	49	30	the	the	DET
cet-4976	49	31	risk	risk	NOUN
cet-4976	49	32	assessment	assessment	NOUN
cet-4976	49	33	and	and	CCONJ
cet-4976	49	34	reduction	reduction	NOUN
cet-4976	49	35	algorithms	algorithm	NOUN
cet-4976	49	36	.	.	PUNCT
cet-4976	50	1	the	the	DET
cet-4976	50	2	risk	risk	NOUN
cet-4976	50	3	assessment	assessment	NOUN
cet-4976	50	4	algorithm	algorithm	NOUN
cet-4976	50	5	is	be	AUX
cet-4976	50	6	a	a	DET
cet-4976	50	7	part	part	NOUN
cet-4976	50	8	of	of	ADP
cet-4976	50	9	the	the	DET
cet-4976	50	10	expert	expert	NOUN
cet-4976	50	11	system	system	NOUN
cet-4976	50	12	’s	’s	PART
cet-4976	50	13	(	(	PUNCT
cet-4976	50	14	es	es	NOUN
cet-4976	50	15	)	)	PUNCT
cet-4976	50	16	interference	interference	NOUN
cet-4976	50	17	engine	engine	NOUN
cet-4976	50	18	.	.	PUNCT
cet-4976	51	1	after	after	SCONJ
cet-4976	51	2	the	the	DET
cet-4976	51	3	information	information	NOUN
cet-4976	51	4	is	be	AUX
cet-4976	51	5	given	give	VERB
cet-4976	51	6	in	in	ADP
cet-4976	51	7	input	input	NOUN
cet-4976	51	8	to	to	ADP
cet-4976	51	9	the	the	DET
cet-4976	51	10	es	es	X
cet-4976	51	11	graphical	graphical	ADJ
cet-4976	51	12	interface	interface	NOUN
cet-4976	51	13	,	,	PUNCT
cet-4976	51	14	fuzzy	fuzzy	ADJ
cet-4976	51	15	logic	logic	NOUN
cet-4976	51	16	is	be	AUX
cet-4976	51	17	applied	apply	VERB
cet-4976	51	18	for	for	ADP
cet-4976	51	19	the	the	DET
cet-4976	51	20	precise	precise	ADJ
cet-4976	51	21	probabilistic	probabilistic	ADJ
cet-4976	51	22	or	or	CCONJ
cet-4976	51	23	mathematical	mathematical	ADJ
cet-4976	51	24	analysis	analysis	NOUN
cet-4976	51	25	.	.	PUNCT
cet-4976	52	1	4	4	X
cet-4976	52	2	.	.	X
cet-4976	52	3	overview	overview	NOUN
cet-4976	52	4	of	of	ADP
cet-4976	52	5	hri	hri	PROPN
cet-4976	52	6	safety	safety	NOUN
cet-4976	52	7	strategies	strategy	NOUN
cet-4976	52	8	there	there	PRON
cet-4976	52	9	are	be	VERB
cet-4976	52	10	some	some	DET
cet-4976	52	11	researchers	researcher	NOUN
cet-4976	52	12	divided	divide	VERB
cet-4976	52	13	phri	phri	NOUN
cet-4976	52	14	safety	safety	NOUN
cet-4976	52	15	strategies	strategy	NOUN
cet-4976	52	16	into	into	ADP
cet-4976	52	17	two	two	NUM
cet-4976	52	18	directions	direction	NOUN
cet-4976	52	19	:	:	PUNCT
cet-4976	52	20	passive	passive	ADJ
cet-4976	52	21	safety	safety	NOUN
cet-4976	52	22	strategy	strategy	NOUN
cet-4976	52	23	mainly	mainly	ADV
cet-4976	52	24	focuses	focus	VERB
cet-4976	52	25	on	on	ADP
cet-4976	52	26	designing	design	VERB
cet-4976	52	27	robot	robot	NOUN
cet-4976	52	28	with	with	ADP
cet-4976	52	29	reducing	reduce	VERB
cet-4976	52	30	the	the	DET
cet-4976	52	31	collision	collision	NOUN
cet-4976	52	32	forces	force	NOUN
cet-4976	52	33	during	during	ADP
cet-4976	52	34	the	the	DET
cet-4976	52	35	special	special	ADJ
cet-4976	52	36	emergency	emergency	NOUN
cet-4976	52	37	scenario	scenario	NOUN
cet-4976	52	38	;	;	PUNCT
cet-4976	52	39	active	active	ADJ
cet-4976	52	40	safety	safety	NOUN
cet-4976	52	41	strategy	strategy	NOUN
cet-4976	52	42	mainly	mainly	ADV
cet-4976	52	43	focuses	focus	VERB
cet-4976	52	44	on	on	ADP
cet-4976	52	45	preventing	prevent	VERB
cet-4976	52	46	phri	phri	NOUN
cet-4976	52	47	collision	collision	NOUN
cet-4976	52	48	at	at	ADP
cet-4976	52	49	the	the	DET
cet-4976	52	50	control	control	NOUN
cet-4976	52	51	level	level	NOUN
cet-4976	52	52	.	.	PUNCT
cet-4976	53	1	some	some	DET
cet-4976	53	2	phri	phri	NOUN
cet-4976	53	3	safety	safety	NOUN
cet-4976	53	4	strategies	strategy	NOUN
cet-4976	53	5	are	be	AUX
cet-4976	53	6	reviewed	review	VERB
cet-4976	53	7	as	as	ADP
cet-4976	53	8	bellowing	bellow	VERB
cet-4976	53	9	:	:	PUNCT
cet-4976	53	10	pedestrian	pedestrian	NOUN
cet-4976	53	11	behavior	behavior	NOUN
cet-4976	53	12	prediction	prediction	NOUN
cet-4976	53	13	safety	safety	NOUN
cet-4976	53	14	strategy	strategy	NOUN
cet-4976	53	15	:	:	PUNCT
cet-4976	53	16	it	it	PRON
cet-4976	53	17	is	be	AUX
cet-4976	53	18	pre	pre	ADJ
cet-4976	53	19	-	-	ADJ
cet-4976	53	20	collision	collision	ADJ
cet-4976	53	21	safety	safety	NOUN
cet-4976	53	22	strategy	strategy	NOUN
cet-4976	53	23	developed	develop	VERB
cet-4976	53	24	by	by	ADP
cet-4976	53	25	tamura	tamura	PROPN
cet-4976	53	26	et	et	PROPN
cet-4976	53	27	al	al	PROPN
cet-4976	53	28	.	.	PROPN
cet-4976	54	1	(	(	PUNCT
cet-4976	54	2	2013	2013	NUM
cet-4976	54	3	)	)	PUNCT
cet-4976	54	4	.	.	PUNCT
cet-4976	55	1	pre	pre	ADJ
cet-4976	55	2	-	-	ADJ
cet-4976	55	3	collision	collision	ADJ
cet-4976	55	4	hri	hri	PROPN
cet-4976	55	5	safety	safety	NOUN
cet-4976	55	6	strategy	strategy	NOUN
cet-4976	55	7	:	:	PUNCT
cet-4976	55	8	kulić	kulić	NOUN
cet-4976	55	9	and	and	CCONJ
cet-4976	55	10	croft	croft	PROPN
cet-4976	55	11	(	(	PUNCT
cet-4976	55	12	2007	2007	NUM
cet-4976	55	13	)	)	PUNCT
cet-4976	55	14	proposed	propose	VERB
cet-4976	55	15	a	a	DET
cet-4976	55	16	pre	pre	ADJ
cet-4976	55	17	-	-	ADJ
cet-4976	55	18	collision	collision	ADJ
cet-4976	55	19	safety	safety	NOUN
cet-4976	55	20	strategy	strategy	NOUN
cet-4976	55	21	with	with	ADP
cet-4976	55	22	three	three	NUM
cet-4976	55	23	components	component	NOUN
cet-4976	55	24	for	for	ADP
cet-4976	55	25	dealing	deal	VERB
cet-4976	55	26	with	with	ADP
cet-4976	55	27	safety	safety	NOUN
cet-4976	55	28	at	at	ADP
cet-4976	55	29	different	different	ADJ
cet-4976	55	30	time	time	NOUN
cet-4976	55	31	horizons	horizon	NOUN
cet-4976	55	32	of	of	ADP
cet-4976	55	33	safe	safe	ADJ
cet-4976	55	34	planning	planning	NOUN
cet-4976	55	35	(	(	PUNCT
cet-4976	55	36	long	long	ADJ
cet-4976	55	37	term	term	NOUN
cet-4976	55	38	safety	safety	NOUN
cet-4976	55	39	)	)	PUNCT
cet-4976	55	40	,	,	PUNCT
cet-4976	55	41	trajectory	trajectory	NOUN
cet-4976	55	42	scaling	scaling	NOUN
cet-4976	55	43	(	(	PUNCT
cet-4976	55	44	medium	medium	ADJ
cet-4976	55	45	term	term	NOUN
cet-4976	55	46	safety	safety	NOUN
cet-4976	55	47	)	)	PUNCT
cet-4976	55	48	and	and	CCONJ
cet-4976	55	49	reactive	reactive	ADJ
cet-4976	55	50	control	control	NOUN
cet-4976	55	51	(	(	PUNCT
cet-4976	55	52	short	short	ADJ
cet-4976	55	53	term	term	NOUN
cet-4976	55	54	safety	safety	NOUN
cet-4976	55	55	)	)	PUNCT
cet-4976	55	56	.	.	PUNCT
cet-4976	56	1	learning	learn	VERB
cet-4976	56	2	-	-	PUNCT
cet-4976	56	3	based	base	VERB
cet-4976	56	4	safety	safety	NOUN
cet-4976	56	5	control	control	NOUN
cet-4976	56	6	strategy	strategy	NOUN
cet-4976	56	7	:	:	PUNCT
cet-4976	56	8	calinon	calinon	NOUN
cet-4976	56	9	,	,	PUNCT
cet-4976	56	10	et	et	PROPN
cet-4976	56	11	al	al	PROPN
cet-4976	56	12	.	.	PUNCT
cet-4976	57	1	(	(	PUNCT
cet-4976	57	2	2010	2010	NUM
cet-4976	57	3	)	)	PUNCT
cet-4976	57	4	proposed	propose	VERB
cet-4976	57	5	a	a	DET
cet-4976	57	6	control	control	NOUN
cet-4976	57	7	strategy	strategy	NOUN
cet-4976	57	8	for	for	ADP
cet-4976	57	9	a	a	DET
cet-4976	57	10	robotic	robotic	ADJ
cet-4976	57	11	manipulator	manipulator	NOUN
cet-4976	57	12	operating	operate	VERB
cet-4976	57	13	in	in	ADP
cet-4976	57	14	an	an	DET
cet-4976	57	15	unstructured	unstructured	ADJ
cet-4976	57	16	phri	phri	NOUN
cet-4976	57	17	environment	environment	NOUN
cet-4976	57	18	.	.	PUNCT
cet-4976	58	1	withdrawal	withdrawal	NOUN
cet-4976	58	2	strategy	strategy	NOUN
cet-4976	58	3	for	for	ADP
cet-4976	58	4	human	human	ADJ
cet-4976	58	5	safety	safety	NOUN
cet-4976	58	6	:	:	PUNCT
cet-4976	58	7	the	the	DET
cet-4976	58	8	purpose	purpose	NOUN
cet-4976	58	9	of	of	ADP
cet-4976	58	10	withdrawal	withdrawal	NOUN
cet-4976	58	11	strategy	strategy	NOUN
cet-4976	58	12	is	be	AUX
cet-4976	58	13	to	to	PART
cet-4976	58	14	increase	increase	VERB
cet-4976	58	15	the	the	DET
cet-4976	58	16	distance	distance	NOUN
cet-4976	58	17	between	between	ADP
cet-4976	58	18	human	human	NOUN
cet-4976	58	19	and	and	CCONJ
cet-4976	58	20	robot	robot	NOUN
cet-4976	58	21	when	when	SCONJ
cet-4976	58	22	they	they	PRON
cet-4976	58	23	are	be	AUX
cet-4976	58	24	getting	get	VERB
cet-4976	58	25	too	too	ADV
cet-4976	58	26	closer	close	ADJ
cet-4976	58	27	.	.	PUNCT
cet-4976	59	1	virtual	virtual	ADJ
cet-4976	59	2	force	force	NOUN
cet-4976	59	3	model	model	NOUN
cet-4976	59	4	is	be	AUX
cet-4976	59	5	applied	apply	VERB
cet-4976	59	6	to	to	PART
cet-4976	59	7	modify	modify	VERB
cet-4976	59	8	the	the	DET
cet-4976	59	9	endeffector	endeffector	NOUN
cet-4976	59	10	velocity	velocity	NOUN
cet-4976	59	11	and	and	CCONJ
cet-4976	59	12	move	move	VERB
cet-4976	59	13	it	it	PRON
cet-4976	59	14	not	not	PART
cet-4976	59	15	only	only	ADV
cet-4976	59	16	away	away	ADV
cet-4976	59	17	from	from	ADP
cet-4976	59	18	the	the	DET
cet-4976	59	19	human	human	NOUN
cet-4976	59	20	but	but	CCONJ
cet-4976	59	21	also	also	ADV
cet-4976	59	22	towards	towards	ADP
cet-4976	59	23	a	a	DET
cet-4976	59	24	parking	parking	NOUN
cet-4976	59	25	position	position	NOUN
cet-4976	59	26	(	(	PUNCT
cet-4976	59	27	ricardez	ricardez	PROPN
cet-4976	59	28	et	et	PROPN
cet-4976	59	29	.	.	PUNCT
cet-4976	60	1	al	al	PROPN
cet-4976	60	2	,	,	PUNCT
cet-4976	60	3	2013	2013	NUM
cet-4976	60	4	)	)	PUNCT
cet-4976	60	5	.	.	PUNCT
cet-4976	61	1	constraint	constraint	NOUN
cet-4976	61	2	-	-	PUNCT
cet-4976	61	3	based	base	VERB
cet-4976	61	4	strategy	strategy	NOUN
cet-4976	61	5	for	for	ADP
cet-4976	61	6	task	task	NOUN
cet-4976	61	7	-	-	PUNCT
cet-4976	61	8	consistent	consistent	ADJ
cet-4976	61	9	safe	safe	ADJ
cet-4976	61	10	hri	hri	PROPN
cet-4976	61	11	:	:	PUNCT
cet-4976	61	12	ceriani	ceriani	PROPN
cet-4976	61	13	et	et	PROPN
cet-4976	61	14	al	al	PROPN
cet-4976	61	15	.	.	PROPN
cet-4976	62	1	(	(	PUNCT
cet-4976	62	2	2013	2013	NUM
cet-4976	62	3	)	)	PUNCT
cet-4976	62	4	defined	define	VERB
cet-4976	62	5	a	a	DET
cet-4976	62	6	method	method	NOUN
cet-4976	62	7	for	for	ADP
cet-4976	62	8	designing	design	VERB
cet-4976	62	9	task	task	NOUN
cet-4976	62	10	-	-	PUNCT
cet-4976	62	11	consistent	consistent	ADJ
cet-4976	62	12	collision	collision	NOUN
cet-4976	62	13	avoidance	avoidance	NOUN
cet-4976	62	14	strategies	strategy	NOUN
cet-4976	62	15	,	,	PUNCT
cet-4976	62	16	in	in	ADP
cet-4976	62	17	order	order	NOUN
cet-4976	62	18	to	to	PART
cet-4976	62	19	productively	productively	ADV
cet-4976	62	20	combine	combine	VERB
cet-4976	62	21	task	task	NOUN
cet-4976	62	22	execution	execution	NOUN
cet-4976	62	23	and	and	CCONJ
cet-4976	62	24	safety	safety	NOUN
cet-4976	62	25	actions	action	NOUN
cet-4976	62	26	in	in	ADP
cet-4976	62	27	the	the	DET
cet-4976	62	28	industrial	industrial	ADJ
cet-4976	62	29	hri	hri	PROPN
cet-4976	62	30	environment	environment	NOUN
cet-4976	62	31	.	.	PUNCT
cet-4976	63	1	5	5	X
cet-4976	63	2	.	.	X
cet-4976	63	3	overview	overview	NOUN
cet-4976	63	4	of	of	ADP
cet-4976	63	5	hri	hri	PROPN
cet-4976	63	6	control	control	NOUN
cet-4976	63	7	system	system	NOUN
cet-4976	63	8	in	in	ADP
cet-4976	63	9	the	the	DET
cet-4976	63	10	physical	physical	ADJ
cet-4976	63	11	human	human	ADJ
cet-4976	63	12	-	-	PUNCT
cet-4976	63	13	robot	robot	NOUN
cet-4976	63	14	interaction	interaction	NOUN
cet-4976	63	15	field	field	NOUN
cet-4976	63	16	,	,	PUNCT
cet-4976	63	17	the	the	DET
cet-4976	63	18	most	most	ADV
cet-4976	63	19	frequently	frequently	ADV
cet-4976	63	20	used	use	VERB
cet-4976	63	21	control	control	NOUN
cet-4976	63	22	strategy	strategy	NOUN
cet-4976	63	23	might	might	AUX
cet-4976	63	24	be	be	AUX
cet-4976	63	25	impedance	impedance	NOUN
cet-4976	63	26	control	control	NOUN
cet-4976	63	27	and	and	CCONJ
cet-4976	63	28	its	its	PRON
cet-4976	63	29	variants	variant	NOUN
cet-4976	63	30	,	,	PUNCT
cet-4976	63	31	though	though	SCONJ
cet-4976	63	32	other	other	ADJ
cet-4976	63	33	methods	method	NOUN
cet-4976	63	34	also	also	ADV
cet-4976	63	35	exist	exist	VERB
cet-4976	63	36	.	.	PUNCT
cet-4976	64	1	since	since	SCONJ
cet-4976	64	2	robots	robot	NOUN
cet-4976	64	3	are	be	AUX
cet-4976	64	4	controlled	control	VERB
cet-4976	64	5	to	to	PART
cet-4976	64	6	move	move	VERB
cet-4976	64	7	relatively	relatively	ADV
cet-4976	64	8	slowly	slowly	ADV
cet-4976	64	9	when	when	SCONJ
cet-4976	64	10	interacting	interact	VERB
cet-4976	64	11	with	with	ADP
cet-4976	64	12	people	people	NOUN
cet-4976	64	13	,	,	PUNCT
cet-4976	64	14	the	the	DET
cet-4976	64	15	impact	impact	NOUN
cet-4976	64	16	velocity	velocity	NOUN
cet-4976	64	17	is	be	AUX
cet-4976	64	18	decreased	decrease	VERB
cet-4976	64	19	in	in	ADP
cet-4976	64	20	accidents	accident	NOUN
cet-4976	64	21	.	.	PUNCT
cet-4976	65	1	many	many	ADJ
cet-4976	65	2	surveys	survey	NOUN
cet-4976	65	3	addressed	address	VERB
cet-4976	65	4	the	the	DET
cet-4976	65	5	control	control	NOUN
cet-4976	65	6	in	in	ADP
cet-4976	65	7	a	a	DET
cet-4976	65	8	safety	safety	NOUN
cet-4976	65	9	issues	issue	NOUN
cet-4976	65	10	such	such	ADJ
cet-4976	65	11	as	as	ADP
cet-4976	65	12	formica	formica	NOUN
cet-4976	65	13	et	et	PROPN
cet-4976	65	14	al	al	PROPN
cet-4976	65	15	.	.	PROPN
cet-4976	65	16	2006	2006	NUM
cet-4976	65	17	,	,	PUNCT
cet-4976	65	18	kikuuwe	kikuuwe	NOUN
cet-4976	65	19	and	and	CCONJ
cet-4976	65	20	fujimoto	fujimoto	PROPN
cet-4976	65	21	2006	2006	NUM
cet-4976	65	22	.	.	PUNCT
cet-4976	66	1	proximity	proximity	NOUN
cet-4976	66	2	detection	detection	NOUN
cet-4976	66	3	:	:	PUNCT
cet-4976	66	4	usually	usually	ADV
cet-4976	66	5	,	,	PUNCT
cet-4976	66	6	the	the	DET
cet-4976	66	7	common	common	ADJ
cet-4976	66	8	solution	solution	NOUN
cet-4976	66	9	in	in	ADP
cet-4976	66	10	industrial	industrial	ADJ
cet-4976	66	11	robotics	robotic	NOUN
cet-4976	66	12	was	be	AUX
cet-4976	66	13	to	to	PART
cet-4976	66	14	employ	employ	VERB
cet-4976	66	15	proximity	proximity	NOUN
cet-4976	66	16	sensors	sensor	NOUN
cet-4976	66	17	such	such	ADJ
cet-4976	66	18	as	as	ADP
cet-4976	66	19	laser	laser	NOUN
cet-4976	66	20	beams	beam	NOUN
cet-4976	66	21	to	to	PART
cet-4976	66	22	figure	figure	VERB
cet-4976	66	23	out	out	ADP
cet-4976	66	24	the	the	DET
cet-4976	66	25	presence	presence	NOUN
cet-4976	66	26	of	of	ADP
cet-4976	66	27	a	a	DET
cet-4976	66	28	human	human	ADJ
cet-4976	66	29	worker	worker	NOUN
cet-4976	66	30	in	in	ADP
cet-4976	66	31	a	a	DET
cet-4976	66	32	vicinity	vicinity	NOUN
cet-4976	66	33	of	of	ADP
cet-4976	66	34	the	the	DET
cet-4976	66	35	robot	robot	NOUN
cet-4976	66	36	,	,	PUNCT
cet-4976	66	37	and	and	CCONJ
cet-4976	66	38	then	then	ADV
cet-4976	66	39	stop	stop	VERB
cet-4976	66	40	the	the	DET
cet-4976	66	41	task	task	NOUN
cet-4976	66	42	execution	execution	NOUN
cet-4976	66	43	.	.	PUNCT
cet-4976	67	1	to	to	PART
cet-4976	67	2	cope	cope	VERB
cet-4976	67	3	with	with	ADP
cet-4976	67	4	this	this	DET
cet-4976	67	5	conservative	conservative	ADJ
cet-4976	67	6	approach	approach	NOUN
cet-4976	67	7	,	,	PUNCT
cet-4976	67	8	and	and	CCONJ
cet-4976	67	9	to	to	PART
cet-4976	67	10	allow	allow	VERB
cet-4976	67	11	the	the	DET
cet-4976	67	12	interaction	interaction	NOUN
cet-4976	67	13	between	between	ADP
cet-4976	67	14	humans	human	NOUN
cet-4976	67	15	and	and	CCONJ
cet-4976	67	16	robots	robot	NOUN
cet-4976	67	17	,	,	PUNCT
cet-4976	67	18	active	active	ADJ
cet-4976	67	19	collision	collision	NOUN
cet-4976	67	20	avoidance	avoidance	NOUN
cet-4976	67	21	policies	policy	NOUN
cet-4976	67	22	have	have	AUX
cet-4976	67	23	been	be	AUX
cet-4976	67	24	advocated	advocate	VERB
cet-4976	67	25	.	.	PUNCT
cet-4976	68	1	theses	thesis	NOUN
cet-4976	68	2	approached	approach	VERB
cet-4976	68	3	are	be	AUX
cet-4976	68	4	based	base	VERB
cet-4976	68	5	on	on	ADP
cet-4976	68	6	1	1	NUM
cet-4976	68	7	)	)	PUNCT
cet-4976	68	8	realtime	realtime	NOUN
cet-4976	68	9	detection	detection	NOUN
cet-4976	68	10	and	and	CCONJ
cet-4976	68	11	localization	localization	NOUN
cet-4976	68	12	of	of	ADP
cet-4976	68	13	human	human	ADJ
cet-4976	68	14	workers	worker	NOUN
cet-4976	68	15	in	in	ADP
cet-4976	68	16	the	the	DET
cet-4976	68	17	robot	robot	NOUN
cet-4976	68	18	ambient	ambient	NOUN
cet-4976	68	19	,	,	PUNCT
cet-4976	68	20	and	and	CCONJ
cet-4976	68	21	2	2	X
cet-4976	68	22	)	)	PUNCT
cet-4976	68	23	reactive	reactive	ADJ
cet-4976	68	24	planning	planning	NOUN
cet-4976	68	25	algorithms	algorithm	NOUN
cet-4976	68	26	to	to	PART
cet-4976	68	27	avoid	avoid	VERB
cet-4976	68	28	collision	collision	NOUN
cet-4976	68	29	.	.	PUNCT
cet-4976	69	1	detection	detection	NOUN
cet-4976	69	2	and	and	CCONJ
cet-4976	69	3	localization	localization	NOUN
cet-4976	69	4	have	have	AUX
cet-4976	69	5	been	be	AUX
cet-4976	69	6	addressed	address	VERB
cet-4976	69	7	by	by	ADP
cet-4976	69	8	employing	employ	VERB
cet-4976	69	9	different	different	ADJ
cet-4976	69	10	sensing	sense	VERB
cet-4976	69	11	techniques	technique	NOUN
cet-4976	69	12	.	.	PUNCT
cet-4976	70	1	najmaei	najmaei	NOUN
cet-4976	70	2	and	and	CCONJ
cet-4976	70	3	kermani	kermani	NOUN
cet-4976	70	4	(	(	PUNCT
cet-4976	70	5	2011	2011	NUM
cet-4976	70	6	)	)	PUNCT
cet-4976	70	7	introduced	introduce	VERB
cet-4976	70	8	a	a	DET
cet-4976	70	9	new	new	ADJ
cet-4976	70	10	sensory	sensory	ADJ
cet-4976	70	11	system	system	NOUN
cet-4976	70	12	for	for	ADP
cet-4976	70	13	modeling	modeling	NOUN
cet-4976	70	14	,	,	PUNCT
cet-4976	70	15	tracking	tracking	NOUN
cet-4976	70	16	,	,	PUNCT
cet-4976	70	17	and	and	CCONJ
cet-4976	70	18	predicting	predict	VERB
cet-4976	70	19	human	human	ADJ
cet-4976	70	20	motions	motion	NOUN
cet-4976	70	21	within	within	ADP
cet-4976	70	22	a	a	DET
cet-4976	70	23	robot	robot	NOUN
cet-4976	70	24	workspace	workspace	NOUN
cet-4976	70	25	.	.	PUNCT
cet-4976	71	1	in	in	ADP
cet-4976	71	2	addition	addition	NOUN
cet-4976	71	3	,	,	PUNCT
cet-4976	71	4	self	self	NOUN
cet-4976	71	5	-	-	PUNCT
cet-4976	71	6	organizing	organize	VERB
cet-4976	71	7	maps	map	NOUN
cet-4976	71	8	(	(	PUNCT
cet-4976	71	9	soms	som	NOUN
cet-4976	71	10	)	)	PUNCT
cet-4976	71	11	,	,	PUNCT
cet-4976	71	12	is	be	AUX
cet-4976	71	13	used	use	VERB
cet-4976	71	14	for	for	ADP
cet-4976	71	15	obtaining	obtain	VERB
cet-4976	71	16	a	a	DET
cet-4976	71	17	super	super	ADV
cet-4976	71	18	quadric	quadric	ADJ
cet-4976	71	19	-	-	PUNCT
cet-4976	71	20	based	base	VERB
cet-4976	71	21	model	model	NOUN
cet-4976	71	22	of	of	ADP
cet-4976	71	23	the	the	DET
cet-4976	71	24	human	human	NOUN
cet-4976	71	25	in	in	ADP
cet-4976	71	26	which	which	PRON
cet-4976	71	27	the	the	DET
cet-4976	71	28	som	som	NOUN
cet-4976	71	29	network	network	NOUN
cet-4976	71	30	receives	receive	VERB
cet-4976	71	31	information	information	NOUN
cet-4976	71	32	of	of	ADP
cet-4976	71	33	the	the	DET
cet-4976	71	34	human	human	NOUN
cet-4976	71	35	’s	’s	PART
cet-4976	71	36	footprints	footprint	NOUN
cet-4976	71	37	from	from	ADP
cet-4976	71	38	the	the	DET
cet-4976	71	39	sensory	sensory	ADJ
cet-4976	71	40	system	system	NOUN
cet-4976	71	41	and	and	CCONJ
cet-4976	71	42	infers	infer	NOUN
cet-4976	71	43	necessary	necessary	ADJ
cet-4976	71	44	data	datum	NOUN
cet-4976	71	45	for	for	ADP
cet-4976	71	46	rendering	render	VERB
cet-4976	71	47	the	the	DET
cet-4976	71	48	human	human	ADJ
cet-4976	71	49	model	model	NOUN
cet-4976	71	50	.	.	PUNCT
cet-4976	72	1	since	since	SCONJ
cet-4976	72	2	this	this	DET
cet-4976	72	3	paper	paper	NOUN
cet-4976	72	4	used	use	VERB
cet-4976	72	5	1251	1251	NUM
cet-4976	72	6	ann	ann	PROPN
cet-4976	72	7	,	,	PUNCT
cet-4976	72	8	a	a	DET
cet-4976	72	9	large	large	ADJ
cet-4976	72	10	number	number	NOUN
cet-4976	72	11	of	of	ADP
cet-4976	72	12	inputs	input	NOUN
cet-4976	72	13	for	for	ADP
cet-4976	72	14	increasing	increase	VERB
cet-4976	72	15	accuracy	accuracy	NOUN
cet-4976	72	16	was	be	AUX
cet-4976	72	17	unavoidable	unavoidable	ADJ
cet-4976	72	18	that	that	SCONJ
cet-4976	72	19	resulted	result	VERB
cet-4976	72	20	in	in	ADP
cet-4976	72	21	having	have	VERB
cet-4976	72	22	computational	computational	ADJ
cet-4976	72	23	complexity	complexity	NOUN
cet-4976	72	24	and	and	CCONJ
cet-4976	72	25	also	also	ADV
cet-4976	72	26	a	a	DET
cet-4976	72	27	great	great	ADJ
cet-4976	72	28	deal	deal	NOUN
cet-4976	72	29	of	of	ADP
cet-4976	72	30	time	time	NOUN
cet-4976	72	31	that	that	PRON
cet-4976	72	32	can	can	AUX
cet-4976	72	33	be	be	AUX
cet-4976	72	34	a	a	DET
cet-4976	72	35	drawback	drawback	NOUN
cet-4976	72	36	of	of	ADP
cet-4976	72	37	this	this	DET
cet-4976	72	38	method	method	NOUN
cet-4976	72	39	.	.	PUNCT
cet-4976	73	1	collision	collision	NOUN
cet-4976	73	2	avoidance	avoidance	NOUN
cet-4976	73	3	:	:	PUNCT
cet-4976	73	4	collision	collision	NOUN
cet-4976	73	5	safety	safety	NOUN
cet-4976	73	6	in	in	ADP
cet-4976	73	7	phri	phri	NOUN
cet-4976	73	8	is	be	AUX
cet-4976	73	9	an	an	DET
cet-4976	73	10	attractive	attractive	ADJ
cet-4976	73	11	broad	broad	ADJ
cet-4976	73	12	area	area	NOUN
cet-4976	73	13	of	of	ADP
cet-4976	73	14	research	research	NOUN
cet-4976	73	15	and	and	CCONJ
cet-4976	73	16	several	several	ADJ
cet-4976	73	17	promising	promising	ADJ
cet-4976	73	18	methods	method	NOUN
cet-4976	73	19	have	have	AUX
cet-4976	73	20	already	already	ADV
cet-4976	73	21	been	be	AUX
cet-4976	73	22	proposed	propose	VERB
cet-4976	73	23	in	in	ADP
cet-4976	73	24	the	the	DET
cet-4976	73	25	previous	previous	ADJ
cet-4976	73	26	work	work	NOUN
cet-4976	73	27	.	.	PUNCT
cet-4976	74	1	collision	collision	VERB
cet-4976	74	2	safety	safety	NOUN
cet-4976	74	3	through	through	ADP
cet-4976	74	4	planning	planning	NOUN
cet-4976	74	5	and	and	CCONJ
cet-4976	74	6	control	control	NOUN
cet-4976	74	7	is	be	AUX
cet-4976	74	8	the	the	DET
cet-4976	74	9	most	most	ADV
cet-4976	74	10	common	common	ADJ
cet-4976	74	11	-	-	PUNCT
cet-4976	74	12	used	use	VERB
cet-4976	74	13	method	method	NOUN
cet-4976	74	14	to	to	PART
cet-4976	74	15	guarantee	guarantee	VERB
cet-4976	74	16	human	human	ADJ
cet-4976	74	17	safety	safety	NOUN
cet-4976	74	18	where	where	SCONJ
cet-4976	74	19	control	control	NOUN
cet-4976	74	20	strategies	strategy	NOUN
cet-4976	74	21	are	be	AUX
cet-4976	74	22	implemented	implement	VERB
cet-4976	74	23	for	for	ADP
cet-4976	74	24	avoiding	avoid	VERB
cet-4976	74	25	the	the	DET
cet-4976	74	26	accident	accident	NOUN
cet-4976	74	27	.	.	PUNCT
cet-4976	75	1	primary	primary	ADJ
cet-4976	75	2	methods	method	NOUN
cet-4976	75	3	in	in	ADP
cet-4976	75	4	robot	robot	NOUN
cet-4976	75	5	navigation	navigation	NOUN
cet-4976	75	6	on	on	ADP
cet-4976	75	7	the	the	DET
cet-4976	75	8	basis	basis	NOUN
cet-4976	75	9	of	of	ADP
cet-4976	75	10	artificial	artificial	ADJ
cet-4976	75	11	potential	potential	ADJ
cet-4976	75	12	fields	field	NOUN
cet-4976	75	13	and	and	CCONJ
cet-4976	75	14	virtual	virtual	ADJ
cet-4976	75	15	forces	force	NOUN
cet-4976	75	16	(	(	PUNCT
cet-4976	75	17	khatib	khatib	PROPN
cet-4976	75	18	1986	1986	NUM
cet-4976	75	19	,	,	PUNCT
cet-4976	75	20	borenstein	borenstein	NOUN
cet-4976	75	21	and	and	CCONJ
cet-4976	75	22	koren	koren	PROPN
cet-4976	75	23	1991	1991	NUM
cet-4976	75	24	)	)	PUNCT
cet-4976	75	25	have	have	VERB
cet-4976	75	26	some	some	DET
cet-4976	75	27	limitations	limitation	NOUN
cet-4976	75	28	that	that	PRON
cet-4976	75	29	make	make	VERB
cet-4976	75	30	it	it	PRON
cet-4976	75	31	be	be	AUX
cet-4976	75	32	inapplicable	inapplicable	ADJ
cet-4976	75	33	for	for	ADP
cet-4976	75	34	real	real	ADJ
cet-4976	75	35	robots	robot	NOUN
cet-4976	75	36	.	.	PUNCT
cet-4976	76	1	one	one	NUM
cet-4976	76	2	of	of	ADP
cet-4976	76	3	the	the	DET
cet-4976	76	4	famous	famous	ADJ
cet-4976	76	5	methods	method	NOUN
cet-4976	76	6	for	for	ADP
cet-4976	76	7	collision	collision	NOUN
cet-4976	76	8	avoidance	avoidance	NOUN
cet-4976	76	9	that	that	PRON
cet-4976	76	10	can	can	AUX
cet-4976	76	11	be	be	AUX
cet-4976	76	12	simply	simply	ADV
cet-4976	76	13	found	find	VERB
cet-4976	76	14	among	among	ADP
cet-4976	76	15	the	the	DET
cet-4976	76	16	previous	previous	ADJ
cet-4976	76	17	research	research	NOUN
cet-4976	76	18	is	be	AUX
cet-4976	76	19	the	the	DET
cet-4976	76	20	velocity	velocity	NOUN
cet-4976	76	21	obstacle	obstacle	NOUN
cet-4976	76	22	method	method	NOUN
cet-4976	76	23	that	that	PRON
cet-4976	76	24	is	be	AUX
cet-4976	76	25	introduced	introduce	VERB
cet-4976	76	26	by	by	ADP
cet-4976	76	27	fiorini	fiorini	PROPN
cet-4976	76	28	and	and	CCONJ
cet-4976	76	29	shiller	shiller	PROPN
cet-4976	76	30	1993	1993	NUM
cet-4976	76	31	at	at	ADP
cet-4976	76	32	first	first	ADV
cet-4976	76	33	.	.	PUNCT
cet-4976	77	1	in	in	ADP
cet-4976	77	2	this	this	DET
cet-4976	77	3	technique	technique	NOUN
cet-4976	77	4	,	,	PUNCT
cet-4976	77	5	a	a	DET
cet-4976	77	6	velocity	velocity	NOUN
cet-4976	77	7	set	set	VERB
cet-4976	77	8	in	in	ADP
cet-4976	77	9	the	the	DET
cet-4976	77	10	velocity	velocity	NOUN
cet-4976	77	11	space	space	NOUN
cet-4976	77	12	is	be	AUX
cet-4976	77	13	employed	employ	VERB
cet-4976	77	14	for	for	ADP
cet-4976	77	15	determining	determine	VERB
cet-4976	77	16	the	the	DET
cet-4976	77	17	future	future	ADJ
cet-4976	77	18	collisions	collision	NOUN
cet-4976	77	19	regarding	regard	VERB
cet-4976	77	20	with	with	ADP
cet-4976	77	21	the	the	DET
cet-4976	77	22	relative	relative	ADJ
cet-4976	77	23	velocity	velocity	NOUN
cet-4976	77	24	rather	rather	ADV
cet-4976	77	25	than	than	ADP
cet-4976	77	26	other	other	ADJ
cet-4976	77	27	agents	agent	NOUN
cet-4976	77	28	.	.	PUNCT
cet-4976	78	1	papers	paper	NOUN
cet-4976	78	2	using	use	VERB
cet-4976	78	3	this	this	DET
cet-4976	78	4	approach	approach	NOUN
cet-4976	78	5	usually	usually	ADV
cet-4976	78	6	consider	consider	VERB
cet-4976	78	7	the	the	DET
cet-4976	78	8	case	case	NOUN
cet-4976	78	9	of	of	ADP
cet-4976	78	10	holonome	holonome	ADJ
cet-4976	78	11	robot	robot	NOUN
cet-4976	78	12	and	and	CCONJ
cet-4976	78	13	linear	linear	ADJ
cet-4976	78	14	constant	constant	ADJ
cet-4976	78	15	motion	motion	NOUN
cet-4976	78	16	of	of	ADP
cet-4976	78	17	the	the	DET
cet-4976	78	18	obstacles	obstacle	NOUN
cet-4976	78	19	that	that	PRON
cet-4976	78	20	can	can	AUX
cet-4976	78	21	be	be	AUX
cet-4976	78	22	a	a	DET
cet-4976	78	23	disadvantage	disadvantage	NOUN
cet-4976	78	24	and	and	CCONJ
cet-4976	78	25	should	should	AUX
cet-4976	78	26	be	be	AUX
cet-4976	78	27	generalised	generalise	VERB
cet-4976	78	28	.	.	PUNCT
cet-4976	79	1	another	another	DET
cet-4976	79	2	common	common	ADJ
cet-4976	79	3	used	use	VERB
cet-4976	79	4	approach	approach	NOUN
cet-4976	79	5	in	in	ADP
cet-4976	79	6	the	the	DET
cet-4976	79	7	area	area	NOUN
cet-4976	79	8	of	of	ADP
cet-4976	79	9	collision	collision	NOUN
cet-4976	79	10	avoidance	avoidance	NOUN
cet-4976	79	11	is	be	AUX
cet-4976	79	12	dynamic	dynamic	ADJ
cet-4976	79	13	window	window	NOUN
cet-4976	79	14	approach	approach	NOUN
cet-4976	79	15	that	that	PRON
cet-4976	79	16	is	be	AUX
cet-4976	79	17	proposed	propose	VERB
cet-4976	79	18	by	by	ADP
cet-4976	79	19	fox	fox	PROPN
cet-4976	79	20	et	et	PROPN
cet-4976	79	21	.	.	PUNCT
cet-4976	80	1	al	al	PROPN
cet-4976	80	2	.	.	PROPN
cet-4976	80	3	1997	1997	NUM
cet-4976	80	4	for	for	ADP
cet-4976	80	5	the	the	DET
cet-4976	80	6	first	first	ADJ
cet-4976	80	7	time	time	NOUN
cet-4976	80	8	and	and	CCONJ
cet-4976	80	9	then	then	ADV
cet-4976	80	10	it	it	PRON
cet-4976	80	11	is	be	AUX
cet-4976	80	12	developed	develop	VERB
cet-4976	80	13	by	by	ADP
cet-4976	80	14	another	another	DET
cet-4976	80	15	researchers	researcher	NOUN
cet-4976	80	16	(	(	PUNCT
cet-4976	80	17	kiss	kiss	VERB
cet-4976	80	18	and	and	CCONJ
cet-4976	80	19	tevesz	tevesz	NOUN
cet-4976	80	20	2012	2012	NUM
cet-4976	80	21	,	,	PUNCT
cet-4976	80	22	saranrittichai	saranrittichai	PROPN
cet-4976	80	23	et	et	PROPN
cet-4976	80	24	al	al	PROPN
cet-4976	80	25	.	.	PROPN
cet-4976	80	26	2013	2013	NUM
cet-4976	80	27	)	)	PUNCT
cet-4976	80	28	.	.	PUNCT
cet-4976	81	1	the	the	DET
cet-4976	81	2	approach	approach	NOUN
cet-4976	81	3	is	be	AUX
cet-4976	81	4	derived	derive	VERB
cet-4976	81	5	directly	directly	ADV
cet-4976	81	6	from	from	ADP
cet-4976	81	7	the	the	DET
cet-4976	81	8	motion	motion	NOUN
cet-4976	81	9	dynamics	dynamic	NOUN
cet-4976	81	10	of	of	ADP
cet-4976	81	11	the	the	DET
cet-4976	81	12	robot	robot	NOUN
cet-4976	81	13	and	and	CCONJ
cet-4976	81	14	incorporates	incorporate	VERB
cet-4976	81	15	the	the	DET
cet-4976	81	16	dynamics	dynamic	NOUN
cet-4976	81	17	of	of	ADP
cet-4976	81	18	robots	robot	NOUN
cet-4976	81	19	by	by	ADP
cet-4976	81	20	reducing	reduce	VERB
cet-4976	81	21	the	the	DET
cet-4976	81	22	search	search	NOUN
cet-4976	81	23	space	space	NOUN
cet-4976	81	24	to	to	ADP
cet-4976	81	25	the	the	DET
cet-4976	81	26	dynamic	dynamic	ADJ
cet-4976	81	27	window	window	NOUN
cet-4976	81	28	,	,	PUNCT
cet-4976	81	29	in	in	ADP
cet-4976	81	30	which	which	PRON
cet-4976	81	31	there	there	PRON
cet-4976	81	32	are	be	VERB
cet-4976	81	33	only	only	ADV
cet-4976	81	34	admissible	admissible	ADJ
cet-4976	81	35	velocities	velocity	NOUN
cet-4976	81	36	reachable	reachable	ADJ
cet-4976	81	37	within	within	ADP
cet-4976	81	38	a	a	DET
cet-4976	81	39	short	short	ADJ
cet-4976	81	40	time	time	NOUN
cet-4976	81	41	interval	interval	NOUN
cet-4976	81	42	.	.	PUNCT
cet-4976	82	1	then	then	ADV
cet-4976	82	2	,	,	PUNCT
cet-4976	82	3	the	the	DET
cet-4976	82	4	velocity	velocity	NOUN
cet-4976	82	5	optimizes	optimize	VERB
cet-4976	82	6	the	the	DET
cet-4976	82	7	objective	objective	ADJ
cet-4976	82	8	function	function	NOUN
cet-4976	82	9	that	that	PRON
cet-4976	82	10	is	be	AUX
cet-4976	82	11	a	a	DET
cet-4976	82	12	weighted	weighted	ADJ
cet-4976	82	13	sum	sum	NOUN
cet-4976	82	14	of	of	ADP
cet-4976	82	15	three	three	NUM
cet-4976	82	16	terms	term	NOUN
cet-4976	82	17	of	of	ADP
cet-4976	82	18	the	the	DET
cet-4976	82	19	heading	head	VERB
cet-4976	82	20	direction	direction	NOUN
cet-4976	82	21	of	of	ADP
cet-4976	82	22	the	the	DET
cet-4976	82	23	robot	robot	NOUN
cet-4976	82	24	,	,	PUNCT
cet-4976	82	25	the	the	DET
cet-4976	82	26	distance	distance	NOUN
cet-4976	82	27	to	to	ADP
cet-4976	82	28	the	the	DET
cet-4976	82	29	obstacle	obstacle	NOUN
cet-4976	82	30	and	and	CCONJ
cet-4976	82	31	the	the	DET
cet-4976	82	32	velocity	velocity	NOUN
cet-4976	82	33	of	of	ADP
cet-4976	82	34	the	the	DET
cet-4976	82	35	robot	robot	NOUN
cet-4976	82	36	.	.	PUNCT
cet-4976	83	1	it	it	PRON
cet-4976	83	2	should	should	AUX
cet-4976	83	3	be	be	AUX
cet-4976	83	4	mentioned	mention	VERB
cet-4976	83	5	that	that	SCONJ
cet-4976	83	6	this	this	DET
cet-4976	83	7	approach	approach	NOUN
cet-4976	83	8	only	only	ADV
cet-4976	83	9	assumes	assume	VERB
cet-4976	83	10	geometric	geometric	ADJ
cet-4976	83	11	information	information	NOUN
cet-4976	83	12	about	about	ADP
cet-4976	83	13	the	the	DET
cet-4976	83	14	relative	relative	ADJ
cet-4976	83	15	location	location	NOUN
cet-4976	83	16	of	of	ADP
cet-4976	83	17	obstacles	obstacle	NOUN
cet-4976	83	18	and	and	CCONJ
cet-4976	83	19	is	be	AUX
cet-4976	83	20	suitable	suitable	ADJ
cet-4976	83	21	for	for	ADP
cet-4976	83	22	sensors	sensor	NOUN
cet-4976	83	23	like	like	ADP
cet-4976	83	24	ultrasonic	ultrasonic	ADJ
cet-4976	83	25	transducers	transducer	NOUN
cet-4976	83	26	or	or	CCONJ
cet-4976	83	27	laser	laser	NOUN
cet-4976	83	28	range	range	NOUN
cet-4976	83	29	-	-	PUNCT
cet-4976	83	30	finders	finder	NOUN
cet-4976	83	31	.	.	PUNCT
cet-4976	84	1	docking	docking	NOUN
cet-4976	84	2	:	:	PUNCT
cet-4976	84	3	undoubtedly	undoubtedly	ADV
cet-4976	84	4	,	,	PUNCT
cet-4976	84	5	one	one	NUM
cet-4976	84	6	of	of	ADP
cet-4976	84	7	the	the	DET
cet-4976	84	8	most	most	ADV
cet-4976	84	9	necessary	necessary	ADJ
cet-4976	84	10	capabilities	capability	NOUN
cet-4976	84	11	for	for	ADP
cet-4976	84	12	mobile	mobile	ADJ
cet-4976	84	13	robots	robot	NOUN
cet-4976	84	14	with	with	ADP
cet-4976	84	15	the	the	DET
cet-4976	84	16	aim	aim	NOUN
cet-4976	84	17	of	of	ADP
cet-4976	84	18	having	have	VERB
cet-4976	84	19	interaction	interaction	NOUN
cet-4976	84	20	with	with	ADP
cet-4976	84	21	objects	object	NOUN
cet-4976	84	22	or	or	CCONJ
cet-4976	84	23	even	even	ADV
cet-4976	84	24	human	human	ADJ
cet-4976	84	25	in	in	ADP
cet-4976	84	26	their	their	PRON
cet-4976	84	27	environment	environment	NOUN
cet-4976	84	28	is	be	AUX
cet-4976	84	29	docking	dock	VERB
cet-4976	84	30	.	.	PUNCT
cet-4976	85	1	in	in	ADP
cet-4976	85	2	some	some	DET
cet-4976	85	3	tasks	task	NOUN
cet-4976	85	4	such	such	ADJ
cet-4976	85	5	as	as	ADP
cet-4976	85	6	transporting	transport	VERB
cet-4976	85	7	goods	good	NOUN
cet-4976	85	8	on	on	ADP
cet-4976	85	9	a	a	DET
cet-4976	85	10	factory	factory	NOUN
cet-4976	85	11	floor	floor	NOUN
cet-4976	85	12	or	or	CCONJ
cet-4976	85	13	performing	perform	VERB
cet-4976	85	14	cooperative	cooperative	ADJ
cet-4976	85	15	tasks	task	NOUN
cet-4976	85	16	with	with	ADP
cet-4976	85	17	human	human	NOUN
cet-4976	85	18	in	in	ADP
cet-4976	85	19	which	which	PRON
cet-4976	85	20	docking	docking	NOUN
cet-4976	85	21	maneuvers	maneuver	NOUN
cet-4976	85	22	are	be	AUX
cet-4976	85	23	needed	need	VERB
cet-4976	85	24	,	,	PUNCT
cet-4976	85	25	it	it	PRON
cet-4976	85	26	is	be	AUX
cet-4976	85	27	so	so	ADV
cet-4976	85	28	critical	critical	ADJ
cet-4976	85	29	that	that	SCONJ
cet-4976	85	30	robot	robot	NOUN
cet-4976	85	31	’s	’s	PART
cet-4976	85	32	deceleration	deceleration	NOUN
cet-4976	85	33	to	to	ADP
cet-4976	85	34	a	a	DET
cet-4976	85	35	final	final	ADJ
cet-4976	85	36	stop	stop	NOUN
cet-4976	85	37	can	can	AUX
cet-4976	85	38	be	be	AUX
cet-4976	85	39	done	do	VERB
cet-4976	85	40	in	in	ADP
cet-4976	85	41	such	such	DET
cet-4976	85	42	a	a	DET
cet-4976	85	43	way	way	NOUN
cet-4976	85	44	that	that	PRON
cet-4976	85	45	robot	robot	NOUN
cet-4976	85	46	can	can	AUX
cet-4976	85	47	reach	reach	VERB
cet-4976	85	48	to	to	ADP
cet-4976	85	49	the	the	DET
cet-4976	85	50	sufficient	sufficient	ADJ
cet-4976	85	51	proximity	proximity	NOUN
cet-4976	85	52	of	of	ADP
cet-4976	85	53	object	object	NOUN
cet-4976	85	54	or	or	CCONJ
cet-4976	85	55	human	human	NOUN
cet-4976	85	56	to	to	PART
cet-4976	85	57	happen	happen	VERB
cet-4976	85	58	the	the	DET
cet-4976	85	59	interaction	interaction	NOUN
cet-4976	85	60	without	without	ADP
cet-4976	85	61	any	any	DET
cet-4976	85	62	collision	collision	NOUN
cet-4976	85	63	occurrence	occurrence	NOUN
cet-4976	85	64	.	.	PUNCT
cet-4976	86	1	due	due	ADP
cet-4976	86	2	to	to	ADP
cet-4976	86	3	this	this	DET
cet-4976	86	4	purpose	purpose	NOUN
cet-4976	86	5	,	,	PUNCT
cet-4976	86	6	time	time	NOUN
cet-4976	86	7	of	of	ADP
cet-4976	86	8	contact	contact	NOUN
cet-4976	86	9	should	should	AUX
cet-4976	86	10	be	be	AUX
cet-4976	86	11	estimated	estimate	VERB
cet-4976	86	12	and	and	CCONJ
cet-4976	86	13	velocity	velocity	NOUN
cet-4976	86	14	of	of	ADP
cet-4976	86	15	the	the	DET
cet-4976	86	16	robot	robot	NOUN
cet-4976	86	17	needs	need	VERB
cet-4976	86	18	to	to	PART
cet-4976	86	19	be	be	AUX
cet-4976	86	20	controlled	control	VERB
cet-4976	86	21	.	.	PUNCT
cet-4976	87	1	low	low	ADJ
cet-4976	87	2	and	and	CCONJ
cet-4976	87	3	savkin	savkin	NOUN
cet-4976	87	4	2006	2006	NUM
cet-4976	87	5	,	,	PUNCT
cet-4976	87	6	proposed	propose	VERB
cet-4976	87	7	a	a	DET
cet-4976	87	8	vision	vision	NOUN
cet-4976	87	9	-	-	PUNCT
cet-4976	87	10	based	base	VERB
cet-4976	87	11	docking	docking	NOUN
cet-4976	87	12	system	system	NOUN
cet-4976	87	13	to	to	PART
cet-4976	87	14	control	control	VERB
cet-4976	87	15	the	the	DET
cet-4976	87	16	approaching	approach	VERB
cet-4976	87	17	motion	motion	NOUN
cet-4976	87	18	of	of	ADP
cet-4976	87	19	a	a	DET
cet-4976	87	20	wheeled	wheel	VERB
cet-4976	87	21	mobile	mobile	ADJ
cet-4976	87	22	robot	robot	NOUN
cet-4976	87	23	toward	toward	ADP
cet-4976	87	24	a	a	DET
cet-4976	87	25	static	static	ADJ
cet-4976	87	26	target	target	NOUN
cet-4976	87	27	using	use	VERB
cet-4976	87	28	just	just	ADV
cet-4976	87	29	a	a	DET
cet-4976	87	30	video	video	NOUN
cet-4976	87	31	camera	camera	NOUN
cet-4976	87	32	.	.	PUNCT
cet-4976	88	1	this	this	DET
cet-4976	88	2	idea	idea	NOUN
cet-4976	88	3	came	come	VERB
cet-4976	88	4	from	from	ADP
cet-4976	88	5	insect	insect	NOUN
cet-4976	88	6	navigation	navigation	NOUN
cet-4976	88	7	.	.	PUNCT
cet-4976	89	1	it	it	PRON
cet-4976	89	2	should	should	AUX
cet-4976	89	3	be	be	AUX
cet-4976	89	4	mentioned	mention	VERB
cet-4976	89	5	that	that	SCONJ
cet-4976	89	6	this	this	DET
cet-4976	89	7	method	method	NOUN
cet-4976	89	8	is	be	AUX
cet-4976	89	9	proposed	propose	VERB
cet-4976	89	10	by	by	ADP
cet-4976	89	11	manchester	manchester	PROPN
cet-4976	89	12	and	and	CCONJ
cet-4976	89	13	savkin2005	savkin2005	PROPN
cet-4976	89	14	,	,	PUNCT
cet-4976	89	15	for	for	ADP
cet-4976	89	16	the	the	DET
cet-4976	89	17	first	first	ADJ
cet-4976	89	18	time	time	NOUN
cet-4976	89	19	.	.	PUNCT
cet-4976	90	1	the	the	DET
cet-4976	90	2	control	control	NOUN
cet-4976	90	3	law	law	NOUN
cet-4976	90	4	not	not	PART
cet-4976	90	5	only	only	ADV
cet-4976	90	6	does	do	AUX
cet-4976	90	7	not	not	PART
cet-4976	90	8	try	try	VERB
cet-4976	90	9	to	to	PART
cet-4976	90	10	observe	observe	VERB
cet-4976	90	11	the	the	DET
cet-4976	90	12	relative	relative	ADJ
cet-4976	90	13	pose	pose	NOUN
cet-4976	90	14	of	of	ADP
cet-4976	90	15	robot	robot	NOUN
cet-4976	90	16	and	and	CCONJ
cet-4976	90	17	target	target	NOUN
cet-4976	90	18	,	,	PUNCT
cet-4976	90	19	but	but	CCONJ
cet-4976	90	20	also	also	ADV
cet-4976	90	21	only	only	ADV
cet-4976	90	22	uses	use	VERB
cet-4976	90	23	the	the	DET
cet-4976	90	24	prompt	prompt	ADJ
cet-4976	90	25	visual	visual	ADJ
cet-4976	90	26	information	information	NOUN
cet-4976	90	27	for	for	ADP
cet-4976	90	28	the	the	DET
cet-4976	90	29	control	control	NOUN
cet-4976	90	30	process	process	NOUN
cet-4976	90	31	,	,	PUNCT
cet-4976	90	32	but	but	CCONJ
cet-4976	90	33	relying	rely	VERB
cet-4976	90	34	on	on	ADP
cet-4976	90	35	only	only	ADJ
cet-4976	90	36	visual	visual	ADJ
cet-4976	90	37	information	information	NOUN
cet-4976	90	38	can	can	AUX
cet-4976	90	39	be	be	AUX
cet-4976	90	40	viewed	view	VERB
cet-4976	90	41	as	as	ADP
cet-4976	90	42	a	a	DET
cet-4976	90	43	drawback	drawback	NOUN
cet-4976	90	44	for	for	ADP
cet-4976	90	45	system	system	NOUN
cet-4976	90	46	.	.	PUNCT
cet-4976	91	1	low	low	PROPN
cet-4976	91	2	et	et	PROPN
cet-4976	91	3	al	al	PROPN
cet-4976	91	4	.	.	PROPN
cet-4976	91	5	2007	2007	NUM
cet-4976	91	6	,	,	PUNCT
cet-4976	91	7	presented	present	VERB
cet-4976	91	8	a	a	DET
cet-4976	91	9	behavior	behavior	NOUN
cet-4976	91	10	-	-	PUNCT
cet-4976	91	11	based	base	VERB
cet-4976	91	12	control	control	NOUN
cet-4976	91	13	law	law	NOUN
cet-4976	91	14	is	be	AUX
cet-4976	91	15	presented	present	VERB
cet-4976	91	16	while	while	SCONJ
cet-4976	91	17	the	the	DET
cet-4976	91	18	vision	vision	NOUN
cet-4976	91	19	system	system	NOUN
cet-4976	91	20	is	be	AUX
cet-4976	91	21	based	base	VERB
cet-4976	91	22	on	on	ADP
cet-4976	91	23	the	the	DET
cet-4976	91	24	concept	concept	NOUN
cet-4976	91	25	of	of	ADP
cet-4976	91	26	the	the	DET
cet-4976	91	27	active	active	ADJ
cet-4976	91	28	vision	vision	NOUN
cet-4976	91	29	paradigm	paradigm	NOUN
cet-4976	91	30	.	.	PUNCT
cet-4976	92	1	video	video	NOUN
cet-4976	92	2	camera	camera	NOUN
cet-4976	92	3	is	be	AUX
cet-4976	92	4	located	locate	VERB
cet-4976	92	5	on	on	ADP
cet-4976	92	6	a	a	DET
cet-4976	92	7	wheeled	wheel	VERB
cet-4976	92	8	robot	robot	NOUN
cet-4976	92	9	and	and	CCONJ
cet-4976	92	10	for	for	ADP
cet-4976	92	11	making	make	VERB
cet-4976	92	12	sure	sure	ADJ
cet-4976	92	13	about	about	ADP
cet-4976	92	14	maintaining	maintain	VERB
cet-4976	92	15	the	the	DET
cet-4976	92	16	sight	sight	NOUN
cet-4976	92	17	of	of	ADP
cet-4976	92	18	an	an	DET
cet-4976	92	19	object	object	NOUN
cet-4976	92	20	of	of	ADP
cet-4976	92	21	interest	interest	NOUN
cet-4976	92	22	in	in	ADP
cet-4976	92	23	an	an	DET
cet-4976	92	24	environment	environment	NOUN
cet-4976	92	25	,	,	PUNCT
cet-4976	92	26	a	a	DET
cet-4976	92	27	visual	visual	ADJ
cet-4976	92	28	gaze	gaze	NOUN
cet-4976	92	29	algorithm	algorithm	NOUN
cet-4976	92	30	based	base	VERB
cet-4976	92	31	on	on	ADP
cet-4976	92	32	the	the	DET
cet-4976	92	33	concept	concept	NOUN
cet-4976	92	34	of	of	ADP
cet-4976	92	35	eye	eye	NOUN
cet-4976	92	36	–	–	PUNCT
cet-4976	92	37	head	head	NOUN
cet-4976	92	38	coordination	coordination	NOUN
cet-4976	92	39	is	be	AUX
cet-4976	92	40	employed	employ	VERB
cet-4976	92	41	.	.	PUNCT
cet-4976	93	1	compliance	compliance	NOUN
cet-4976	93	2	control	control	NOUN
cet-4976	93	3	:	:	PUNCT
cet-4976	93	4	one	one	NUM
cet-4976	93	5	of	of	ADP
cet-4976	93	6	the	the	DET
cet-4976	93	7	most	most	ADV
cet-4976	93	8	key	key	ADJ
cet-4976	93	9	problems	problem	NOUN
cet-4976	93	10	in	in	ADP
cet-4976	93	11	the	the	DET
cet-4976	93	12	area	area	NOUN
cet-4976	93	13	of	of	ADP
cet-4976	93	14	human	human	ADJ
cet-4976	93	15	and	and	CCONJ
cet-4976	93	16	robot	robot	NOUN
cet-4976	93	17	interaction	interaction	NOUN
cet-4976	93	18	can	can	AUX
cet-4976	93	19	be	be	AUX
cet-4976	93	20	the	the	DET
cet-4976	93	21	adjacency	adjacency	NOUN
cet-4976	93	22	and	and	CCONJ
cet-4976	93	23	adaptability	adaptability	NOUN
cet-4976	93	24	to	to	ADP
cet-4976	93	25	environment	environment	NOUN
cet-4976	93	26	,	,	PUNCT
cet-4976	93	27	above	above	ADP
cet-4976	93	28	all	all	PRON
cet-4976	93	29	in	in	ADP
cet-4976	93	30	the	the	DET
cet-4976	93	31	case	case	NOUN
cet-4976	93	32	of	of	ADP
cet-4976	93	33	moving	move	VERB
cet-4976	93	34	robot	robot	NOUN
cet-4976	93	35	in	in	ADP
cet-4976	93	36	an	an	DET
cet-4976	93	37	unknown	unknown	ADJ
cet-4976	93	38	or	or	CCONJ
cet-4976	93	39	unstructured	unstructured	ADJ
cet-4976	93	40	ambient	ambient	NOUN
cet-4976	93	41	.	.	PUNCT
cet-4976	94	1	compliance	compliance	NOUN
cet-4976	94	2	control	control	NOUN
cet-4976	94	3	can	can	AUX
cet-4976	94	4	be	be	AUX
cet-4976	94	5	a	a	DET
cet-4976	94	6	suitable	suitable	ADJ
cet-4976	94	7	candidate	candidate	NOUN
cet-4976	94	8	for	for	ADP
cet-4976	94	9	this	this	DET
cet-4976	94	10	issue	issue	NOUN
cet-4976	94	11	.	.	PUNCT
cet-4976	95	1	in	in	ADP
cet-4976	95	2	general	general	ADJ
cet-4976	95	3	there	there	PRON
cet-4976	95	4	is	be	VERB
cet-4976	95	5	a	a	DET
cet-4976	95	6	relationship	relationship	NOUN
cet-4976	95	7	between	between	ADP
cet-4976	95	8	the	the	DET
cet-4976	95	9	gain	gain	NOUN
cet-4976	95	10	of	of	ADP
cet-4976	95	11	disturbance	disturbance	NOUN
cet-4976	95	12	observer	observer	NOUN
cet-4976	95	13	that	that	PRON
cet-4976	95	14	is	be	AUX
cet-4976	95	15	widely	widely	ADV
cet-4976	95	16	used	use	VERB
cet-4976	95	17	for	for	ADP
cet-4976	95	18	enhancing	enhance	VERB
cet-4976	95	19	robustness	robustness	NOUN
cet-4976	95	20	and	and	CCONJ
cet-4976	95	21	stability	stability	NOUN
cet-4976	95	22	in	in	ADP
cet-4976	95	23	compliance	compliance	NOUN
cet-4976	95	24	control	control	NOUN
cet-4976	95	25	and	and	CCONJ
cet-4976	95	26	larger	large	ADJ
cet-4976	95	27	dob	dob	PROPN
cet-4976	95	28	’s	’s	PART
cet-4976	95	29	cutoff	cutoff	NOUN
cet-4976	95	30	frequency	frequency	NOUN
cet-4976	95	31	is	be	AUX
cet-4976	95	32	leading	lead	VERB
cet-4976	95	33	to	to	PART
cet-4976	95	34	stabilize	stabilize	VERB
cet-4976	95	35	systems	system	NOUN
cet-4976	95	36	.	.	PUNCT
cet-4976	96	1	compliance	compliance	NOUN
cet-4976	96	2	control	control	NOUN
cet-4976	96	3	is	be	AUX
cet-4976	96	4	to	to	PART
cet-4976	96	5	control	control	VERB
cet-4976	96	6	the	the	DET
cet-4976	96	7	position	position	NOUN
cet-4976	96	8	and	and	CCONJ
cet-4976	96	9	force	force	NOUN
cet-4976	96	10	through	through	ADP
cet-4976	96	11	virtual	virtual	ADJ
cet-4976	96	12	impedance	impedance	NOUN
cet-4976	96	13	.	.	PUNCT
cet-4976	97	1	in	in	ADP
cet-4976	97	2	fact	fact	NOUN
cet-4976	97	3	,	,	PUNCT
cet-4976	97	4	compliance	compliance	NOUN
cet-4976	97	5	control	control	NOUN
cet-4976	97	6	can	can	AUX
cet-4976	97	7	reduce	reduce	VERB
cet-4976	97	8	reaction	reaction	NOUN
cet-4976	97	9	force	force	NOUN
cet-4976	97	10	differently	differently	ADV
cet-4976	97	11	from	from	ADP
cet-4976	97	12	position	position	NOUN
cet-4976	97	13	control	control	NOUN
cet-4976	97	14	.	.	PUNCT
cet-4976	98	1	in	in	ADP
cet-4976	98	2	position	position	NOUN
cet-4976	98	3	control	control	NOUN
cet-4976	98	4	,	,	PUNCT
cet-4976	98	5	a	a	DET
cet-4976	98	6	robot	robot	NOUN
cet-4976	98	7	ca	can	AUX
cet-4976	98	8	n’t	not	PART
cet-4976	98	9	control	control	VERB
cet-4976	98	10	the	the	DET
cet-4976	98	11	reaction	reaction	NOUN
cet-4976	98	12	force	force	NOUN
cet-4976	98	13	if	if	SCONJ
cet-4976	98	14	it	it	PRON
cet-4976	98	15	contacts	contact	VERB
cet-4976	98	16	to	to	ADP
cet-4976	98	17	environment	environment	NOUN
cet-4976	98	18	.	.	PUNCT
cet-4976	99	1	then	then	ADV
cet-4976	99	2	,	,	PUNCT
cet-4976	99	3	the	the	DET
cet-4976	99	4	environment	environment	NOUN
cet-4976	99	5	may	may	AUX
cet-4976	99	6	be	be	AUX
cet-4976	99	7	destroyed	destroy	VERB
cet-4976	99	8	in	in	ADP
cet-4976	99	9	contact	contact	NOUN
cet-4976	99	10	motion	motion	NOUN
cet-4976	99	11	.	.	PUNCT
cet-4976	100	1	therefore	therefore	ADV
cet-4976	100	2	,	,	PUNCT
cet-4976	100	3	compliance	compliance	NOUN
cet-4976	100	4	control	control	NOUN
cet-4976	100	5	is	be	AUX
cet-4976	100	6	suitable	suitable	ADJ
cet-4976	100	7	to	to	PART
cet-4976	100	8	apply	apply	VERB
cet-4976	100	9	flexible	flexible	ADJ
cet-4976	100	10	motion	motion	NOUN
cet-4976	100	11	control	control	NOUN
cet-4976	100	12	and	and	CCONJ
cet-4976	100	13	mobile	mobile	ADJ
cet-4976	100	14	robot	robot	NOUN
cet-4976	100	15	like	like	ADP
cet-4976	100	16	electric	electric	PROPN
cet-4976	100	17	wheelchair	wheelchair	NOUN
cet-4976	100	18	introduced	introduce	VERB
cet-4976	100	19	by	by	ADP
cet-4976	100	20	katsura	katsura	PROPN
cet-4976	100	21	and	and	CCONJ
cet-4976	100	22	ohnishi	ohnishi	PROPN
cet-4976	100	23	2004	2004	NUM
cet-4976	100	24	and	and	CCONJ
cet-4976	100	25	legged	legged	ADJ
cet-4976	100	26	robot	robot	NOUN
cet-4976	100	27	proposed	propose	VERB
cet-4976	100	28	by	by	ADP
cet-4976	100	29	wei	wei	PROPN
cet-4976	100	30	et	et	PROPN
cet-4976	100	31	al	al	PROPN
cet-4976	100	32	.	.	PROPN
cet-4976	100	33	2010	2010	NUM
cet-4976	100	34	,	,	PUNCT
cet-4976	100	35	and	and	CCONJ
cet-4976	100	36	so	so	ADV
cet-4976	100	37	on	on	ADV
cet-4976	100	38	.	.	PUNCT
cet-4976	101	1	6	6	X
cet-4976	101	2	.	.	X
cet-4976	101	3	conclusion	conclusion	NOUN
cet-4976	101	4	and	and	CCONJ
cet-4976	101	5	future	future	ADJ
cet-4976	101	6	work	work	NOUN
cet-4976	101	7	in	in	ADP
cet-4976	101	8	the	the	DET
cet-4976	101	9	hri	hri	PROPN
cet-4976	101	10	area	area	NOUN
cet-4976	101	11	,	,	PUNCT
cet-4976	101	12	visual	visual	ADJ
cet-4976	101	13	sensing	sense	VERB
cet-4976	101	14	techniques	technique	NOUN
cet-4976	101	15	are	be	AUX
cet-4976	101	16	commonly	commonly	ADV
cet-4976	101	17	used	use	VERB
cet-4976	101	18	for	for	ADP
cet-4976	101	19	proximity	proximity	NOUN
cet-4976	101	20	detection	detection	NOUN
cet-4976	101	21	.	.	PUNCT
cet-4976	102	1	in	in	ADP
cet-4976	102	2	particular	particular	ADJ
cet-4976	102	3	,	,	PUNCT
cet-4976	102	4	kinect	kinect	ADJ
cet-4976	102	5	sensors	sensor	NOUN
cet-4976	102	6	are	be	AUX
cet-4976	102	7	highly	highly	ADV
cet-4976	102	8	recommended	recommend	VERB
cet-4976	102	9	.	.	PUNCT
cet-4976	103	1	in	in	ADP
cet-4976	103	2	order	order	NOUN
cet-4976	103	3	to	to	PART
cet-4976	103	4	have	have	AUX
cet-4976	103	5	an	an	DET
cet-4976	103	6	effective	effective	ADJ
cet-4976	103	7	collision	collision	NOUN
cet-4976	103	8	avoidance	avoidance	NOUN
cet-4976	103	9	algorithm	algorithm	NOUN
cet-4976	103	10	,	,	PUNCT
cet-4976	103	11	the	the	DET
cet-4976	103	12	dynamic	dynamic	ADJ
cet-4976	103	13	window	window	NOUN
cet-4976	103	14	approach	approach	NOUN
cet-4976	103	15	seems	seem	VERB
cet-4976	103	16	appropriate	appropriate	ADJ
cet-4976	103	17	in	in	ADP
cet-4976	103	18	this	this	DET
cet-4976	103	19	area	area	NOUN
cet-4976	103	20	.	.	PUNCT
cet-4976	104	1	the	the	DET
cet-4976	104	2	most	most	ADV
cet-4976	104	3	important	important	ADJ
cet-4976	104	4	advantages	advantage	NOUN
cet-4976	104	5	of	of	ADP
cet-4976	104	6	this	this	DET
cet-4976	104	7	approach	approach	NOUN
cet-4976	104	8	can	can	AUX
cet-4976	104	9	be	be	AUX
cet-4976	104	10	flexibility	flexibility	NOUN
cet-4976	104	11	for	for	ADP
cet-4976	104	12	modifying	modifying	NOUN
cet-4976	104	13	and	and	CCONJ
cet-4976	104	14	capability	capability	NOUN
cet-4976	104	15	of	of	ADP
cet-4976	104	16	dealing	deal	VERB
cet-4976	104	17	with	with	ADP
cet-4976	104	18	the	the	DET
cet-4976	104	19	uncertainty	uncertainty	NOUN
cet-4976	104	20	.	.	PUNCT
cet-4976	105	1	computer	computer	NOUN
cet-4976	105	2	vision	vision	NOUN
cet-4976	105	3	-	-	PUNCT
cet-4976	105	4	based	base	VERB
cet-4976	105	5	docking	docking	NOUN
cet-4976	105	6	offers	offer	VERB
cet-4976	105	7	the	the	DET
cet-4976	105	8	ability	ability	NOUN
cet-4976	105	9	to	to	PART
cet-4976	105	10	use	use	VERB
cet-4976	105	11	simple	simple	ADJ
cet-4976	105	12	and	and	CCONJ
cet-4976	105	13	more	more	ADV
cet-4976	105	14	general	general	ADJ
cet-4976	105	15	docking	docking	NOUN
cet-4976	105	16	stations	station	NOUN
cet-4976	105	17	(	(	PUNCT
cet-4976	105	18	simple	simple	ADJ
cet-4976	105	19	visual	visual	ADJ
cet-4976	105	20	patterns	pattern	NOUN
cet-4976	105	21	)	)	PUNCT
cet-4976	105	22	.	.	PUNCT
cet-4976	106	1	additionally	additionally	ADV
cet-4976	106	2	,	,	PUNCT
cet-4976	106	3	computer	computer	NOUN
cet-4976	106	4	vision	vision	NOUN
cet-4976	106	5	1252	1252	NUM
cet-4976	106	6	is	be	AUX
cet-4976	106	7	a	a	DET
cet-4976	106	8	compact	compact	ADJ
cet-4976	106	9	and	and	CCONJ
cet-4976	106	10	low	low	ADJ
cet-4976	106	11	cost	cost	NOUN
cet-4976	106	12	sensor	sensor	NOUN
cet-4976	106	13	popular	popular	ADJ
cet-4976	106	14	in	in	ADP
cet-4976	106	15	general	general	ADJ
cet-4976	106	16	robot	robot	PROPN
cet-4976	106	17	control	control	PROPN
cet-4976	106	18	literature	literature	PROPN
cet-4976	106	19	.	.	PUNCT
cet-4976	107	1	among	among	ADP
cet-4976	107	2	all	all	DET
cet-4976	107	3	literature	literature	NOUN
cet-4976	107	4	review	review	NOUN
cet-4976	107	5	been	be	AUX
cet-4976	107	6	carried	carry	VERB
cet-4976	107	7	out	out	ADP
cet-4976	107	8	,	,	PUNCT
cet-4976	107	9	he	he	PRON
cet-4976	107	10	most	most	ADV
cet-4976	107	11	common	common	ADJ
cet-4976	107	12	used	use	VERB
cet-4976	107	13	control	control	NOUN
cet-4976	107	14	method	method	NOUN
cet-4976	107	15	in	in	ADP
cet-4976	107	16	the	the	DET
cet-4976	107	17	compliance	compliance	NOUN
cet-4976	107	18	field	field	NOUN
cet-4976	107	19	can	can	AUX
cet-4976	107	20	be	be	AUX
cet-4976	107	21	impedance	impedance	NOUN
cet-4976	107	22	control	control	NOUN
cet-4976	107	23	.	.	PUNCT
cet-4976	108	1	accordingly	accordingly	ADV
cet-4976	108	2	,	,	PUNCT
cet-4976	108	3	control	control	NOUN
cet-4976	108	4	system	system	NOUN
cet-4976	108	5	design	design	NOUN
cet-4976	108	6	can	can	AUX
cet-4976	108	7	be	be	AUX
cet-4976	108	8	considered	consider	VERB
cet-4976	108	9	as	as	ADP
cet-4976	108	10	figure	figure	NOUN
cet-4976	108	11	.	.	PUNCT
cet-4976	109	1	2	2	X
cet-4976	109	2	.	.	X
cet-4976	109	3	the	the	DET
cet-4976	109	4	coexistence	coexistence	NOUN
cet-4976	109	5	of	of	ADP
cet-4976	109	6	humans	human	NOUN
cet-4976	109	7	in	in	ADP
cet-4976	109	8	robots	robot	NOUN
cet-4976	109	9	’	'	PUNCT
cet-4976	109	10	operational	operational	ADJ
cet-4976	109	11	domains	domain	NOUN
cet-4976	109	12	brings	bring	VERB
cet-4976	109	13	a	a	DET
cet-4976	109	14	significant	significant	ADJ
cet-4976	109	15	risk	risk	NOUN
cet-4976	109	16	of	of	ADP
cet-4976	109	17	dangerous	dangerous	ADJ
cet-4976	109	18	situations	situation	NOUN
cet-4976	109	19	for	for	ADP
cet-4976	109	20	those	those	PRON
cet-4976	109	21	involved	involve	VERB
cet-4976	109	22	.	.	PUNCT
cet-4976	110	1	hence	hence	ADV
cet-4976	110	2	,	,	PUNCT
cet-4976	110	3	surveys	survey	NOUN
cet-4976	110	4	in	in	ADP
cet-4976	110	5	the	the	DET
cet-4976	110	6	area	area	NOUN
cet-4976	110	7	of	of	ADP
cet-4976	110	8	human	human	ADJ
cet-4976	110	9	robot	robot	NOUN
cet-4976	110	10	cooperation	cooperation	NOUN
cet-4976	110	11	requires	require	VERB
cet-4976	110	12	to	to	PART
cet-4976	110	13	be	be	AUX
cet-4976	110	14	considered	consider	VERB
cet-4976	110	15	from	from	ADP
cet-4976	110	16	the	the	DET
cet-4976	110	17	safety	safety	NOUN
cet-4976	110	18	and	and	CCONJ
cet-4976	110	19	risk	risk	NOUN
cet-4976	110	20	assessment	assessment	NOUN
cet-4976	110	21	points	point	NOUN
cet-4976	110	22	of	of	ADP
cet-4976	110	23	view	view	NOUN
cet-4976	110	24	as	as	ADV
cet-4976	110	25	well	well	ADV
cet-4976	110	26	as	as	ADP
cet-4976	110	27	system	system	NOUN
cet-4976	110	28	control	control	NOUN
cet-4976	110	29	prospective	prospective	ADJ
cet-4976	110	30	.	.	PUNCT
cet-4976	111	1	although	although	SCONJ
cet-4976	111	2	,	,	PUNCT
cet-4976	111	3	all	all	PRON
cet-4976	111	4	above	above	ADP
cet-4976	111	5	mentioned	mention	VERB
cet-4976	111	6	approaches	approach	NOUN
cet-4976	111	7	can	can	AUX
cet-4976	111	8	be	be	AUX
cet-4976	111	9	useful	useful	ADJ
cet-4976	111	10	in	in	ADP
cet-4976	111	11	keeping	keep	VERB
cet-4976	111	12	human	human	ADJ
cet-4976	111	13	robot	robot	NOUN
cet-4976	111	14	interaction	interaction	NOUN
cet-4976	111	15	safe	safe	ADJ
cet-4976	111	16	,	,	PUNCT
cet-4976	111	17	their	their	PRON
cet-4976	111	18	insufficient	insufficient	ADJ
cet-4976	111	19	information	information	NOUN
cet-4976	111	20	of	of	ADP
cet-4976	111	21	human	human	PROPN
cet-4976	111	22	bio	bio	NOUN
cet-4976	111	23	-	-	NOUN
cet-4976	111	24	mechanics	mechanic	NOUN
cet-4976	111	25	about	about	ADP
cet-4976	111	26	the	the	DET
cet-4976	111	27	power	power	NOUN
cet-4976	111	28	of	of	ADP
cet-4976	111	29	the	the	DET
cet-4976	111	30	human	human	ADJ
cet-4976	111	31	body	body	NOUN
cet-4976	111	32	weaken	weaken	VERB
cet-4976	111	33	their	their	PRON
cet-4976	111	34	efficiency	efficiency	NOUN
cet-4976	111	35	.	.	PUNCT
cet-4976	112	1	figure	figure	NOUN
cet-4976	112	2	2	2	NUM
cet-4976	112	3	.	.	PUNCT
cet-4976	112	4	block	block	NOUN
cet-4976	112	5	diagram	diagram	NOUN
cet-4976	112	6	of	of	ADP
cet-4976	112	7	safety	safety	NOUN
cet-4976	112	8	system	system	NOUN
cet-4976	112	9	designing	design	VERB
cet-4976	112	10	as	as	ADP
cet-4976	112	11	a	a	DET
cet-4976	112	12	result	result	NOUN
cet-4976	112	13	,	,	PUNCT
cet-4976	112	14	it	it	PRON
cet-4976	112	15	is	be	AUX
cet-4976	112	16	required	require	VERB
cet-4976	112	17	that	that	SCONJ
cet-4976	112	18	the	the	DET
cet-4976	112	19	study	study	NOUN
cet-4976	112	20	of	of	ADP
cet-4976	112	21	human	human	PROPN
cet-4976	112	22	bio	bio	PROPN
cet-4976	112	23	-	-	PUNCT
cet-4976	112	24	mechanics	mechanic	NOUN
cet-4976	112	25	to	to	PART
cet-4976	112	26	be	be	AUX
cet-4976	112	27	more	more	ADV
cet-4976	112	28	investigated	investigate	VERB
cet-4976	112	29	in	in	ADP
cet-4976	112	30	details	detail	NOUN
cet-4976	112	31	.	.	PUNCT
cet-4976	113	1	in	in	ADP
cet-4976	113	2	this	this	DET
cet-4976	113	3	way	way	NOUN
cet-4976	113	4	,	,	PUNCT
cet-4976	113	5	the	the	DET
cet-4976	113	6	robot	robot	NOUN
cet-4976	113	7	behavior	behavior	NOUN
cet-4976	113	8	can	can	AUX
cet-4976	113	9	be	be	AUX
cet-4976	113	10	correlated	correlate	VERB
cet-4976	113	11	with	with	ADP
cet-4976	113	12	the	the	DET
cet-4976	113	13	estimation	estimation	NOUN
cet-4976	113	14	of	of	ADP
cet-4976	113	15	injury	injury	NOUN
cet-4976	113	16	severity	severity	NOUN
cet-4976	113	17	under	under	ADP
cet-4976	113	18	direct	direct	ADJ
cet-4976	113	19	physical	physical	ADJ
cet-4976	113	20	contact	contact	NOUN
cet-4976	113	21	with	with	ADP
cet-4976	113	22	the	the	DET
cet-4976	113	23	robot	robot	NOUN
cet-4976	113	24	.	.	PUNCT
cet-4976	114	1	for	for	ADP
cet-4976	114	2	the	the	DET
cet-4976	114	3	effective	effective	ADJ
cet-4976	114	4	risk	risk	NOUN
cet-4976	114	5	assessment	assessment	NOUN
cet-4976	114	6	,	,	PUNCT
cet-4976	114	7	all	all	DET
cet-4976	114	8	critical	critical	ADJ
cet-4976	114	9	hazardous	hazardous	ADJ
cet-4976	114	10	situations	situation	NOUN
cet-4976	114	11	during	during	ADP
cet-4976	114	12	human	human	ADJ
cet-4976	114	13	-	-	PUNCT
cet-4976	114	14	robot	robot	NOUN
cet-4976	114	15	interaction	interaction	NOUN
cet-4976	114	16	should	should	AUX
cet-4976	114	17	be	be	AUX
cet-4976	114	18	evaluated	evaluate	VERB
cet-4976	114	19	.	.	PUNCT
cet-4976	115	1	possible	possible	ADJ
cet-4976	115	2	solutions	solution	NOUN
cet-4976	115	3	to	to	PART
cet-4976	115	4	eliminate	eliminate	VERB
cet-4976	115	5	them	they	PRON
cet-4976	115	6	and	and	CCONJ
cet-4976	115	7	decrease	decrease	VERB
cet-4976	115	8	the	the	DET
cet-4976	115	9	probability	probability	NOUN
cet-4976	115	10	of	of	ADP
cet-4976	115	11	occurrence	occurrence	NOUN
cet-4976	115	12	and	and	CCONJ
cet-4976	115	13	severity	severity	NOUN
cet-4976	115	14	of	of	ADP
cet-4976	115	15	the	the	DET
cet-4976	115	16	consequences	consequence	NOUN
cet-4976	115	17	should	should	AUX
cet-4976	115	18	be	be	AUX
cet-4976	115	19	found	find	VERB
cet-4976	115	20	.	.	PUNCT
cet-4976	116	1	acknowledgements	acknowledgement	NOUN
cet-4976	116	2	this	this	DET
cet-4976	116	3	research	research	NOUN
cet-4976	116	4	was	be	AUX
cet-4976	116	5	supported	support	VERB
cet-4976	116	6	by	by	ADP
cet-4976	116	7	innhf	innhf	NOUN
cet-4976	116	8	project	project	NOUN
cet-4976	116	9	.	.	PUNCT
cet-4976	117	1	the	the	DET
cet-4976	117	2	project	project	NOUN
cet-4976	117	3	is	be	AUX
cet-4976	117	4	financed	finance	VERB
cet-4976	117	5	under	under	ADP
cet-4976	117	6	eu	eu	PROPN
cet-4976	117	7	fp7	fp7	PROPN
cet-4976	117	8	marie	marie	PROPN
cet-4976	117	9	curie	curie	PROPN
cet-4976	117	10	actions	action	NOUN
cet-4976	117	11	initial	initial	ADJ
cet-4976	117	12	training	training	NOUN
cet-4976	117	13	networks	network	NOUN
cet-4976	117	14	-	-	PUNCT
cet-4976	117	15	fp7	fp7	PROPN
cet-4976	117	16	-	-	PUNCT
cet-4976	117	17	people-2011	people-2011	ADJ
cet-4976	117	18	-	-	PUNCT
cet-4976	117	19	itn	itn	NOUN
cet-4976	117	20	:	:	PUNCT
cet-4976	117	21	project	project	NOUN
cet-4976	117	22	i	i	PROPN
cet-4976	117	23	d	d	PROPN
cet-4976	117	24	289837	289837	NUM
cet-4976	117	25	.	.	PUNCT
cet-4976	118	1	references	reference	NOUN
cet-4976	118	2	borenstein	borenstein	PROPN
cet-4976	118	3	j.	j.	PROPN
cet-4976	118	4	,	,	PUNCT
cet-4976	118	5	koren	koren	PROPN
cet-4976	118	6	y.	y.	PROPN
cet-4976	118	7	,	,	PUNCT
cet-4976	118	8	1991	1991	NUM
cet-4976	118	9	,	,	PUNCT
cet-4976	118	10	the	the	DET
cet-4976	118	11	vector	vector	NOUN
cet-4976	118	12	field	field	NOUN
cet-4976	118	13	histogram	histogram	NOUN
cet-4976	118	14	fast	fast	ADJ
cet-4976	118	15	obstacle	obstacle	NOUN
cet-4976	118	16	avoidance	avoidance	NOUN
cet-4976	118	17	for	for	ADP
cet-4976	118	18	mobile	mobile	ADJ
cet-4976	118	19	robots	robot	NOUN
cet-4976	118	20	,	,	PUNCT
cet-4976	118	21	ieee	ieee	PROPN
cet-4976	118	22	trans	trans	PROPN
cet-4976	118	23	.	.	PUNCT
cet-4976	119	1	robot	robot	PROPN
cet-4976	119	2	.	.	PUNCT
cet-4976	120	1	autom	autom	PROPN
cet-4976	120	2	.	.	PUNCT
cet-4976	121	1	,	,	PUNCT
cet-4976	121	2	vol	vol	NOUN
cet-4976	121	3	.	.	PROPN
cet-4976	121	4	7	7	NUM
cet-4976	121	5	,	,	PUNCT
cet-4976	121	6	278–288	278–288	NUM
cet-4976	121	7	.	.	PUNCT
cet-4976	122	1	kulić	kulić	NOUN
cet-4976	122	2	,	,	PUNCT
cet-4976	122	3	d.	d.	PROPN
cet-4976	122	4	&	&	CCONJ
cet-4976	122	5	croft	croft	PROPN
cet-4976	122	6	,	,	PUNCT
cet-4976	122	7	e.	e.	PROPN
cet-4976	122	8	a.	a.	PROPN
cet-4976	122	9	,	,	PUNCT
cet-4976	122	10	2006	2006	NUM
cet-4976	122	11	,	,	PUNCT
cet-4976	122	12	real	real	ADJ
cet-4976	122	13	-	-	PUNCT
cet-4976	122	14	time	time	NOUN
cet-4976	122	15	safety	safety	NOUN
cet-4976	122	16	for	for	ADP
cet-4976	122	17	human	human	ADJ
cet-4976	122	18	-	-	PUNCT
cet-4976	122	19	robot	robot	NOUN
cet-4976	122	20	interaction	interaction	NOUN
cet-4976	122	21	.	.	PUNCT
cet-4976	123	1	robotics	robotic	NOUN
cet-4976	123	2	and	and	CCONJ
cet-4976	123	3	autonomous	autonomous	ADJ
cet-4976	123	4	systems	system	NOUN
cet-4976	123	5	,	,	PUNCT
cet-4976	123	6	vol	vol	NOUN
cet-4976	123	7	.	.	PROPN
cet-4976	123	8	54	54	NUM
cet-4976	123	9	,	,	PUNCT
cet-4976	123	10	1	1	NUM
cet-4976	123	11	-	-	SYM
cet-4976	123	12	12	12	NUM
cet-4976	123	13	.	.	PUNCT
cet-4976	123	14	calinon	calinon	PROPN
cet-4976	123	15	,	,	PUNCT
cet-4976	123	16	s.	s.	PROPN
cet-4976	123	17	,	,	PUNCT
cet-4976	123	18	sardellitti	sardellitti	PROPN
cet-4976	123	19	,	,	PUNCT
cet-4976	123	20	i.	i.	PROPN
cet-4976	123	21	,	,	PUNCT
cet-4976	123	22	&	&	CCONJ
cet-4976	123	23	caldwell	caldwell	PROPN
cet-4976	123	24	,	,	PUNCT
cet-4976	123	25	d.	d.	PROPN
cet-4976	123	26	g.	g.	PROPN
cet-4976	123	27	,	,	PUNCT
cet-4976	123	28	2010	2010	NUM
cet-4976	123	29	,	,	PUNCT
cet-4976	123	30	learning	learning	NOUN
cet-4976	123	31	-	-	PUNCT
cet-4976	123	32	based	base	VERB
cet-4976	123	33	control	control	NOUN
cet-4976	123	34	strategy	strategy	NOUN
cet-4976	123	35	for	for	ADP
cet-4976	123	36	safe	safe	ADJ
cet-4976	123	37	human	human	ADJ
cet-4976	123	38	-	-	PUNCT
cet-4976	123	39	robot	robot	NOUN
cet-4976	123	40	interaction	interaction	NOUN
cet-4976	123	41	exploiting	exploit	VERB
cet-4976	123	42	task	task	NOUN
cet-4976	123	43	and	and	CCONJ
cet-4976	123	44	robot	robot	NOUN
cet-4976	123	45	redundancies	redundancy	NOUN
cet-4976	123	46	,	,	PUNCT
cet-4976	123	47	the	the	DET
cet-4976	123	48	2010	2010	NUM
cet-4976	123	49	ieee	ieee	NOUN
cet-4976	123	50	/	/	SYM
cet-4976	123	51	rsj	rsj	NOUN
cet-4976	123	52	intl	intl	PROPN
cet-4976	123	53	.	.	PUNCT
cet-4976	124	1	conf	conf	PROPN
cet-4976	124	2	.	.	PUNCT
cet-4976	125	1	on	on	ADP
cet-4976	125	2	intelligent	intelligent	ADJ
cet-4976	125	3	robots	robot	NOUN
cet-4976	125	4	and	and	CCONJ
cet-4976	125	5	systems	system	NOUN
cet-4976	125	6	,	,	PUNCT
cet-4976	125	7	october	october	PROPN
cet-4976	125	8	18	18	NUM
cet-4976	125	9	-	-	SYM
cet-4976	125	10	22	22	NUM
cet-4976	125	11	,	,	PUNCT
cet-4976	125	12	taipei	taipei	PROPN
cet-4976	125	13	,	,	PUNCT
cet-4976	125	14	taiwan	taiwan	PROPN
cet-4976	125	15	.	.	PUNCT
cet-4976	126	1	ceriani	ceriani	PROPN
cet-4976	126	2	,	,	PUNCT
cet-4976	126	3	n.	n.	NOUN
cet-4976	126	4	m.	m.	NOUN
cet-4976	126	5	,	,	PUNCT
cet-4976	126	6	zanchettin	zanchettin	ADV
cet-4976	126	7	,	,	PUNCT
cet-4976	126	8	a.	a.	NOUN
cet-4976	126	9	m.	m.	NOUN
cet-4976	126	10	,	,	PUNCT
cet-4976	126	11	rocco	rocco	NOUN
cet-4976	126	12	,	,	PUNCT
cet-4976	126	13	p.	p.	NOUN
cet-4976	126	14	,	,	PUNCT
cet-4976	126	15	stolt	stolt	PROPN
cet-4976	126	16	,	,	PUNCT
cet-4976	126	17	a.	a.	NOUN
cet-4976	126	18	,	,	PUNCT
cet-4976	126	19	robertsson	robertsson	NOUN
cet-4976	126	20	,	,	PUNCT
cet-4976	126	21	a.	a.	NOUN
cet-4976	126	22	,	,	PUNCT
cet-4976	126	23	2013	2013	NUM
cet-4976	126	24	,	,	PUNCT
cet-4976	126	25	a	a	DET
cet-4976	126	26	constraint	constraint	NOUN
cet-4976	126	27	-	-	PUNCT
cet-4976	126	28	based	base	VERB
cet-4976	126	29	strategy	strategy	NOUN
cet-4976	126	30	for	for	ADP
cet-4976	126	31	task	task	NOUN
cet-4976	126	32	-	-	PUNCT
cet-4976	126	33	consistent	consistent	ADJ
cet-4976	126	34	safe	safe	ADJ
cet-4976	126	35	human	human	ADJ
cet-4976	126	36	-	-	PUNCT
cet-4976	126	37	robot	robot	NOUN
cet-4976	126	38	interaction	interaction	NOUN
cet-4976	126	39	,	,	PUNCT
cet-4976	126	40	2013	2013	NUM
cet-4976	126	41	ieee	ieee	NOUN
cet-4976	126	42	/	/	SYM
cet-4976	126	43	rsj	rsj	NOUN
cet-4976	126	44	intl	intl	PROPN
cet-4976	126	45	.	.	PUNCT
cet-4976	127	1	conf	conf	PROPN
cet-4976	127	2	.	.	PUNCT
cet-4976	128	1	on	on	ADP
cet-4976	128	2	intelligent	intelligent	ADJ
cet-4976	128	3	robots	robot	NOUN
cet-4976	128	4	and	and	CCONJ
cet-4976	128	5	systems	system	NOUN
cet-4976	128	6	(	(	PUNCT
cet-4976	128	7	iros	iro	NOUN
cet-4976	128	8	)	)	PUNCT
cet-4976	128	9	,	,	PUNCT
cet-4976	128	10	november	november	PROPN
cet-4976	128	11	3	3	NUM
cet-4976	128	12	-	-	SYM
cet-4976	128	13	7	7	NUM
cet-4976	128	14	,	,	PUNCT
cet-4976	128	15	tokyo	tokyo	PROPN
cet-4976	128	16	,	,	PUNCT
cet-4976	128	17	japan	japan	PROPN
cet-4976	128	18	.	.	PUNCT
cet-4976	129	1	de	de	PROPN
cet-4976	129	2	santis	santis	PROPN
cet-4976	129	3	a.	a.	PROPN
cet-4976	129	4	,	,	PUNCT
cet-4976	129	5	siciliano	siciliano	PROPN
cet-4976	129	6	b.	b.	PROPN
cet-4976	129	7	,	,	PUNCT
cet-4976	129	8	de	de	PROPN
cet-4976	129	9	luca	luca	PROPN
cet-4976	129	10	a.	a.	PROPN
cet-4976	129	11	,	,	PUNCT
cet-4976	129	12	bicchi	bicchi	PROPN
cet-4976	129	13	a.	a.	PROPN
cet-4976	129	14	,	,	PUNCT
cet-4976	129	15	2008	2008	NUM
cet-4976	129	16	,	,	PUNCT
cet-4976	129	17	an	an	DET
cet-4976	129	18	atlas	atlas	NOUN
cet-4976	129	19	of	of	ADP
cet-4976	129	20	humrobot	humrobot	PROPN
cet-4976	129	21	interaction	interaction	PROPN
cet-4976	129	22	,	,	PUNCT
cet-4976	129	23	mech	mech	NOUN
cet-4976	129	24	.	.	PUNCT
cet-4976	130	1	mach	mach	PROPN
cet-4976	130	2	.	.	PUNCT
cet-4976	131	1	theory	theory	NOUN
cet-4976	131	2	,	,	PUNCT
cet-4976	131	3	vol	vol	NOUN
cet-4976	131	4	.	.	PROPN
cet-4976	131	5	43	43	NUM
cet-4976	131	6	,	,	PUNCT
cet-4976	131	7	253–270	253–270	NUM
cet-4976	131	8	.	.	PUNCT
cet-4976	131	9	de	de	X
cet-4976	131	10	santis	santis	PROPN
cet-4976	131	11	,	,	PUNCT
cet-4976	131	12	a.	a.	NOUN
cet-4976	131	13	,	,	PUNCT
cet-4976	131	14	2008	2008	NUM
cet-4976	131	15	,	,	PUNCT
cet-4976	131	16	modelling	modelling	NOUN
cet-4976	131	17	and	and	CCONJ
cet-4976	131	18	control	control	NOUN
cet-4976	131	19	for	for	ADP
cet-4976	131	20	human	human	ADJ
cet-4976	131	21	-	-	PUNCT
cet-4976	131	22	robot	robot	NOUN
cet-4976	131	23	interaction	interaction	NOUN
cet-4976	131	24	:	:	PUNCT
cet-4976	131	25	physical	physical	ADJ
cet-4976	131	26	and	and	CCONJ
cet-4976	131	27	cognitive	cognitive	ADJ
cet-4976	131	28	aspects	aspect	NOUN
cet-4976	131	29	,	,	PUNCT
cet-4976	131	30	2008	2008	NUM
cet-4976	131	31	ieee	ieee	PROPN
cet-4976	131	32	international	international	ADJ
cet-4976	131	33	conference	conference	NOUN
cet-4976	131	34	on	on	ADP
cet-4976	131	35	robotics	robotic	NOUN
cet-4976	131	36	and	and	CCONJ
cet-4976	131	37	automation	automation	NOUN
cet-4976	131	38	,	,	PUNCT
cet-4976	131	39	retrieved	retrieve	VERB
cet-4976	131	40	from	from	ADP
cet-4976	131	41	phriends	phriend	NOUN
cet-4976	131	42	website	website	NOUN
cet-4976	131	43	:	:	PUNCT
cet-4976	131	44	http://www.phriends.eu/papers.htm	http://www.phriends.eu/papers.htm	PUNCT
cet-4976	131	45	individual	individual	ADJ
cet-4976	131	46	tasks	task	NOUN
cet-4976	131	47	proximity	proximity	NOUN
cet-4976	131	48	detection	detection	NOUN
cet-4976	131	49	cooperative	cooperative	ADJ
cet-4976	131	50	tasks	task	NOUN
cet-4976	131	51	with	with	ADP
cet-4976	131	52	signs	sign	NOUN
cet-4976	131	53	without	without	ADP
cet-4976	131	54	signs	sign	NOUN
cet-4976	131	55	localization	localization	VERB
cet-4976	131	56	motionless	motionless	ADJ
cet-4976	131	57	sensors	sensor	NOUN
cet-4976	131	58	workplace	workplace	NOUN
cet-4976	131	59	supervision	supervision	NOUN
cet-4976	131	60	moving	move	VERB
cet-4976	131	61	sensors	sensor	NOUN
cet-4976	131	62	contact	contact	NOUN
cet-4976	131	63	prediction	prediction	NOUN
cet-4976	131	64	collision	collision	NOUN
cet-4976	131	65	avoidance	avoidance	NOUN
cet-4976	131	66	docking	dock	VERB
cet-4976	131	67	compliance	compliance	NOUN
cet-4976	131	68	control	control	NOUN
cet-4976	131	69	force	force	NOUN
cet-4976	131	70	reduction	reduction	NOUN
cet-4976	131	71	into	into	ADP
cet-4976	131	72	bearable	bearable	ADJ
cet-4976	131	73	level	level	NOUN
cet-4976	131	74	for	for	ADP
cet-4976	131	75	human	human	ADJ
cet-4976	131	76	energy	energy	NOUN
cet-4976	131	77	absorption	absorption	NOUN
cet-4976	131	78	using	use	VERB
cet-4976	131	79	elastic	elastic	ADJ
cet-4976	131	80	elements	element	NOUN
cet-4976	131	81	control	control	NOUN
cet-4976	131	82	system	system	NOUN
cet-4976	131	83	design	design	NOUN
cet-4976	131	84	reach	reach	VERB
cet-4976	131	85	contact	contact	NOUN
cet-4976	131	86	position	position	NOUN
cet-4976	131	87	with	with	ADP
cet-4976	131	88	zero	zero	NUM
cet-4976	131	89	velocity	velocity	NOUN
cet-4976	131	90	1253	1253	NUM
cet-4976	131	91	evans	evans	PROPN
cet-4976	131	92	.	.	PUNCT
cet-4976	132	1	r.	r.	PROPN
cet-4976	132	2	a.	a.	PROPN
cet-4976	132	3	,	,	PUNCT
cet-4976	132	4	1976	1976	NUM
cet-4976	132	5	,	,	PUNCT
cet-4976	132	6	reliability	reliability	NOUN
cet-4976	132	7	optimization	optimization	NOUN
cet-4976	132	8	,	,	PUNCT
cet-4976	132	9	in	in	ADP
cet-4976	132	10	e.	e.	PROPN
cet-4976	132	11	j.	j.	PROPN
cet-4976	132	12	henley	henley	PROPN
cet-4976	132	13	&	&	CCONJ
cet-4976	132	14	j.	j.	PROPN
cet-4976	132	15	w.	w.	PROPN
cet-4976	132	16	lynn	lynn	PROPN
cet-4976	132	17	(	(	PUNCT
cet-4976	132	18	eds	eds	PROPN
cet-4976	132	19	)	)	PUNCT
cet-4976	132	20	,	,	PUNCT
cet-4976	132	21	generic	generic	ADJ
cet-4976	132	22	techniques	technique	NOUN
cet-4976	132	23	in	in	ADP
cet-4976	132	24	systems	system	NOUN
cet-4976	132	25	reliability	reliability	NOUN
cet-4976	132	26	assessment	assessment	NOUN
cet-4976	132	27	(	(	PUNCT
cet-4976	132	28	pp	pp	ADJ
cet-4976	132	29	.	.	PUNCT
cet-4976	133	1	117	117	NUM
cet-4976	133	2	-	-	SYM
cet-4976	133	3	131	131	NUM
cet-4976	133	4	)	)	PUNCT
cet-4976	133	5	.	.	PUNCT
cet-4976	134	1	leyden	leyden	PROPN
cet-4976	134	2	,	,	PUNCT
cet-4976	134	3	netherlands	netherlands	PROPN
cet-4976	134	4	:	:	PUNCT
cet-4976	134	5	noordhoff	noordhoff	PROPN
cet-4976	134	6	international	international	ADJ
cet-4976	134	7	publishing	publishing	NOUN
cet-4976	134	8	.	.	PUNCT
cet-4976	135	1	fiorinip	fiorinip	PROPN
cet-4976	135	2	.	.	PUNCT
cet-4976	136	1	and	and	CCONJ
cet-4976	136	2	shiller	shiller	PROPN
cet-4976	136	3	z.	z.	PROPN
cet-4976	136	4	,	,	PUNCT
cet-4976	136	5	1993	1993	NUM
cet-4976	136	6	,	,	PUNCT
cet-4976	136	7	motion	motion	NOUN
cet-4976	136	8	planning	planning	NOUN
cet-4976	136	9	in	in	ADP
cet-4976	136	10	dynamic	dynamic	ADJ
cet-4976	136	11	environments	environment	NOUN
cet-4976	136	12	using	use	VERB
cet-4976	136	13	the	the	DET
cet-4976	136	14	relative	relative	ADJ
cet-4976	136	15	velocity	velocity	NOUN
cet-4976	136	16	paradigm	paradigm	NOUN
cet-4976	136	17	,	,	PUNCT
cet-4976	136	18	pmc	pmc	PROPN
cet-4976	136	19	.	.	PUNCT
cet-4976	136	20	ieee	ieee	PROPN
cet-4976	136	21	inr	inr	PROPN
cet-4976	136	22	.	.	PUNCT
cet-4976	137	1	con$	con$	PROPN
cet-4976	137	2	robotics	robotic	NOUN
cet-4976	137	3	automat	automat	NOUN
cet-4976	137	4	.	.	PUNCT
cet-4976	137	5	,vol	,vol	PROPN
cet-4976	137	6	.	.	PUNCT
cet-4976	138	1	1	1	NUM
cet-4976	138	2	,	,	PUNCT
cet-4976	138	3	560	560	NUM
cet-4976	138	4	-	-	SYM
cet-4976	138	5	565	565	NUM
cet-4976	138	6	.	.	PUNCT
cet-4976	139	1	formica	formica	PROPN
cet-4976	139	2	d.	d.	PROPN
cet-4976	139	3	,	,	PUNCT
cet-4976	139	4	zollo	zollo	PROPN
cet-4976	139	5	l.	l.	PROPN
cet-4976	139	6	,	,	PUNCT
cet-4976	139	7	guglielmelli	guglielmelli	PROPN
cet-4976	139	8	e.	e.	PROPN
cet-4976	139	9	,	,	PUNCT
cet-4976	139	10	2006	2006	NUM
cet-4976	139	11	,	,	PUNCT
cet-4976	139	12	torque	torque	NOUN
cet-4976	139	13	-	-	PUNCT
cet-4976	139	14	dependent	dependent	ADJ
cet-4976	139	15	compliance	compliance	NOUN
cet-4976	139	16	control	control	NOUN
cet-4976	139	17	in	in	ADP
cet-4976	139	18	the	the	DET
cet-4976	139	19	joint	joint	ADJ
cet-4976	139	20	space	space	NOUN
cet-4976	139	21	for	for	ADP
cet-4976	139	22	robot	robot	NOUN
cet-4976	139	23	-	-	PUNCT
cet-4976	139	24	mediated	mediate	VERB
cet-4976	139	25	motor	motor	NOUN
cet-4976	139	26	therapy	therapy	NOUN
cet-4976	139	27	,	,	PUNCT
cet-4976	139	28	journal	journal	NOUN
cet-4976	139	29	of	of	ADP
cet-4976	139	30	dynamic	dynamic	ADJ
cet-4976	139	31	systems	system	NOUN
cet-4976	139	32	,	,	PUNCT
cet-4976	139	33	measurement	measurement	NOUN
cet-4976	139	34	,	,	PUNCT
cet-4976	139	35	and	and	CCONJ
cet-4976	139	36	control	control	NOUN
cet-4976	139	37	,	,	PUNCT
cet-4976	139	38	vol	vol	NOUN
cet-4976	139	39	.	.	PROPN
cet-4976	139	40	128	128	NUM
cet-4976	139	41	,	,	PUNCT
cet-4976	139	42	152	152	NUM
cet-4976	139	43	–	–	SYM
cet-4976	139	44	158	158	NUM
cet-4976	139	45	.	.	PUNCT
cet-4976	140	1	fox	fox	PROPN
cet-4976	140	2	d.	d.	PROPN
cet-4976	140	3	,	,	PUNCT
cet-4976	140	4	burgard	burgard	PROPN
cet-4976	140	5	w.	w.	PROPN
cet-4976	140	6	and	and	CCONJ
cet-4976	140	7	thrun	thrun	PROPN
cet-4976	140	8	s.	s.	PROPN
cet-4976	140	9	,	,	PUNCT
cet-4976	140	10	1997	1997	NUM
cet-4976	140	11	,	,	PUNCT
cet-4976	140	12	the	the	DET
cet-4976	140	13	dynamic	dynamic	ADJ
cet-4976	140	14	window	window	NOUN
cet-4976	140	15	approach	approach	NOUN
cet-4976	140	16	to	to	ADP
cet-4976	140	17	collision	collision	NOUN
cet-4976	140	18	avoidance	avoidance	NOUN
cet-4976	140	19	,	,	PUNCT
cet-4976	140	20	ieeerobotics	ieeerobotics	PROPN
cet-4976	140	21	and	and	CCONJ
cet-4976	140	22	automation	automation	NOUN
cet-4976	140	23	magazine	magazine	NOUN
cet-4976	140	24	,	,	PUNCT
cet-4976	140	25	vol	vol	NOUN
cet-4976	140	26	.	.	PROPN
cet-4976	140	27	4	4	NUM
cet-4976	140	28	,	,	PUNCT
cet-4976	140	29	23	23	NUM
cet-4976	140	30	-	-	SYM
cet-4976	140	31	33	33	NUM
cet-4976	140	32	.	.	PUNCT
cet-4976	141	1	guillerez	guillerez	PROPN
cet-4976	141	2	,	,	PUNCT
cet-4976	141	3	d.	d.	PROPN
cet-4976	141	4	m.	m.	PROPN
cet-4976	141	5	,	,	PUNCT
cet-4976	141	6	guiochet	guiochet	PROPN
cet-4976	141	7	,	,	PUNCT
cet-4976	141	8	j.	j.	PROPN
cet-4976	141	9	,	,	PUNCT
cet-4976	141	10	powell	powell	PROPN
cet-4976	141	11	,	,	PUNCT
cet-4976	141	12	d.	d.	PROPN
cet-4976	141	13	&	&	CCONJ
cet-4976	141	14	zanon	zanon	PROPN
cet-4976	141	15	,	,	PUNCT
cet-4976	141	16	c.	c.	NOUN
cet-4976	141	17	,	,	PUNCT
cet-4976	141	18	2010	2010	NUM
cet-4976	141	19	,	,	PUNCT
cet-4976	141	20	retrieved	retrieve	VERB
cet-4976	141	21	from	from	ADP
cet-4976	141	22	http://sed.bordeaux.inria.fr/people/damienmartinguillerez/publi/conf/2010-serene.pdf	http://sed.bordeaux.inria.fr/people/damienmartinguillerez/publi/conf/2010-serene.pdf	ADJ
cet-4976	141	23	hollnagel	hollnagel	NOUN
cet-4976	141	24	,	,	PUNCT
cet-4976	141	25	e.	e.	PROPN
cet-4976	141	26	,	,	PUNCT
cet-4976	141	27	1998	1998	NUM
cet-4976	141	28	,	,	PUNCT
cet-4976	141	29	cognitive	cognitive	ADJ
cet-4976	141	30	reliability	reliability	NOUN
cet-4976	141	31	and	and	CCONJ
cet-4976	141	32	error	error	NOUN
cet-4976	141	33	analysis	analysis	NOUN
cet-4976	141	34	method	method	NOUN
cet-4976	141	35	:	:	PUNCT
cet-4976	141	36	cream	cream	NOUN
cet-4976	141	37	.	.	PUNCT
cet-4976	142	1	oxford	oxford	NOUN
cet-4976	142	2	:	:	PUNCT
cet-4976	142	3	elsevier	elsevier	PROPN
cet-4976	142	4	science	science	PROPN
cet-4976	142	5	ltd	ltd	PROPN
cet-4976	142	6	.	.	PROPN
cet-4976	143	1	iso	iso	PROPN
cet-4976	143	2	/	/	SYM
cet-4976	143	3	iec	iec	PROPN
cet-4976	143	4	31010	31010	NUM
cet-4976	143	5	,	,	PUNCT
cet-4976	143	6	2009	2009	NUM
cet-4976	143	7	,	,	PUNCT
cet-4976	143	8	risk	risk	NOUN
cet-4976	143	9	management	management	NOUN
cet-4976	143	10	—	—	PUNCT
cet-4976	143	11	risk	risk	NOUN
cet-4976	143	12	assessment	assessment	NOUN
cet-4976	143	13	techniques	technique	NOUN
cet-4976	143	14	.	.	PUNCT
cet-4976	144	1	katsura	katsura	PROPN
cet-4976	144	2	,	,	PUNCT
cet-4976	144	3	s.	s.	PROPN
cet-4976	144	4	,	,	PUNCT
cet-4976	144	5	ohnishi	ohnishi	PROPN
cet-4976	144	6	,	,	PUNCT
cet-4976	144	7	k.	k.	PROPN
cet-4976	144	8	,	,	PUNCT
cet-4976	144	9	2004	2004	NUM
cet-4976	144	10	,	,	PUNCT
cet-4976	144	11	human	human	ADJ
cet-4976	144	12	cooperative	cooperative	ADJ
cet-4976	144	13	wheelchair	wheelchair	NOUN
cet-4976	144	14	for	for	ADP
cet-4976	144	15	haptic	haptic	ADJ
cet-4976	144	16	interaction	interaction	NOUN
cet-4976	144	17	based	base	VERB
cet-4976	144	18	on	on	ADP
cet-4976	144	19	dual	dual	ADJ
cet-4976	144	20	compliance	compliance	NOUN
cet-4976	144	21	control	control	NOUN
cet-4976	144	22	,	,	PUNCT
cet-4976	144	23	ieee	ieee	NOUN
cet-4976	144	24	transactions	transaction	NOUN
cet-4976	144	25	on	on	ADP
cet-4976	144	26	industrial	industrial	ADJ
cet-4976	144	27	electronics	electronic	NOUN
cet-4976	144	28	,	,	PUNCT
cet-4976	144	29	vol	vol	NOUN
cet-4976	144	30	.	.	PROPN
cet-4976	144	31	51	51	NUM
cet-4976	144	32	,	,	PUNCT
cet-4976	144	33	no	no	INTJ
cet-4976	144	34	.	.	PUNCT
cet-4976	144	35	1,221–228	1,221–228	PROPN
cet-4976	144	36	.	.	PUNCT
cet-4976	145	1	khatib	khatib	PROPN
cet-4976	145	2	o.	o.	PROPN
cet-4976	145	3	,	,	PUNCT
cet-4976	145	4	1986	1986	NUM
cet-4976	145	5	,	,	PUNCT
cet-4976	145	6	real	real	ADJ
cet-4976	145	7	-	-	PUNCT
cet-4976	145	8	time	time	NOUN
cet-4976	145	9	obstacle	obstacle	NOUN
cet-4976	145	10	avoidance	avoidance	NOUN
cet-4976	145	11	for	for	ADP
cet-4976	145	12	robot	robot	NOUN
cet-4976	145	13	manipulator	manipulator	NOUN
cet-4976	145	14	and	and	CCONJ
cet-4976	145	15	mobile	mobile	NOUN
cet-4976	145	16	robots	robot	NOUN
cet-4976	145	17	,	,	PUNCT
cet-4976	145	18	the	the	DET
cet-4976	145	19	international	international	ADJ
cet-4976	145	20	journal	journal	NOUN
cet-4976	145	21	of	of	ADP
cet-4976	145	22	robotics	robotic	NOUN
cet-4976	145	23	research	research	NOUN
cet-4976	145	24	,	,	PUNCT
cet-4976	145	25	vol	vol	NOUN
cet-4976	145	26	.	.	PROPN
cet-4976	145	27	5	5	NUM
cet-4976	145	28	,	,	PUNCT
cet-4976	145	29	90–98	90–98	NUM
cet-4976	145	30	.	.	PUNCT
cet-4976	146	1	kikuuwe	kikuuwe	PROPN
cet-4976	146	2	r.	r.	PROPN
cet-4976	146	3	,	,	PUNCT
cet-4976	146	4	fujimoto	fujimoto	PROPN
cet-4976	146	5	h.	h.	PROPN
cet-4976	146	6	,	,	PUNCT
cet-4976	146	7	2006	2006	NUM
cet-4976	146	8	,	,	PUNCT
cet-4976	146	9	proxy	proxy	NOUN
cet-4976	146	10	-	-	PUNCT
cet-4976	146	11	based	base	VERB
cet-4976	146	12	sliding	slide	VERB
cet-4976	146	13	mode	mode	NOUN
cet-4976	146	14	control	control	NOUN
cet-4976	146	15	for	for	ADP
cet-4976	146	16	accurate	accurate	ADJ
cet-4976	146	17	and	and	CCONJ
cet-4976	146	18	safe	safe	ADJ
cet-4976	146	19	position	position	NOUN
cet-4976	146	20	control	control	NOUN
cet-4976	146	21	,	,	PUNCT
cet-4976	146	22	proceedings	proceeding	NOUN
cet-4976	146	23	of	of	ADP
cet-4976	146	24	the	the	DET
cet-4976	146	25	2006	2006	NUM
cet-4976	146	26	ieee	ieee	PROPN
cet-4976	146	27	international	international	ADJ
cet-4976	146	28	conference	conference	NOUN
cet-4976	146	29	on	on	ADP
cet-4976	146	30	robotics	robotic	NOUN
cet-4976	146	31	and	and	CCONJ
cet-4976	146	32	automation	automation	NOUN
cet-4976	146	33	,	,	PUNCT
cet-4976	146	34	25–30	25–30	NUM
cet-4976	146	35	.	.	PUNCT
cet-4976	147	1	kiss	kiss	PROPN
cet-4976	147	2	d.	d.	PROPN
cet-4976	147	3	,	,	PUNCT
cet-4976	147	4	tevesz	tevesz	PROPN
cet-4976	147	5	g.	g.	PROPN
cet-4976	147	6	,	,	PUNCT
cet-4976	147	7	2012	2012	NUM
cet-4976	147	8	,	,	PUNCT
cet-4976	147	9	advanced	advanced	ADJ
cet-4976	147	10	dynamic	dynamic	ADJ
cet-4976	147	11	window	window	NOUN
cet-4976	147	12	based	base	VERB
cet-4976	147	13	navigation	navigation	NOUN
cet-4976	147	14	approach	approach	NOUN
cet-4976	147	15	using	use	VERB
cet-4976	147	16	model	model	NOUN
cet-4976	147	17	predictive	predictive	PROPN
cet-4976	147	18	control	control	PROPN
cet-4976	147	19	,	,	PUNCT
cet-4976	147	20	17th	17th	ADJ
cet-4976	147	21	international	international	ADJ
cet-4976	147	22	conference	conference	NOUN
cet-4976	147	23	on	on	ADP
cet-4976	147	24	methods	method	NOUN
cet-4976	147	25	and	and	CCONJ
cet-4976	147	26	models	model	NOUN
cet-4976	147	27	in	in	ADP
cet-4976	147	28	automation	automation	NOUN
cet-4976	147	29	and	and	CCONJ
cet-4976	147	30	robotics	robotic	NOUN
cet-4976	147	31	(	(	PUNCT
cet-4976	147	32	mmar	mmar	NOUN
cet-4976	147	33	)	)	PUNCT
cet-4976	147	34	,	,	PUNCT
cet-4976	148	1	148	148	NUM
cet-4976	148	2	–	–	SYM
cet-4976	148	3	153	153	NUM
cet-4976	148	4	.	.	PUNCT
cet-4976	148	5	low	low	ADJ
cet-4976	148	6	,	,	PUNCT
cet-4976	148	7	e.m.p	e.m.p	ADJ
cet-4976	148	8	.	.	PROPN
cet-4976	148	9	,	,	PUNCT
cet-4976	148	10	savkin	savkin	PROPN
cet-4976	148	11	,	,	PUNCT
cet-4976	148	12	a.v	a.v	PROPN
cet-4976	148	13	.	.	PROPN
cet-4976	148	14	,	,	PUNCT
cet-4976	148	15	2006	2006	NUM
cet-4976	148	16	,	,	PUNCT
cet-4976	148	17	a	a	DET
cet-4976	148	18	method	method	NOUN
cet-4976	148	19	for	for	ADP
cet-4976	148	20	vision	vision	NOUN
cet-4976	148	21	-	-	PUNCT
cet-4976	148	22	based	base	VERB
cet-4976	148	23	docking	docking	NOUN
cet-4976	148	24	of	of	ADP
cet-4976	148	25	wheeled	wheel	VERB
cet-4976	148	26	mobile	mobile	ADJ
cet-4976	148	27	robots	robot	NOUN
cet-4976	148	28	,	,	PUNCT
cet-4976	148	29	ieee	ieee	PROPN
cet-4976	148	30	international	international	ADJ
cet-4976	148	31	conference	conference	NOUN
cet-4976	148	32	on	on	ADP
cet-4976	148	33	control	control	NOUN
cet-4976	148	34	applications	application	NOUN
cet-4976	148	35	,	,	PUNCT
cet-4976	148	36	computer	computer	NOUN
cet-4976	148	37	aided	aid	VERB
cet-4976	148	38	control	control	NOUN
cet-4976	148	39	system	system	NOUN
cet-4976	148	40	design	design	NOUN
cet-4976	148	41	,	,	PUNCT
cet-4976	148	42	614	614	NUM
cet-4976	148	43	-	-	SYM
cet-4976	148	44	619	619	NUM
cet-4976	148	45	.	.	PUNCT
cet-4976	149	1	low	low	ADJ
cet-4976	149	2	e.m.p	e.m.p	PROPN
cet-4976	149	3	,	,	PUNCT
cet-4976	149	4	manchester	manchester	PROPN
cet-4976	149	5	i.r	i.r	PROPN
cet-4976	149	6	.	.	PROPN
cet-4976	149	7	,	,	PUNCT
cet-4976	149	8	savkin	savkin	PROPN
cet-4976	149	9	a.v	a.v	PROPN
cet-4976	149	10	.	.	PROPN
cet-4976	149	11	,	,	PUNCT
cet-4976	149	12	2007	2007	NUM
cet-4976	149	13	,	,	PUNCT
cet-4976	149	14	a	a	DET
cet-4976	149	15	biologically	biologically	ADV
cet-4976	149	16	inspired	inspire	VERB
cet-4976	149	17	method	method	NOUN
cet-4976	149	18	for	for	ADP
cet-4976	149	19	vision	vision	NOUN
cet-4976	149	20	-	-	PUNCT
cet-4976	149	21	based	base	VERB
cet-4976	149	22	docking	docking	NOUN
cet-4976	149	23	of	of	ADP
cet-4976	149	24	wheeled	wheel	VERB
cet-4976	149	25	mobile	mobile	ADJ
cet-4976	149	26	robots	robot	NOUN
cet-4976	149	27	,	,	PUNCT
cet-4976	149	28	robotics	robotic	NOUN
cet-4976	149	29	and	and	CCONJ
cet-4976	149	30	autonomous	autonomous	ADJ
cet-4976	149	31	systems	system	NOUN
cet-4976	149	32	,	,	PUNCT
cet-4976	149	33	elsevier	elsevier	PROPN
cet-4976	149	34	journal	journal	PROPN
cet-4976	149	35	,	,	PUNCT
cet-4976	149	36	vol	vol	NOUN
cet-4976	149	37	.	.	PROPN
cet-4976	149	38	55	55	NUM
cet-4976	149	39	,	,	PUNCT
cet-4976	149	40	769–784	769–784	NUM
cet-4976	149	41	.	.	PUNCT
cet-4976	150	1	macfarlane	macfarlane	PROPN
cet-4976	150	2	,	,	PUNCT
cet-4976	150	3	s.	s.	PROPN
cet-4976	150	4	&	&	CCONJ
cet-4976	150	5	croft	croft	PROPN
cet-4976	150	6	,	,	PUNCT
cet-4976	150	7	e.	e.	PROPN
cet-4976	150	8	,	,	PUNCT
cet-4976	150	9	2003	2003	NUM
cet-4976	150	10	,	,	PUNCT
cet-4976	150	11	jerk	jerk	NOUN
cet-4976	150	12	-	-	PUNCT
cet-4976	150	13	bounded	bound	VERB
cet-4976	150	14	robot	robot	NOUN
cet-4976	150	15	trajectory	trajectory	NOUN
cet-4976	150	16	planning	planning	NOUN
cet-4976	150	17	-	-	PUNCT
cet-4976	150	18	design	design	NOUN
cet-4976	150	19	for	for	ADP
cet-4976	150	20	real	real	ADJ
cet-4976	150	21	-	-	PUNCT
cet-4976	150	22	time	time	NOUN
cet-4976	150	23	application	application	NOUN
cet-4976	150	24	.	.	PUNCT
cet-4976	151	1	ieee	ieee	NOUN
cet-4976	151	2	transactions	transaction	NOUN
cet-4976	151	3	on	on	ADP
cet-4976	151	4	robotics	robotic	NOUN
cet-4976	151	5	and	and	CCONJ
cet-4976	151	6	automation	automation	NOUN
cet-4976	151	7	,	,	PUNCT
cet-4976	151	8	19(1):42	19(1):42	PROPN
cet-4976	151	9	-	-	SYM
cet-4976	151	10	52	52	NUM
cet-4976	151	11	.	.	PUNCT
cet-4976	152	1	manchester	manchester	PROPN
cet-4976	152	2	i.r	i.r	PROPN
cet-4976	152	3	.	.	PROPN
cet-4976	152	4	,	,	PUNCT
cet-4976	152	5	savkin	savkin	PROPN
cet-4976	152	6	a.v	a.v	PROPN
cet-4976	152	7	.	.	PROPN
cet-4976	152	8	,	,	PUNCT
cet-4976	152	9	2005	2005	NUM
cet-4976	152	10	,	,	PUNCT
cet-4976	152	11	vision	vision	NOUN
cet-4976	152	12	-	-	PUNCT
cet-4976	152	13	based	base	VERB
cet-4976	152	14	docking	docking	NOUN
cet-4976	152	15	for	for	ADP
cet-4976	152	16	biomimetic	biomimetic	ADJ
cet-4976	152	17	wheeled	wheel	VERB
cet-4976	152	18	robots	robot	NOUN
cet-4976	152	19	,	,	PUNCT
cet-4976	152	20	proceedings	proceeding	NOUN
cet-4976	152	21	of	of	ADP
cet-4976	152	22	the	the	DET
cet-4976	152	23	15th	15th	ADJ
cet-4976	152	24	ifac	ifac	NOUN
cet-4976	152	25	world	world	PROPN
cet-4976	152	26	congress	congress	PROPN
cet-4976	152	27	,	,	PUNCT
cet-4976	152	28	prague	prague	PROPN
cet-4976	152	29	,	,	PUNCT
cet-4976	152	30	vol	vol	NOUN
cet-4976	152	31	.	.	PROPN
cet-4976	152	32	16	16	NUM
cet-4976	152	33	,	,	PUNCT
cet-4976	152	34	2051	2051	NUM
cet-4976	152	35	-	-	SYM
cet-4976	152	36	2051	2051	NUM
cet-4976	152	37	.	.	PUNCT
cet-4976	153	1	marhavilas	marhavilas	PROPN
cet-4976	153	2	,	,	PUNCT
cet-4976	153	3	p.	p.	PROPN
cet-4976	153	4	k.	k.	PROPN
cet-4976	153	5	,	,	PUNCT
cet-4976	153	6	&	&	CCONJ
cet-4976	153	7	koulouriotis	koulouriotis	PROPN
cet-4976	153	8	,	,	PUNCT
cet-4976	153	9	d.	d.	PROPN
cet-4976	153	10	e.	e.	PROPN
cet-4976	153	11	,	,	PUNCT
cet-4976	153	12	2008	2008	NUM
cet-4976	153	13	,	,	PUNCT
cet-4976	153	14	a	a	DET
cet-4976	153	15	risk	risk	NOUN
cet-4976	153	16	estimation	estimation	NOUN
cet-4976	153	17	methodological	methodological	ADJ
cet-4976	153	18	framework	framework	NOUN
cet-4976	153	19	using	use	VERB
cet-4976	153	20	quantitative	quantitative	ADJ
cet-4976	153	21	assessment	assessment	NOUN
cet-4976	153	22	techniques	technique	NOUN
cet-4976	153	23	and	and	CCONJ
cet-4976	153	24	real	real	ADJ
cet-4976	153	25	accidents	accident	NOUN
cet-4976	153	26	’	'	PUNCT
cet-4976	153	27	data	datum	NOUN
cet-4976	153	28	:	:	PUNCT
cet-4976	153	29	application	application	NOUN
cet-4976	153	30	in	in	ADP
cet-4976	153	31	an	an	DET
cet-4976	153	32	aluminum	aluminum	NOUN
cet-4976	153	33	extrusion	extrusion	NOUN
cet-4976	153	34	industry	industry	NOUN
cet-4976	153	35	,	,	PUNCT
cet-4976	153	36	journal	journal	NOUN
cet-4976	153	37	of	of	ADP
cet-4976	153	38	loss	loss	NOUN
cet-4976	153	39	prevention	prevention	NOUN
cet-4976	153	40	in	in	ADP
cet-4976	153	41	the	the	DET
cet-4976	153	42	process	process	NOUN
cet-4976	153	43	industries	industry	NOUN
cet-4976	153	44	,	,	PUNCT
cet-4976	153	45	21(6	21(6	NOUN
cet-4976	153	46	)	)	PUNCT
cet-4976	153	47	,	,	PUNCT
cet-4976	153	48	596	596	NUM
cet-4976	153	49	-	-	SYM
cet-4976	153	50	603	603	NUM
cet-4976	153	51	.	.	PUNCT
cet-4976	153	52	doi:10.1016	doi:10.1016	PROPN
cet-4976	153	53	/	/	SYM
cet-4976	153	54	j.jlp.2008.04.009	j.jlp.2008.04.009	PROPN
cet-4976	153	55	.	.	PUNCT
cet-4976	154	1	najmaei	najmaei	PROPN
cet-4976	154	2	,	,	PUNCT
cet-4976	154	3	n.	n.	NOUN
cet-4976	154	4	,	,	PUNCT
cet-4976	154	5	lele	lele	PROPN
cet-4976	154	6	,	,	PUNCT
cet-4976	154	7	s.	s.	PROPN
cet-4976	154	8	,	,	PUNCT
cet-4976	154	9	kermani	kermani	PROPN
cet-4976	154	10	,	,	PUNCT
cet-4976	154	11	m.	m.	PROPN
cet-4976	154	12	r.	r.	PROPN
cet-4976	154	13	,	,	PUNCT
cet-4976	154	14	&	&	CCONJ
cet-4976	154	15	sobot	sobot	PROPN
cet-4976	154	16	,	,	PUNCT
cet-4976	154	17	r.	r.	PROPN
cet-4976	154	18	,	,	PUNCT
cet-4976	154	19	2010,human	2010,human	NUM
cet-4976	154	20	factors	factor	NOUN
cet-4976	154	21	for	for	ADP
cet-4976	154	22	robot	robot	NOUN
cet-4976	154	23	safety	safety	NOUN
cet-4976	154	24	assessment	assessment	NOUN
cet-4976	154	25	,	,	PUNCT
cet-4976	154	26	2010	2010	NUM
cet-4976	154	27	ieee	ieee	NOUN
cet-4976	154	28	/	/	SYM
cet-4976	154	29	asme	asme	PROPN
cet-4976	154	30	intl	intl	PROPN
cet-4976	154	31	.	.	PUNCT
cet-4976	155	1	conf	conf	PROPN
cet-4976	155	2	.	.	PUNCT
cet-4976	156	1	on	on	ADP
cet-4976	156	2	advanced	advanced	ADJ
cet-4976	156	3	intelligent	intelligent	ADJ
cet-4976	156	4	mechatronics	mechatronic	NOUN
cet-4976	156	5	montreal	montreal	PROPN
cet-4976	156	6	,	,	PUNCT
cet-4976	156	7	canada	canada	PROPN
cet-4976	156	8	.	.	PUNCT
cet-4976	157	1	ogorodnikova	ogorodnikova	PROPN
cet-4976	157	2	,	,	PUNCT
cet-4976	157	3	o.	o.	PROPN
cet-4976	157	4	,	,	PUNCT
cet-4976	157	5	2009	2009	NUM
cet-4976	157	6	,	,	PUNCT
cet-4976	157	7	a	a	DET
cet-4976	157	8	fuzzy	fuzzy	ADJ
cet-4976	157	9	theory	theory	NOUN
cet-4976	157	10	in	in	ADP
cet-4976	157	11	the	the	DET
cet-4976	157	12	risk	risk	NOUN
cet-4976	157	13	assessment	assessment	NOUN
cet-4976	157	14	and	and	CCONJ
cet-4976	157	15	reduction	reduction	NOUN
cet-4976	157	16	algorithms	algorithm	NOUN
cet-4976	157	17	for	for	ADP
cet-4976	157	18	a	a	DET
cet-4976	157	19	human	human	ADJ
cet-4976	157	20	centered	center	VERB
cet-4976	157	21	robotics	robotic	NOUN
cet-4976	157	22	,	,	PUNCT
cet-4976	157	23	18th	18th	ADJ
cet-4976	157	24	ieee	ieee	NOUN
cet-4976	157	25	international	international	ADJ
cet-4976	157	26	symposium	symposium	NOUN
cet-4976	157	27	on	on	ADP
cet-4976	157	28	robot	robot	NOUN
cet-4976	157	29	and	and	CCONJ
cet-4976	157	30	human	human	ADJ
cet-4976	157	31	interactive	interactive	ADJ
cet-4976	157	32	communication	communication	NOUN
cet-4976	157	33	,	,	PUNCT
cet-4976	157	34	toyama	toyama	PROPN
cet-4976	157	35	,	,	PUNCT
cet-4976	157	36	japan	japan	PROPN
cet-4976	157	37	.	.	PUNCT
cet-4976	158	1	ogure	ogure	PROPN
cet-4976	158	2	,	,	PUNCT
cet-4976	158	3	t.	t.	PROPN
cet-4976	158	4	,	,	PUNCT
cet-4976	158	5	nakabo	nakabo	PROPN
cet-4976	158	6	,	,	PUNCT
cet-4976	158	7	y.	y.	PROPN
cet-4976	158	8	,	,	PUNCT
cet-4976	158	9	jeong	jeong	PROPN
cet-4976	158	10	,	,	PUNCT
cet-4976	158	11	s.	s.	PROPN
cet-4976	158	12	h.	h.	PROPN
cet-4976	158	13	,	,	PUNCT
cet-4976	158	14	&	&	CCONJ
cet-4976	158	15	yamada	yamada	PROPN
cet-4976	158	16	,	,	PUNCT
cet-4976	158	17	y.	y.	PROPN
cet-4976	158	18	,	,	PUNCT
cet-4976	158	19	2009	2009	NUM
cet-4976	158	20	,	,	PUNCT
cet-4976	158	21	risk	risk	NOUN
cet-4976	158	22	management	management	NOUN
cet-4976	158	23	simulator	simulator	NOUN
cet-4976	158	24	for	for	ADP
cet-4976	158	25	low	low	ADV
cet-4976	158	26	-	-	PUNCT
cet-4976	158	27	powered	power	VERB
cet-4976	158	28	human	human	ADJ
cet-4976	158	29	-	-	PUNCT
cet-4976	158	30	collaborative	collaborative	ADJ
cet-4976	158	31	industrial	industrial	ADJ
cet-4976	158	32	robots	robot	NOUN
cet-4976	158	33	,	,	PUNCT
cet-4976	158	34	2009	2009	NUM
cet-4976	158	35	ieee	ieee	NOUN
cet-4976	158	36	/	/	SYM
cet-4976	158	37	rsj	rsj	NOUN
cet-4976	158	38	intl	intl	PROPN
cet-4976	158	39	.	.	PUNCT
cet-4976	159	1	conf	conf	PROPN
cet-4976	159	2	.	.	PUNCT
cet-4976	160	1	on	on	ADP
cet-4976	160	2	intelligent	intelligent	ADJ
cet-4976	160	3	robots	robot	NOUN
cet-4976	160	4	and	and	CCONJ
cet-4976	160	5	systems	system	NOUN
cet-4976	160	6	,	,	PUNCT
cet-4976	160	7	st	st	PROPN
cet-4976	160	8	.	.	PROPN
cet-4976	160	9	louis	louis	PROPN
cet-4976	160	10	,	,	PUNCT
cet-4976	160	11	us	us	PROPN
cet-4976	160	12	.	.	PUNCT
cet-4976	161	1	pervez	pervez	PROPN
cet-4976	161	2	,	,	PUNCT
cet-4976	161	3	a.	a.	PROPN
cet-4976	161	4	&	&	CCONJ
cet-4976	161	5	ryu	ryu	PROPN
cet-4976	161	6	,	,	PUNCT
cet-4976	161	7	j.	j.	PROPN
cet-4976	161	8	,	,	PUNCT
cet-4976	161	9	2008	2008	NUM
cet-4976	161	10	,	,	PUNCT
cet-4976	161	11	safe	safe	ADJ
cet-4976	161	12	physical	physical	ADJ
cet-4976	161	13	human	human	PROPN
cet-4976	161	14	robot	robot	NOUN
cet-4976	161	15	interaction	interaction	NOUN
cet-4976	161	16	-	-	PUNCT
cet-4976	161	17	past	past	NOUN
cet-4976	161	18	,	,	PUNCT
cet-4976	161	19	present	present	ADJ
cet-4976	161	20	and	and	CCONJ
cet-4976	161	21	future	future	ADJ
cet-4976	161	22	,	,	PUNCT
cet-4976	161	23	journal	journal	NOUN
cet-4976	161	24	of	of	ADP
cet-4976	161	25	mechanical	mechanical	ADJ
cet-4976	161	26	science	science	NOUN
cet-4976	161	27	and	and	CCONJ
cet-4976	161	28	technology	technology	NOUN
cet-4976	161	29	,	,	PUNCT
cet-4976	161	30	22	22	NUM
cet-4976	161	31	,	,	PUNCT
cet-4976	161	32	p.	p.	NOUN
cet-4976	161	33	469	469	NUM
cet-4976	161	34	-	-	SYM
cet-4976	161	35	483	483	NUM
cet-4976	161	36	.	.	PUNCT
cet-4976	162	1	ricardez	ricardez	PROPN
cet-4976	162	2	,	,	PUNCT
cet-4976	162	3	g.	g.	PROPN
cet-4976	162	4	a.	a.	PROPN
cet-4976	162	5	g.	g.	PROPN
cet-4976	162	6	,	,	PUNCT
cet-4976	162	7	yamaguchi	yamaguchi	PROPN
cet-4976	162	8	,	,	PUNCT
cet-4976	162	9	a.	a.	PROPN
cet-4976	162	10	,	,	PUNCT
cet-4976	162	11	takamatsu	takamatsu	PROPN
cet-4976	162	12	,	,	PUNCT
cet-4976	162	13	j.	j.	PROPN
cet-4976	162	14	,	,	PUNCT
cet-4976	162	15	&	&	CCONJ
cet-4976	162	16	ogasawara	ogasawara	PROPN
cet-4976	162	17	,	,	PUNCT
cet-4976	162	18	t.	t.	PROPN
cet-4976	162	19	,	,	PUNCT
cet-4976	162	20	2013	2013	NUM
cet-4976	162	21	,	,	PUNCT
cet-4976	162	22	withdrawal	withdrawal	NOUN
cet-4976	162	23	strategy	strategy	NOUN
cet-4976	162	24	for	for	ADP
cet-4976	162	25	human	human	ADJ
cet-4976	162	26	safety	safety	NOUN
cet-4976	162	27	based	base	VERB
cet-4976	162	28	on	on	ADP
cet-4976	162	29	a	a	DET
cet-4976	162	30	virtual	virtual	ADJ
cet-4976	162	31	force	force	NOUN
cet-4976	162	32	model	model	NOUN
cet-4976	162	33	,	,	PUNCT
cet-4976	162	34	2013	2013	NUM
cet-4976	162	35	ieee	ieee	NOUN
cet-4976	162	36	/	/	SYM
cet-4976	162	37	rsj	rsj	NOUN
cet-4976	162	38	intl	intl	PROPN
cet-4976	162	39	.	.	PUNCT
cet-4976	163	1	conf	conf	PROPN
cet-4976	163	2	.	.	PUNCT
cet-4976	164	1	on	on	ADP
cet-4976	164	2	intelligent	intelligent	ADJ
cet-4976	164	3	robots	robot	NOUN
cet-4976	164	4	and	and	CCONJ
cet-4976	164	5	systems	system	NOUN
cet-4976	164	6	(	(	PUNCT
cet-4976	164	7	iros	iro	NOUN
cet-4976	164	8	)	)	PUNCT
cet-4976	164	9	,	,	PUNCT
cet-4976	164	10	november	november	PROPN
cet-4976	164	11	3	3	NUM
cet-4976	164	12	-	-	SYM
cet-4976	164	13	7	7	NUM
cet-4976	164	14	,	,	PUNCT
cet-4976	164	15	tokyo	tokyo	PROPN
cet-4976	164	16	,	,	PUNCT
cet-4976	164	17	japan	japan	PROPN
cet-4976	164	18	.	.	PUNCT
cet-4976	164	19	swain	swain	PROPN
cet-4976	164	20	,	,	PUNCT
cet-4976	164	21	a.d	a.d	PROPN
cet-4976	164	22	.	.	PROPN
cet-4976	164	23	,	,	PUNCT
cet-4976	164	24	&	&	CCONJ
cet-4976	164	25	guttmann	guttmann	PROPN
cet-4976	164	26	,	,	PUNCT
cet-4976	164	27	h.e	h.e	PROPN
cet-4976	164	28	.	.	PROPN
cet-4976	164	29	,	,	PUNCT
cet-4976	164	30	1983	1983	NUM
cet-4976	164	31	,	,	PUNCT
cet-4976	164	32	handbook	handbook	NOUN
cet-4976	164	33	of	of	ADP
cet-4976	164	34	human	human	ADJ
cet-4976	164	35	reliability	reliability	NOUN
cet-4976	164	36	analysis	analysis	NOUN
cet-4976	164	37	with	with	ADP
cet-4976	164	38	emphasis	emphasis	NOUN
cet-4976	164	39	on	on	ADP
cet-4976	164	40	nuclear	nuclear	ADJ
cet-4976	164	41	power	power	NOUN
cet-4976	164	42	plant	plant	NOUN
cet-4976	164	43	applications	application	NOUN
cet-4976	164	44	,	,	PUNCT
cet-4976	164	45	nureg	nureg	NOUN
cet-4976	164	46	/	/	SYM
cet-4976	164	47	ce-1278	ce-1278	NOUN
cet-4976	164	48	.	.	PUNCT
cet-4976	165	1	washington	washington	PROPN
cet-4976	165	2	,	,	PUNCT
cet-4976	165	3	dc	dc	PROPN
cet-4976	165	4	:	:	PUNCT
cet-4976	165	5	us	us	PROPN
cet-4976	165	6	nuclear	nuclear	PROPN
cet-4976	165	7	regulatory	regulatory	ADJ
cet-4976	165	8	commission	commission	PROPN
cet-4976	165	9	.	.	PUNCT
cet-4976	166	1	saranrittichai	saranrittichai	PROPN
cet-4976	166	2	p.	p.	PROPN
cet-4976	166	3	,	,	PUNCT
cet-4976	166	4	niparnan	niparnan	PROPN
cet-4976	166	5	n.	n.	NOUN
cet-4976	166	6	,	,	PUNCT
cet-4976	166	7	sudsang	sudsang	PROPN
cet-4976	166	8	a.	a.	PROPN
cet-4976	166	9	,	,	PUNCT
cet-4976	166	10	2013	2013	NUM
cet-4976	166	11	,	,	PUNCT
cet-4976	166	12	robust	robust	ADJ
cet-4976	166	13	local	local	ADJ
cet-4976	166	14	obstacle	obstacle	NOUN
cet-4976	166	15	avoidance	avoidance	NOUN
cet-4976	166	16	for	for	ADP
cet-4976	166	17	mobile	mobile	NOUN
cet-4976	166	18	robot	robot	NOUN
cet-4976	166	19	based	base	VERB
cet-4976	166	20	on	on	ADP
cet-4976	166	21	dynamic	dynamic	ADJ
cet-4976	166	22	window	window	NOUN
cet-4976	166	23	approach	approach	NOUN
cet-4976	166	24	,	,	PUNCT
cet-4976	166	25	10th	10th	ADJ
cet-4976	166	26	international	international	ADJ
cet-4976	166	27	conference	conference	NOUN
cet-4976	166	28	on	on	ADP
cet-4976	166	29	electrical	electrical	ADJ
cet-4976	166	30	engineering	engineering	NOUN
cet-4976	166	31	/	/	SYM
cet-4976	166	32	electronics	electronic	NOUN
cet-4976	166	33	,	,	PUNCT
cet-4976	166	34	computer	computer	NOUN
cet-4976	166	35	,	,	PUNCT
cet-4976	166	36	telecommunications	telecommunication	NOUN
cet-4976	166	37	and	and	CCONJ
cet-4976	166	38	information	information	NOUN
cet-4976	166	39	technology	technology	NOUN
cet-4976	166	40	(	(	PUNCT
cet-4976	166	41	ecti	ecti	NOUN
cet-4976	166	42	-	-	PUNCT
cet-4976	166	43	con	con	NOUN
cet-4976	166	44	)	)	PUNCT
cet-4976	166	45	,	,	PUNCT
cet-4976	166	46	1	1	NUM
cet-4976	166	47	-	-	SYM
cet-4976	166	48	4	4	NUM
cet-4976	166	49	.	.	PUNCT
cet-4976	167	1	tamura	tamura	PROPN
cet-4976	167	2	,	,	PUNCT
cet-4976	167	3	y.	y.	PROPN
cet-4976	167	4	,	,	PUNCT
cet-4976	167	5	terada	terada	PROPN
cet-4976	167	6	,	,	PUNCT
cet-4976	167	7	y.	y.	PROPN
cet-4976	167	8	,	,	PUNCT
cet-4976	167	9	yamashita	yamashita	PROPN
cet-4976	167	10	,	,	PUNCT
cet-4976	167	11	a.	a.	PROPN
cet-4976	167	12	,	,	PUNCT
cet-4976	167	13	&	&	CCONJ
cet-4976	167	14	asama	asama	PROPN
cet-4976	167	15	,	,	PUNCT
cet-4976	167	16	h.	h.	PROPN
cet-4976	167	17	,	,	PUNCT
cet-4976	167	18	2013,modelling	2013,modelle	VERB
cet-4976	167	19	behaviour	behaviour	NOUN
cet-4976	167	20	patterns	pattern	NOUN
cet-4976	167	21	of	of	ADP
cet-4976	167	22	pedestrians	pedestrian	NOUN
cet-4976	167	23	for	for	ADP
cet-4976	167	24	mobile	mobile	NOUN
cet-4976	167	25	robot	robot	NOUN
cet-4976	167	26	trajectory	trajectory	NOUN
cet-4976	167	27	generation	generation	NOUN
cet-4976	167	28	.	.	PUNCT
cet-4976	168	1	international	international	ADJ
cet-4976	168	2	journal	journal	NOUN
cet-4976	168	3	of	of	ADP
cet-4976	168	4	advanced	advanced	ADJ
cet-4976	168	5	robotic	robotic	ADJ
cet-4976	168	6	systems	system	NOUN
cet-4976	168	7	,	,	PUNCT
cet-4976	168	8	10	10	NUM
cet-4976	168	9	,	,	PUNCT
cet-4976	168	10	p.	p.	NOUN
cet-4976	168	11	310	310	NUM
cet-4976	169	1	wei	wei	PROPN
cet-4976	169	2	x.	x.	PROPN
cet-4976	169	3	,	,	PUNCT
cet-4976	169	4	rong	rong	PROPN
cet-4976	169	5	x.	x.	PROPN
cet-4976	169	6	,	,	PUNCT
cet-4976	169	7	jun	jun	PROPN
cet-4976	169	8	w.	w.	PROPN
cet-4976	169	9	,	,	PUNCT
cet-4976	169	10	2010	2010	NUM
cet-4976	169	11	,	,	PUNCT
cet-4976	169	12	force	force	NOUN
cet-4976	169	13	/	/	SYM
cet-4976	169	14	torque	torque	NOUN
cet-4976	169	15	-	-	PUNCT
cet-4976	169	16	based	base	VERB
cet-4976	169	17	compliance	compliance	NOUN
cet-4976	169	18	control	control	NOUN
cet-4976	169	19	for	for	ADP
cet-4976	169	20	humanoid	humanoid	NOUN
cet-4976	169	21	robot	robot	NOUN
cet-4976	169	22	to	to	PART
cet-4976	169	23	compensate	compensate	VERB
cet-4976	169	24	the	the	DET
cet-4976	169	25	landing	landing	NOUN
cet-4976	169	26	impact	impact	NOUN
cet-4976	169	27	force	force	NOUN
cet-4976	169	28	,	,	PUNCT
cet-4976	169	29	first	first	ADJ
cet-4976	169	30	international	international	ADJ
cet-4976	169	31	conference	conference	NOUN
cet-4976	169	32	onnetworking	onnetworking	NOUN
cet-4976	169	33	and	and	CCONJ
cet-4976	169	34	distributed	distributed	ADJ
cet-4976	169	35	computing	computing	NOUN
cet-4976	169	36	(	(	PUNCT
cet-4976	169	37	icndc	icndc	NOUN
cet-4976	169	38	)	)	PUNCT
cet-4976	169	39	,	,	PUNCT
cet-4976	169	40	336	336	NUM
cet-4976	169	41	-	-	SYM
cet-4976	169	42	340	340	NUM
cet-4976	169	43	.	.	PUNCT
cet-4976	169	44	1254	1254	NUM