id	sid	tid	token	lemma	pos
fuelectenerg-2314	1	1	instruction	instruction	NOUN
fuelectenerg-2314	1	2	facta	facta	PROPN
fuelectenerg-2314	1	3	universitatis	universitatis	PROPN
fuelectenerg-2314	1	4	series	series	NOUN
fuelectenerg-2314	1	5	:	:	PUNCT
fuelectenerg-2314	1	6	electronics	electronic	NOUN
fuelectenerg-2314	1	7	and	and	CCONJ
fuelectenerg-2314	1	8	energetics	energetics	NOUN
fuelectenerg-2314	1	9	vol	vol	NOUN
fuelectenerg-2314	1	10	.	.	PUNCT
fuelectenerg-2314	2	1	31	31	NUM
fuelectenerg-2314	2	2	,	,	PUNCT
fuelectenerg-2314	2	3	no	no	DET
fuelectenerg-2314	2	4	1	1	NUM
fuelectenerg-2314	2	5	,	,	PUNCT
fuelectenerg-2314	2	6	march	march	PROPN
fuelectenerg-2314	2	7	2018	2018	NUM
fuelectenerg-2314	2	8	,	,	PUNCT
fuelectenerg-2314	2	9	pp	pp	ADV
fuelectenerg-2314	2	10	.	.	PUNCT
fuelectenerg-2314	3	1	51	51	NUM
fuelectenerg-2314	3	2	61	61	NUM
fuelectenerg-2314	3	3	https://doi.org/10.2298/fuee1801051j	https://doi.org/10.2298/fuee1801051j	PROPN
fuelectenerg-2314	3	4	feedback	feedback	NOUN
fuelectenerg-2314	3	5	linearization	linearization	NOUN
fuelectenerg-2314	3	6	for	for	ADP
fuelectenerg-2314	3	7	decoupled	decoupled	ADJ
fuelectenerg-2314	3	8	position	position	NOUN
fuelectenerg-2314	3	9	/	/	SYM
fuelectenerg-2314	3	10	stiffness	stiffness	NOUN
fuelectenerg-2314	3	11	control	control	NOUN
fuelectenerg-2314	3	12	of	of	ADP
fuelectenerg-2314	3	13	bidirectional	bidirectional	ADJ
fuelectenerg-2314	3	14	antagonistic	antagonistic	ADJ
fuelectenerg-2314	3	15	drives	drive	NOUN
fuelectenerg-2314	3	16			PUNCT
fuelectenerg-2314	3	17	kosta	kosta	PROPN
fuelectenerg-2314	3	18	jovanović	jovanović	PROPN
fuelectenerg-2314	3	19	1	1	NUM
fuelectenerg-2314	3	20	,	,	PUNCT
fuelectenerg-2314	3	21	branko	branko	PROPN
fuelectenerg-2314	3	22	lukić	lukić	PROPN
fuelectenerg-2314	3	23	1	1	NUM
fuelectenerg-2314	3	24	,	,	PUNCT
fuelectenerg-2314	3	25	veljko	veljko	ADV
fuelectenerg-2314	3	26	potkonjak	potkonjak	ADJ
fuelectenerg-2314	3	27	2	2	NUM
fuelectenerg-2314	3	28	1	1	NUM
fuelectenerg-2314	3	29	laboratory	laboratory	NOUN
fuelectenerg-2314	3	30	for	for	ADP
fuelectenerg-2314	3	31	robotics	robotic	NOUN
fuelectenerg-2314	3	32	etf	etf	NOUN
fuelectenerg-2314	3	33	robotics	robotic	NOUN
fuelectenerg-2314	3	34	,	,	PUNCT
fuelectenerg-2314	3	35	school	school	NOUN
fuelectenerg-2314	3	36	of	of	ADP
fuelectenerg-2314	3	37	electrical	electrical	ADJ
fuelectenerg-2314	3	38	engineering	engineering	NOUN
fuelectenerg-2314	3	39	,	,	PUNCT
fuelectenerg-2314	3	40	university	university	PROPN
fuelectenerg-2314	3	41	of	of	ADP
fuelectenerg-2314	3	42	belgrade	belgrade	PROPN
fuelectenerg-2314	3	43	,	,	PUNCT
fuelectenerg-2314	3	44	serbia	serbia	PROPN
fuelectenerg-2314	3	45	2	2	NUM
fuelectenerg-2314	3	46	school	school	NOUN
fuelectenerg-2314	3	47	of	of	ADP
fuelectenerg-2314	3	48	information	information	NOUN
fuelectenerg-2314	3	49	technologies	technology	NOUN
fuelectenerg-2314	3	50	,	,	PUNCT
fuelectenerg-2314	3	51	metropolitan	metropolitan	PROPN
fuelectenerg-2314	3	52	university	university	NOUN
fuelectenerg-2314	3	53	,	,	PUNCT
fuelectenerg-2314	3	54	belgrade	belgrade	PROPN
fuelectenerg-2314	3	55	,	,	PUNCT
fuelectenerg-2314	3	56	serbia	serbia	PROPN
fuelectenerg-2314	3	57	abstract	abstract	ADJ
fuelectenerg-2314	3	58	.	.	PUNCT
fuelectenerg-2314	4	1	to	to	PART
fuelectenerg-2314	4	2	ensure	ensure	VERB
fuelectenerg-2314	4	3	safe	safe	ADJ
fuelectenerg-2314	4	4	human	human	ADJ
fuelectenerg-2314	4	5	-	-	PUNCT
fuelectenerg-2314	4	6	robot	robot	NOUN
fuelectenerg-2314	4	7	interaction	interaction	NOUN
fuelectenerg-2314	4	8	impedance	impedance	NOUN
fuelectenerg-2314	4	9	robot	robot	NOUN
fuelectenerg-2314	4	10	control	control	NOUN
fuelectenerg-2314	4	11	has	have	AUX
fuelectenerg-2314	4	12	arisen	arise	VERB
fuelectenerg-2314	4	13	as	as	ADP
fuelectenerg-2314	4	14	one	one	NUM
fuelectenerg-2314	4	15	of	of	ADP
fuelectenerg-2314	4	16	the	the	DET
fuelectenerg-2314	4	17	key	key	ADJ
fuelectenerg-2314	4	18	challenges	challenge	NOUN
fuelectenerg-2314	4	19	in	in	ADP
fuelectenerg-2314	4	20	robotics	robotic	NOUN
fuelectenerg-2314	4	21	.	.	PUNCT
fuelectenerg-2314	5	1	this	this	DET
fuelectenerg-2314	5	2	paper	paper	NOUN
fuelectenerg-2314	5	3	elaborates	elaborate	VERB
fuelectenerg-2314	5	4	control	control	NOUN
fuelectenerg-2314	5	5	of	of	ADP
fuelectenerg-2314	5	6	bidirectional	bidirectional	ADJ
fuelectenerg-2314	5	7	antagonistic	antagonistic	ADJ
fuelectenerg-2314	5	8	drives	drive	NOUN
fuelectenerg-2314	5	9	–	–	PUNCT
fuelectenerg-2314	5	10	qbmove	qbmove	NOUN
fuelectenerg-2314	5	11	maker	maker	NOUN
fuelectenerg-2314	5	12	pro	pro	ADJ
fuelectenerg-2314	5	13	.	.	PUNCT
fuelectenerg-2314	6	1	due	due	ADP
fuelectenerg-2314	6	2	to	to	ADP
fuelectenerg-2314	6	3	its	its	PRON
fuelectenerg-2314	6	4	mechanical	mechanical	ADJ
fuelectenerg-2314	6	5	structure	structure	NOUN
fuelectenerg-2314	6	6	,	,	PUNCT
fuelectenerg-2314	6	7	both	both	DET
fuelectenerg-2314	6	8	position	position	NOUN
fuelectenerg-2314	6	9	and	and	CCONJ
fuelectenerg-2314	6	10	stiffness	stiffness	NOUN
fuelectenerg-2314	6	11	of	of	ADP
fuelectenerg-2314	6	12	bidirectional	bidirectional	ADJ
fuelectenerg-2314	6	13	antagonistic	antagonistic	ADJ
fuelectenerg-2314	6	14	drives	drive	NOUN
fuelectenerg-2314	6	15	could	could	AUX
fuelectenerg-2314	6	16	be	be	AUX
fuelectenerg-2314	6	17	controlled	control	VERB
fuelectenerg-2314	6	18	independently	independently	ADV
fuelectenerg-2314	6	19	.	.	PUNCT
fuelectenerg-2314	7	1	to	to	ADP
fuelectenerg-2314	7	2	that	that	DET
fuelectenerg-2314	7	3	end	end	NOUN
fuelectenerg-2314	7	4	,	,	PUNCT
fuelectenerg-2314	7	5	we	we	PRON
fuelectenerg-2314	7	6	applied	apply	VERB
fuelectenerg-2314	7	7	feedback	feedback	NOUN
fuelectenerg-2314	7	8	linearization	linearization	NOUN
fuelectenerg-2314	7	9	.	.	PUNCT
fuelectenerg-2314	8	1	feedback	feedback	NOUN
fuelectenerg-2314	8	2	linearization	linearization	NOUN
fuelectenerg-2314	8	3	based	base	VERB
fuelectenerg-2314	8	4	approach	approach	NOUN
fuelectenerg-2314	8	5	initially	initially	ADV
fuelectenerg-2314	8	6	decouples	decouple	VERB
fuelectenerg-2314	8	7	systems	system	NOUN
fuelectenerg-2314	8	8	in	in	ADP
fuelectenerg-2314	8	9	two	two	NUM
fuelectenerg-2314	8	10	linear	linear	ADJ
fuelectenerg-2314	8	11	single	single	ADJ
fuelectenerg-2314	8	12	-	-	PUNCT
fuelectenerg-2314	8	13	input	input	NOUN
fuelectenerg-2314	8	14	-	-	PUNCT
fuelectenerg-2314	8	15	single	single	ADJ
fuelectenerg-2314	8	16	-	-	PUNCT
fuelectenerg-2314	8	17	output	output	NOUN
fuelectenerg-2314	8	18	subsystems	subsystem	NOUN
fuelectenerg-2314	8	19	:	:	PUNCT
fuelectenerg-2314	8	20	position	position	NOUN
fuelectenerg-2314	8	21	subsystem	subsystem	NOUN
fuelectenerg-2314	8	22	and	and	CCONJ
fuelectenerg-2314	8	23	stiffness	stiffness	NOUN
fuelectenerg-2314	8	24	subsystem	subsystem	NOUN
fuelectenerg-2314	8	25	.	.	PUNCT
fuelectenerg-2314	9	1	the	the	DET
fuelectenerg-2314	9	2	paper	paper	NOUN
fuelectenerg-2314	9	3	elaborates	elaborate	VERB
fuelectenerg-2314	9	4	preconditions	precondition	NOUN
fuelectenerg-2314	9	5	for	for	ADP
fuelectenerg-2314	9	6	feedback	feedback	NOUN
fuelectenerg-2314	9	7	linearization	linearization	NOUN
fuelectenerg-2314	9	8	and	and	CCONJ
fuelectenerg-2314	9	9	its	its	PRON
fuelectenerg-2314	9	10	implementation	implementation	NOUN
fuelectenerg-2314	9	11	.	.	PUNCT
fuelectenerg-2314	10	1	the	the	DET
fuelectenerg-2314	10	2	paper	paper	NOUN
fuelectenerg-2314	10	3	presents	present	VERB
fuelectenerg-2314	10	4	simulation	simulation	NOUN
fuelectenerg-2314	10	5	results	result	NOUN
fuelectenerg-2314	10	6	that	that	PRON
fuelectenerg-2314	10	7	prove	prove	VERB
fuelectenerg-2314	10	8	the	the	DET
fuelectenerg-2314	10	9	concept	concept	NOUN
fuelectenerg-2314	10	10	but	but	CCONJ
fuelectenerg-2314	10	11	points	point	VERB
fuelectenerg-2314	10	12	out	out	ADP
fuelectenerg-2314	10	13	application	application	NOUN
fuelectenerg-2314	10	14	issues	issue	NOUN
fuelectenerg-2314	10	15	due	due	ADP
fuelectenerg-2314	10	16	to	to	ADP
fuelectenerg-2314	10	17	the	the	DET
fuelectenerg-2314	10	18	complex	complex	ADJ
fuelectenerg-2314	10	19	mechanical	mechanical	ADJ
fuelectenerg-2314	10	20	structure	structure	NOUN
fuelectenerg-2314	10	21	of	of	ADP
fuelectenerg-2314	10	22	the	the	DET
fuelectenerg-2314	10	23	bidirectional	bidirectional	ADJ
fuelectenerg-2314	10	24	antagonistic	antagonistic	ADJ
fuelectenerg-2314	10	25	drives	drive	NOUN
fuelectenerg-2314	10	26	.	.	PUNCT
fuelectenerg-2314	11	1	key	key	ADJ
fuelectenerg-2314	11	2	words	word	NOUN
fuelectenerg-2314	11	3	:	:	PUNCT
fuelectenerg-2314	11	4	bidirectional	bidirectional	ADJ
fuelectenerg-2314	11	5	antagonistic	antagonistic	ADJ
fuelectenerg-2314	11	6	drives	drive	NOUN
fuelectenerg-2314	11	7	,	,	PUNCT
fuelectenerg-2314	11	8	variable	variable	ADJ
fuelectenerg-2314	11	9	stiffness	stiffness	NOUN
fuelectenerg-2314	11	10	actuators	actuator	NOUN
fuelectenerg-2314	11	11	,	,	PUNCT
fuelectenerg-2314	11	12	pullerfollower	pullerfollower	NOUN
fuelectenerg-2314	11	13	control	control	NOUN
fuelectenerg-2314	11	14	,	,	PUNCT
fuelectenerg-2314	11	15	stiffness	stiffness	ADJ
fuelectenerg-2314	11	16	control	control	NOUN
fuelectenerg-2314	11	17	.	.	PUNCT
fuelectenerg-2314	12	1	1	1	X
fuelectenerg-2314	12	2	.	.	X
fuelectenerg-2314	12	3	introduction	introduction	NOUN
fuelectenerg-2314	12	4	this	this	DET
fuelectenerg-2314	12	5	paper	paper	NOUN
fuelectenerg-2314	12	6	presents	present	VERB
fuelectenerg-2314	12	7	a	a	DET
fuelectenerg-2314	12	8	further	further	ADJ
fuelectenerg-2314	12	9	elaboration	elaboration	NOUN
fuelectenerg-2314	12	10	of	of	ADP
fuelectenerg-2314	12	11	the	the	DET
fuelectenerg-2314	12	12	approach	approach	NOUN
fuelectenerg-2314	12	13	for	for	ADP
fuelectenerg-2314	12	14	stiffness	stiffness	ADJ
fuelectenerg-2314	12	15	control	control	NOUN
fuelectenerg-2314	12	16	of	of	ADP
fuelectenerg-2314	12	17	classical	classical	ADJ
fuelectenerg-2314	12	18	antagonistic	antagonistic	ADJ
fuelectenerg-2314	12	19	drives	drive	NOUN
fuelectenerg-2314	12	20	in	in	ADP
fuelectenerg-2314	12	21	robotics	robotic	NOUN
fuelectenerg-2314	12	22	[	[	X
fuelectenerg-2314	12	23	1	1	NUM
fuelectenerg-2314	12	24	]	]	SYM
fuelectenerg-2314	12	25	1	1	NUM
fuelectenerg-2314	12	26	to	to	ADP
fuelectenerg-2314	12	27	bidirectional	bidirectional	ADJ
fuelectenerg-2314	12	28	antagonistic	antagonistic	ADJ
fuelectenerg-2314	12	29	drives	drive	NOUN
fuelectenerg-2314	12	30	.	.	PUNCT
fuelectenerg-2314	13	1	the	the	DET
fuelectenerg-2314	13	2	long	long	ADJ
fuelectenerg-2314	13	3	term	term	NOUN
fuelectenerg-2314	13	4	desire	desire	NOUN
fuelectenerg-2314	13	5	of	of	ADP
fuelectenerg-2314	13	6	scientists	scientist	NOUN
fuelectenerg-2314	13	7	to	to	PART
fuelectenerg-2314	13	8	design	design	VERB
fuelectenerg-2314	13	9	and	and	CCONJ
fuelectenerg-2314	13	10	build	build	VERB
fuelectenerg-2314	13	11	a	a	DET
fuelectenerg-2314	13	12	faithful	faithful	ADJ
fuelectenerg-2314	13	13	copy	copy	NOUN
fuelectenerg-2314	13	14	of	of	ADP
fuelectenerg-2314	13	15	a	a	DET
fuelectenerg-2314	13	16	human	human	ADJ
fuelectenerg-2314	13	17	being	being	NOUN
fuelectenerg-2314	13	18	finally	finally	ADV
fuelectenerg-2314	13	19	coincides	coincide	VERB
fuelectenerg-2314	13	20	with	with	ADP
fuelectenerg-2314	13	21	the	the	DET
fuelectenerg-2314	13	22	latest	late	ADJ
fuelectenerg-2314	13	23	efforts	effort	NOUN
fuelectenerg-2314	13	24	of	of	ADP
fuelectenerg-2314	13	25	in	in	ADP
fuelectenerg-2314	13	26	-	-	PUNCT
fuelectenerg-2314	13	27	house	house	NOUN
fuelectenerg-2314	13	28	service	service	NOUN
fuelectenerg-2314	13	29	robotics	robotic	NOUN
fuelectenerg-2314	13	30	how	how	SCONJ
fuelectenerg-2314	13	31	to	to	PART
fuelectenerg-2314	13	32	design	design	VERB
fuelectenerg-2314	13	33	a	a	DET
fuelectenerg-2314	13	34	robot	robot	NOUN
fuelectenerg-2314	13	35	which	which	PRON
fuelectenerg-2314	13	36	fully	fully	ADV
fuelectenerg-2314	13	37	matches	match	VERB
fuelectenerg-2314	13	38	the	the	DET
fuelectenerg-2314	13	39	house	house	PROPN
fuelectenerg-2314	13	40	environment	environment	PROPN
fuelectenerg-2314	13	41	.	.	PUNCT
fuelectenerg-2314	14	1	because	because	SCONJ
fuelectenerg-2314	14	2	humans	human	NOUN
fuelectenerg-2314	14	3	shape	shape	VERB
fuelectenerg-2314	14	4	their	their	PRON
fuelectenerg-2314	14	5	living	live	VERB
fuelectenerg-2314	14	6	environment	environment	NOUN
fuelectenerg-2314	14	7	to	to	PART
fuelectenerg-2314	14	8	fully	fully	ADV
fuelectenerg-2314	14	9	meet	meet	VERB
fuelectenerg-2314	14	10	their	their	PRON
fuelectenerg-2314	14	11	comfort	comfort	NOUN
fuelectenerg-2314	14	12	and	and	CCONJ
fuelectenerg-2314	14	13	necessities	necessity	NOUN
fuelectenerg-2314	14	14	,	,	PUNCT
fuelectenerg-2314	14	15	home	home	NOUN
fuelectenerg-2314	14	16	robots	robot	NOUN
fuelectenerg-2314	14	17	have	have	VERB
fuelectenerg-2314	14	18	to	to	PART
fuelectenerg-2314	14	19	be	be	AUX
fuelectenerg-2314	14	20	built	build	VERB
fuelectenerg-2314	14	21	to	to	PART
fuelectenerg-2314	14	22	fit	fit	VERB
fuelectenerg-2314	14	23	such	such	ADJ
fuelectenerg-2314	14	24	areas	area	NOUN
fuelectenerg-2314	14	25	and	and	CCONJ
fuelectenerg-2314	14	26	therefore	therefore	ADV
fuelectenerg-2314	14	27	they	they	PRON
fuelectenerg-2314	14	28	must	must	AUX
fuelectenerg-2314	14	29	move	move	VERB
fuelectenerg-2314	14	30	and	and	CCONJ
fuelectenerg-2314	14	31	behave	behave	VERB
fuelectenerg-2314	14	32	in	in	ADP
fuelectenerg-2314	14	33	the	the	DET
fuelectenerg-2314	14	34	same	same	ADJ
fuelectenerg-2314	14	35	manner	manner	NOUN
fuelectenerg-2314	14	36	as	as	ADP
fuelectenerg-2314	14	37	humans	human	NOUN
fuelectenerg-2314	14	38	.	.	PUNCT
fuelectenerg-2314	15	1	received	receive	VERB
fuelectenerg-2314	15	2	november	november	PROPN
fuelectenerg-2314	15	3	16	16	NUM
fuelectenerg-2314	15	4	,	,	PUNCT
fuelectenerg-2314	15	5	2016	2016	NUM
fuelectenerg-2314	15	6	;	;	PUNCT
fuelectenerg-2314	15	7	received	receive	VERB
fuelectenerg-2314	15	8	in	in	ADP
fuelectenerg-2314	15	9	revised	revise	VERB
fuelectenerg-2314	15	10	form	form	NOUN
fuelectenerg-2314	15	11	may	may	AUX
fuelectenerg-2314	15	12	4	4	NUM
fuelectenerg-2314	15	13	,	,	PUNCT
fuelectenerg-2314	15	14	2017	2017	NUM
fuelectenerg-2314	15	15	corresponding	correspond	VERB
fuelectenerg-2314	15	16	author	author	NOUN
fuelectenerg-2314	15	17	:	:	PUNCT
fuelectenerg-2314	15	18	kosta	kosta	PROPN
fuelectenerg-2314	15	19	jovanović	jovanović	PROPN
fuelectenerg-2314	15	20	laboratory	laboratory	PROPN
fuelectenerg-2314	15	21	for	for	ADP
fuelectenerg-2314	15	22	robotics	robotic	NOUN
fuelectenerg-2314	15	23	etf	etf	NOUN
fuelectenerg-2314	15	24	robotics	robotic	NOUN
fuelectenerg-2314	15	25	,	,	PUNCT
fuelectenerg-2314	15	26	school	school	NOUN
fuelectenerg-2314	15	27	of	of	ADP
fuelectenerg-2314	15	28	electrical	electrical	ADJ
fuelectenerg-2314	15	29	engineering	engineering	NOUN
fuelectenerg-2314	15	30	,	,	PUNCT
fuelectenerg-2314	15	31	university	university	PROPN
fuelectenerg-2314	15	32	of	of	ADP
fuelectenerg-2314	15	33	belgrade	belgrade	PROPN
fuelectenerg-2314	15	34	,	,	PUNCT
fuelectenerg-2314	15	35	11000	11000	NUM
fuelectenerg-2314	15	36	belgrade	belgrade	NOUN
fuelectenerg-2314	15	37	,	,	PUNCT
fuelectenerg-2314	15	38	serbia	serbia	PROPN
fuelectenerg-2314	15	39	(	(	PUNCT
fuelectenerg-2314	15	40	e	e	NOUN
fuelectenerg-2314	15	41	-	-	NOUN
fuelectenerg-2314	15	42	mail	mail	NOUN
fuelectenerg-2314	15	43	:	:	PUNCT
fuelectenerg-2314	15	44	kostaj@etf.rs	kostaj@etf.rs	X
fuelectenerg-2314	15	45	)	)	PUNCT
fuelectenerg-2314	15	46	*	*	PUNCT
fuelectenerg-2314	15	47	an	an	DET
fuelectenerg-2314	15	48	initial	initial	ADJ
fuelectenerg-2314	15	49	research	research	NOUN
fuelectenerg-2314	15	50	related	relate	VERB
fuelectenerg-2314	15	51	to	to	ADP
fuelectenerg-2314	15	52	this	this	DET
fuelectenerg-2314	15	53	paper	paper	NOUN
fuelectenerg-2314	15	54	received	receive	VERB
fuelectenerg-2314	15	55	best	good	ADJ
fuelectenerg-2314	15	56	paper	paper	NOUN
fuelectenerg-2314	15	57	award	award	NOUN
fuelectenerg-2314	15	58	at	at	ADP
fuelectenerg-2314	15	59	3rdinternational	3rdinternational	NUM
fuelectenerg-2314	15	60	conference	conference	NOUN
fuelectenerg-2314	15	61	on	on	ADP
fuelectenerg-2314	15	62	electrical	electrical	ADJ
fuelectenerg-2314	15	63	,	,	PUNCT
fuelectenerg-2314	15	64	electronic	electronic	ADJ
fuelectenerg-2314	15	65	and	and	CCONJ
fuelectenerg-2314	15	66	computing	compute	VERB
fuelectenerg-2314	15	67	engineering	engineering	NOUN
fuelectenerg-2314	15	68	(	(	PUNCT
fuelectenerg-2314	15	69	icetran	icetran	NOUN
fuelectenerg-2314	15	70	’	'	PUNCT
fuelectenerg-2314	15	71	16	16	NUM
fuelectenerg-2314	15	72	)	)	PUNCT
fuelectenerg-2314	15	73	–	–	PUNCT
fuelectenerg-2314	15	74	section	section	NOUN
fuelectenerg-2314	15	75	robotics	robotic	NOUN
fuelectenerg-2314	15	76	and	and	CCONJ
fuelectenerg-2314	15	77	flexible	flexible	ADJ
fuelectenerg-2314	15	78	automation	automation	NOUN
fuelectenerg-2314	16	1	[	[	X
fuelectenerg-2314	16	2	1	1	NUM
fuelectenerg-2314	16	3	]	]	PUNCT
fuelectenerg-2314	16	4	.	.	PUNCT
fuelectenerg-2314	17	1	52	52	NUM
fuelectenerg-2314	17	2	k.	k.	PROPN
fuelectenerg-2314	17	3	jovanović	jovanović	PROPN
fuelectenerg-2314	17	4	,	,	PUNCT
fuelectenerg-2314	17	5	b.	b.	PROPN
fuelectenerg-2314	17	6	lukić	lukić	PROPN
fuelectenerg-2314	17	7	,	,	PUNCT
fuelectenerg-2314	17	8	v.	v.	ADP
fuelectenerg-2314	17	9	potkonjak	potkonjak	PROPN
fuelectenerg-2314	17	10	therefore	therefore	ADV
fuelectenerg-2314	17	11	,	,	PUNCT
fuelectenerg-2314	17	12	there	there	PRON
fuelectenerg-2314	17	13	are	be	VERB
fuelectenerg-2314	17	14	numbers	number	NOUN
fuelectenerg-2314	17	15	of	of	ADP
fuelectenerg-2314	17	16	actual	actual	ADJ
fuelectenerg-2314	17	17	research	research	NOUN
fuelectenerg-2314	17	18	projects	project	NOUN
fuelectenerg-2314	17	19	with	with	ADP
fuelectenerg-2314	17	20	the	the	DET
fuelectenerg-2314	17	21	ultimate	ultimate	ADJ
fuelectenerg-2314	17	22	goal	goal	NOUN
fuelectenerg-2314	17	23	of	of	ADP
fuelectenerg-2314	17	24	creating	create	VERB
fuelectenerg-2314	17	25	musculoskeletal	musculoskeletal	ADJ
fuelectenerg-2314	17	26	(	(	PUNCT
fuelectenerg-2314	17	27	or	or	CCONJ
fuelectenerg-2314	17	28	so	so	ADV
fuelectenerg-2314	17	29	-	-	PUNCT
fuelectenerg-2314	17	30	called	call	VERB
fuelectenerg-2314	17	31	anthropomimetic	anthropomimetic	ADJ
fuelectenerg-2314	17	32	robots	robot	NOUN
fuelectenerg-2314	17	33	[	[	X
fuelectenerg-2314	17	34	2	2	NUM
fuelectenerg-2314	17	35	]	]	PUNCT
fuelectenerg-2314	17	36	,	,	PUNCT
fuelectenerg-2314	17	37	[	[	X
fuelectenerg-2314	17	38	3	3	NUM
fuelectenerg-2314	17	39	]	]	NUM
fuelectenerg-2314	17	40	)	)	PUNCT
fuelectenerg-2314	17	41	.	.	PUNCT
fuelectenerg-2314	18	1	the	the	DET
fuelectenerg-2314	18	2	most	most	ADV
fuelectenerg-2314	18	3	popular	popular	ADJ
fuelectenerg-2314	18	4	among	among	ADP
fuelectenerg-2314	18	5	them	they	PRON
fuelectenerg-2314	18	6	are	be	AUX
fuelectenerg-2314	18	7	famous	famous	ADJ
fuelectenerg-2314	18	8	japanese	japanese	ADJ
fuelectenerg-2314	18	9	robot	robot	NOUN
fuelectenerg-2314	18	10	kenshiro	kenshiro	PROPN
fuelectenerg-2314	19	1	[	[	X
fuelectenerg-2314	19	2	4	4	X
fuelectenerg-2314	19	3	]	]	PUNCT
fuelectenerg-2314	19	4	and	and	CCONJ
fuelectenerg-2314	19	5	eccerobot	eccerobot	PROPN
fuelectenerg-2314	19	6	as	as	ADP
fuelectenerg-2314	19	7	an	an	DET
fuelectenerg-2314	19	8	anthropomimetic	anthropomimetic	ADJ
fuelectenerg-2314	19	9	robot	robot	NOUN
fuelectenerg-2314	19	10	of	of	ADP
fuelectenerg-2314	19	11	european	european	PROPN
fuelectenerg-2314	19	12	consortium	consortium	PROPN
fuelectenerg-2314	20	1	[	[	X
fuelectenerg-2314	20	2	5	5	NUM
fuelectenerg-2314	20	3	]	]	PUNCT
fuelectenerg-2314	20	4	.	.	PUNCT
fuelectenerg-2314	21	1	following	follow	VERB
fuelectenerg-2314	21	2	the	the	DET
fuelectenerg-2314	21	3	anthropomimetic	anthropomimetic	ADJ
fuelectenerg-2314	21	4	approach	approach	NOUN
fuelectenerg-2314	21	5	,	,	PUNCT
fuelectenerg-2314	21	6	key	key	ADJ
fuelectenerg-2314	21	7	issues	issue	NOUN
fuelectenerg-2314	21	8	are	be	AUX
fuelectenerg-2314	21	9	human	human	ADJ
fuelectenerg-2314	21	10	-	-	PUNCT
fuelectenerg-2314	21	11	like	like	ADJ
fuelectenerg-2314	21	12	actuators	actuator	NOUN
fuelectenerg-2314	21	13	and	and	CCONJ
fuelectenerg-2314	21	14	their	their	PRON
fuelectenerg-2314	21	15	control	control	NOUN
fuelectenerg-2314	21	16	.	.	PUNCT
fuelectenerg-2314	22	1	the	the	DET
fuelectenerg-2314	22	2	design	design	NOUN
fuelectenerg-2314	22	3	of	of	ADP
fuelectenerg-2314	22	4	an	an	DET
fuelectenerg-2314	22	5	anthropomimetic	anthropomimetic	ADJ
fuelectenerg-2314	22	6	actuator	actuator	NOUN
fuelectenerg-2314	22	7	has	have	VERB
fuelectenerg-2314	22	8	to	to	PART
fuelectenerg-2314	22	9	follow	follow	VERB
fuelectenerg-2314	22	10	guidelines	guideline	NOUN
fuelectenerg-2314	22	11	set	set	VERB
fuelectenerg-2314	22	12	by	by	ADP
fuelectenerg-2314	22	13	its	its	PRON
fuelectenerg-2314	22	14	human	human	ADJ
fuelectenerg-2314	22	15	paragon	paragon	NOUN
fuelectenerg-2314	22	16	:	:	PUNCT
fuelectenerg-2314	22	17	it	it	PRON
fuelectenerg-2314	22	18	should	should	AUX
fuelectenerg-2314	22	19	be	be	AUX
fuelectenerg-2314	22	20	tendon	tendon	NOUN
fuelectenerg-2314	22	21	driven	drive	VERB
fuelectenerg-2314	22	22	,	,	PUNCT
fuelectenerg-2314	22	23	compliant	compliant	ADJ
fuelectenerg-2314	22	24	(	(	PUNCT
fuelectenerg-2314	22	25	of	of	ADP
fuelectenerg-2314	22	26	changeable	changeable	ADJ
fuelectenerg-2314	22	27	compliance	compliance	NOUN
fuelectenerg-2314	22	28	vsa	vsa	NOUN
fuelectenerg-2314	22	29	)	)	PUNCT
fuelectenerg-2314	22	30	and	and	CCONJ
fuelectenerg-2314	22	31	therefore	therefore	ADV
fuelectenerg-2314	22	32	it	it	PRON
fuelectenerg-2314	22	33	has	have	VERB
fuelectenerg-2314	22	34	to	to	PART
fuelectenerg-2314	22	35	be	be	AUX
fuelectenerg-2314	22	36	driven	drive	VERB
fuelectenerg-2314	22	37	by	by	ADP
fuelectenerg-2314	22	38	at	at	ADV
fuelectenerg-2314	22	39	least	least	ADV
fuelectenerg-2314	22	40	two	two	NUM
fuelectenerg-2314	22	41	motors	motor	NOUN
fuelectenerg-2314	22	42	–	–	PUNCT
fuelectenerg-2314	22	43	to	to	PART
fuelectenerg-2314	22	44	control	control	VERB
fuelectenerg-2314	22	45	both	both	DET
fuelectenerg-2314	22	46	position	position	NOUN
fuelectenerg-2314	22	47	and	and	CCONJ
fuelectenerg-2314	22	48	compliance	compliance	NOUN
fuelectenerg-2314	22	49	(	(	PUNCT
fuelectenerg-2314	22	50	opposite	opposite	NOUN
fuelectenerg-2314	22	51	of	of	ADP
fuelectenerg-2314	22	52	stiffness	stiffness	NOUN
fuelectenerg-2314	22	53	)	)	PUNCT
fuelectenerg-2314	22	54	.	.	PUNCT
fuelectenerg-2314	23	1	the	the	DET
fuelectenerg-2314	23	2	control	control	NOUN
fuelectenerg-2314	23	3	of	of	ADP
fuelectenerg-2314	23	4	such	such	ADJ
fuelectenerg-2314	23	5	drives	drive	NOUN
fuelectenerg-2314	23	6	,	,	PUNCT
fuelectenerg-2314	23	7	which	which	PRON
fuelectenerg-2314	23	8	are	be	AUX
fuelectenerg-2314	23	9	inevitably	inevitably	ADV
fuelectenerg-2314	23	10	multivariable	multivariable	ADJ
fuelectenerg-2314	23	11	and	and	CCONJ
fuelectenerg-2314	23	12	non	non	ADJ
fuelectenerg-2314	23	13	-	-	ADJ
fuelectenerg-2314	23	14	linear	linear	ADJ
fuelectenerg-2314	23	15	,	,	PUNCT
fuelectenerg-2314	23	16	has	have	VERB
fuelectenerg-2314	23	17	to	to	PART
fuelectenerg-2314	23	18	be	be	AUX
fuelectenerg-2314	23	19	reliable	reliable	ADJ
fuelectenerg-2314	23	20	,	,	PUNCT
fuelectenerg-2314	23	21	safe	safe	ADJ
fuelectenerg-2314	23	22	and	and	CCONJ
fuelectenerg-2314	23	23	robust	robust	ADJ
fuelectenerg-2314	23	24	.	.	PUNCT
fuelectenerg-2314	24	1	this	this	DET
fuelectenerg-2314	24	2	paper	paper	NOUN
fuelectenerg-2314	24	3	presents	present	VERB
fuelectenerg-2314	24	4	one	one	NUM
fuelectenerg-2314	24	5	instance	instance	NOUN
fuelectenerg-2314	24	6	of	of	ADP
fuelectenerg-2314	24	7	a	a	DET
fuelectenerg-2314	24	8	bio	bio	ADJ
fuelectenerg-2314	24	9	-	-	PUNCT
fuelectenerg-2314	24	10	inspired	inspired	ADJ
fuelectenerg-2314	24	11	robotic	robotic	ADJ
fuelectenerg-2314	24	12	drive	drive	NOUN
fuelectenerg-2314	24	13	of	of	ADP
fuelectenerg-2314	24	14	changeable	changeable	ADJ
fuelectenerg-2314	24	15	stiffness	stiffness	NOUN
fuelectenerg-2314	24	16	–	–	PUNCT
fuelectenerg-2314	24	17	bidirectional	bidirectional	ADJ
fuelectenerg-2314	24	18	qbmove	qbmove	NOUN
fuelectenerg-2314	24	19	maker	maker	NOUN
fuelectenerg-2314	24	20	pro	pro	ADJ
fuelectenerg-2314	24	21	,	,	PUNCT
fuelectenerg-2314	24	22	and	and	CCONJ
fuelectenerg-2314	24	23	an	an	DET
fuelectenerg-2314	24	24	approach	approach	NOUN
fuelectenerg-2314	24	25	to	to	PART
fuelectenerg-2314	24	26	control	control	VERB
fuelectenerg-2314	24	27	such	such	ADJ
fuelectenerg-2314	24	28	drive	drive	NOUN
fuelectenerg-2314	24	29	initially	initially	ADV
fuelectenerg-2314	24	30	based	base	VERB
fuelectenerg-2314	24	31	on	on	ADP
fuelectenerg-2314	24	32	our	our	PRON
fuelectenerg-2314	24	33	work	work	NOUN
fuelectenerg-2314	24	34	on	on	ADP
fuelectenerg-2314	24	35	puller	puller	NOUN
fuelectenerg-2314	24	36	-	-	PUNCT
fuelectenerg-2314	24	37	follower	follower	NOUN
fuelectenerg-2314	24	38	approach	approach	NOUN
fuelectenerg-2314	24	39	[	[	X
fuelectenerg-2314	24	40	6	6	NUM
fuelectenerg-2314	24	41	]	]	PUNCT
fuelectenerg-2314	24	42	.	.	PUNCT
fuelectenerg-2314	25	1	a	a	DET
fuelectenerg-2314	25	2	brief	brief	ADJ
fuelectenerg-2314	25	3	overview	overview	NOUN
fuelectenerg-2314	25	4	of	of	ADP
fuelectenerg-2314	25	5	bidirectional	bidirectional	ADJ
fuelectenerg-2314	25	6	antagonistic	antagonistic	ADJ
fuelectenerg-2314	25	7	joints	joint	NOUN
fuelectenerg-2314	25	8	in	in	ADP
fuelectenerg-2314	25	9	robotics	robotic	NOUN
fuelectenerg-2314	25	10	,	,	PUNCT
fuelectenerg-2314	25	11	as	as	ADV
fuelectenerg-2314	25	12	well	well	ADV
fuelectenerg-2314	25	13	as	as	ADP
fuelectenerg-2314	25	14	our	our	PRON
fuelectenerg-2314	25	15	target	target	NOUN
fuelectenerg-2314	25	16	one	one	NUM
fuelectenerg-2314	25	17	,	,	PUNCT
fuelectenerg-2314	25	18	is	be	AUX
fuelectenerg-2314	25	19	given	give	VERB
fuelectenerg-2314	25	20	in	in	ADP
fuelectenerg-2314	25	21	section	section	NOUN
fuelectenerg-2314	25	22	2	2	NUM
fuelectenerg-2314	25	23	.	.	PUNCT
fuelectenerg-2314	25	24	special	special	ADJ
fuelectenerg-2314	25	25	attention	attention	NOUN
fuelectenerg-2314	25	26	of	of	ADP
fuelectenerg-2314	25	27	our	our	PRON
fuelectenerg-2314	25	28	group	group	NOUN
fuelectenerg-2314	25	29	from	from	ADP
fuelectenerg-2314	25	30	robotics	robotic	NOUN
fuelectenerg-2314	25	31	laboratory	laboratory	NOUN
fuelectenerg-2314	25	32	at	at	ADP
fuelectenerg-2314	25	33	the	the	DET
fuelectenerg-2314	25	34	school	school	NOUN
fuelectenerg-2314	25	35	of	of	ADP
fuelectenerg-2314	25	36	electrical	electrical	ADJ
fuelectenerg-2314	25	37	engineering	engineering	NOUN
fuelectenerg-2314	25	38	,	,	PUNCT
fuelectenerg-2314	25	39	university	university	PROPN
fuelectenerg-2314	25	40	of	of	ADP
fuelectenerg-2314	25	41	belgrade	belgrade	PROPN
fuelectenerg-2314	25	42	,	,	PUNCT
fuelectenerg-2314	25	43	is	be	AUX
fuelectenerg-2314	25	44	paid	pay	VERB
fuelectenerg-2314	25	45	to	to	ADP
fuelectenerg-2314	25	46	the	the	DET
fuelectenerg-2314	25	47	control	control	NOUN
fuelectenerg-2314	25	48	of	of	ADP
fuelectenerg-2314	25	49	novel	novel	ADJ
fuelectenerg-2314	25	50	bioinspired	bioinspire	VERB
fuelectenerg-2314	25	51	robot	robot	NOUN
fuelectenerg-2314	25	52	actuators	actuator	NOUN
fuelectenerg-2314	25	53	in	in	ADP
fuelectenerg-2314	25	54	general	general	ADJ
fuelectenerg-2314	25	55	and	and	CCONJ
fuelectenerg-2314	25	56	the	the	DET
fuelectenerg-2314	25	57	control	control	NOUN
fuelectenerg-2314	25	58	of	of	ADP
fuelectenerg-2314	25	59	bidirectional	bidirectional	ADJ
fuelectenerg-2314	25	60	antagonistic	antagonistic	ADJ
fuelectenerg-2314	25	61	drives	drive	NOUN
fuelectenerg-2314	25	62	as	as	ADP
fuelectenerg-2314	25	63	one	one	NUM
fuelectenerg-2314	25	64	of	of	ADP
fuelectenerg-2314	25	65	the	the	DET
fuelectenerg-2314	25	66	instances	instance	NOUN
fuelectenerg-2314	25	67	available	available	ADJ
fuelectenerg-2314	25	68	in	in	ADP
fuelectenerg-2314	25	69	the	the	DET
fuelectenerg-2314	25	70	laboratory	laboratory	NOUN
fuelectenerg-2314	25	71	.	.	PUNCT
fuelectenerg-2314	26	1	generalized	generalized	ADJ
fuelectenerg-2314	26	2	puller	puller	NOUN
fuelectenerg-2314	26	3	-	-	PUNCT
fuelectenerg-2314	26	4	follower	follower	NOUN
fuelectenerg-2314	26	5	approach	approach	NOUN
fuelectenerg-2314	26	6	based	base	VERB
fuelectenerg-2314	26	7	on	on	ADP
fuelectenerg-2314	26	8	feedback	feedback	NOUN
fuelectenerg-2314	26	9	linearization	linearization	NOUN
fuelectenerg-2314	26	10	to	to	ADP
fuelectenerg-2314	26	11	the	the	DET
fuelectenerg-2314	26	12	control	control	NOUN
fuelectenerg-2314	26	13	of	of	ADP
fuelectenerg-2314	26	14	qbmove	qbmove	PROPN
fuelectenerg-2314	26	15	maker	maker	NOUN
fuelectenerg-2314	26	16	pro	pro	NOUN
fuelectenerg-2314	26	17	is	be	AUX
fuelectenerg-2314	26	18	introduced	introduce	VERB
fuelectenerg-2314	26	19	in	in	ADP
fuelectenerg-2314	26	20	section	section	NOUN
fuelectenerg-2314	26	21	3	3	NUM
fuelectenerg-2314	26	22	.	.	PUNCT
fuelectenerg-2314	27	1	the	the	DET
fuelectenerg-2314	27	2	validity	validity	NOUN
fuelectenerg-2314	27	3	of	of	ADP
fuelectenerg-2314	27	4	the	the	DET
fuelectenerg-2314	27	5	proposed	propose	VERB
fuelectenerg-2314	27	6	control	control	NOUN
fuelectenerg-2314	27	7	algorithm	algorithm	PROPN
fuelectenerg-2314	27	8	is	be	AUX
fuelectenerg-2314	27	9	proven	prove	VERB
fuelectenerg-2314	27	10	via	via	ADP
fuelectenerg-2314	27	11	simulation	simulation	NOUN
fuelectenerg-2314	27	12	in	in	ADP
fuelectenerg-2314	27	13	section	section	NOUN
fuelectenerg-2314	27	14	4	4	NUM
fuelectenerg-2314	27	15	.	.	PUNCT
fuelectenerg-2314	27	16	section	section	NOUN
fuelectenerg-2314	27	17	5	5	NUM
fuelectenerg-2314	27	18	brings	bring	VERB
fuelectenerg-2314	27	19	conclusions	conclusion	NOUN
fuelectenerg-2314	27	20	about	about	ADP
fuelectenerg-2314	27	21	a	a	DET
fuelectenerg-2314	27	22	prospective	prospective	ADJ
fuelectenerg-2314	27	23	application	application	NOUN
fuelectenerg-2314	27	24	of	of	ADP
fuelectenerg-2314	27	25	the	the	DET
fuelectenerg-2314	27	26	proposed	propose	VERB
fuelectenerg-2314	27	27	methodology	methodology	NOUN
fuelectenerg-2314	27	28	,	,	PUNCT
fuelectenerg-2314	27	29	gives	give	VERB
fuelectenerg-2314	27	30	tips	tip	NOUN
fuelectenerg-2314	27	31	for	for	ADP
fuelectenerg-2314	27	32	future	future	ADJ
fuelectenerg-2314	27	33	work	work	NOUN
fuelectenerg-2314	27	34	and	and	CCONJ
fuelectenerg-2314	27	35	points	point	VERB
fuelectenerg-2314	27	36	out	out	ADP
fuelectenerg-2314	27	37	the	the	DET
fuelectenerg-2314	27	38	already	already	ADV
fuelectenerg-2314	27	39	tested	test	VERB
fuelectenerg-2314	27	40	alternative	alternative	ADJ
fuelectenerg-2314	27	41	approaches	approach	NOUN
fuelectenerg-2314	27	42	for	for	ADP
fuelectenerg-2314	27	43	stiffness	stiffness	ADJ
fuelectenerg-2314	27	44	control	control	NOUN
fuelectenerg-2314	27	45	of	of	ADP
fuelectenerg-2314	27	46	bidirectional	bidirectional	ADJ
fuelectenerg-2314	27	47	antagonistic	antagonistic	ADJ
fuelectenerg-2314	27	48	drives	drive	NOUN
fuelectenerg-2314	27	49	.	.	PUNCT
fuelectenerg-2314	28	1	2	2	X
fuelectenerg-2314	28	2	.	.	X
fuelectenerg-2314	28	3	bidirectional	bidirectional	ADJ
fuelectenerg-2314	28	4	antagonistic	antagonistic	ADJ
fuelectenerg-2314	28	5	drives	drive	NOUN
fuelectenerg-2314	28	6	qbmove	qbmove	NOUN
fuelectenerg-2314	28	7	maker	maker	NOUN
fuelectenerg-2314	28	8	pro	pro	VERB
fuelectenerg-2314	28	9	a	a	DET
fuelectenerg-2314	28	10	subgroup	subgroup	NOUN
fuelectenerg-2314	28	11	of	of	ADP
fuelectenerg-2314	28	12	vsas	vsa	NOUN
fuelectenerg-2314	28	13	that	that	PRON
fuelectenerg-2314	28	14	mimics	mimic	VERB
fuelectenerg-2314	28	15	biological	biological	ADJ
fuelectenerg-2314	28	16	paragon	paragon	NOUN
fuelectenerg-2314	28	17	of	of	ADP
fuelectenerg-2314	28	18	mammals	mammal	NOUN
fuelectenerg-2314	28	19	is	be	AUX
fuelectenerg-2314	28	20	antagonistic	antagonistic	ADJ
fuelectenerg-2314	28	21	actuators	actuator	NOUN
fuelectenerg-2314	28	22	.	.	PUNCT
fuelectenerg-2314	29	1	although	although	SCONJ
fuelectenerg-2314	29	2	classical	classical	ADJ
fuelectenerg-2314	29	3	antagonistic	antagonistic	ADJ
fuelectenerg-2314	29	4	actuation	actuation	NOUN
fuelectenerg-2314	29	5	is	be	AUX
fuelectenerg-2314	29	6	the	the	DET
fuelectenerg-2314	29	7	prime	prime	ADJ
fuelectenerg-2314	29	8	example	example	NOUN
fuelectenerg-2314	29	9	of	of	ADP
fuelectenerg-2314	29	10	a	a	DET
fuelectenerg-2314	29	11	fully	fully	ADV
fuelectenerg-2314	29	12	biologically	biologically	ADV
fuelectenerg-2314	29	13	inspired	inspire	VERB
fuelectenerg-2314	29	14	actuation	actuation	NOUN
fuelectenerg-2314	29	15	,	,	PUNCT
fuelectenerg-2314	29	16	lately	lately	ADV
fuelectenerg-2314	29	17	,	,	PUNCT
fuelectenerg-2314	29	18	the	the	DET
fuelectenerg-2314	29	19	engineers	engineer	NOUN
fuelectenerg-2314	29	20	turned	turn	VERB
fuelectenerg-2314	29	21	to	to	ADP
fuelectenerg-2314	29	22	bidirectional	bidirectional	ADJ
fuelectenerg-2314	29	23	antagonistic	antagonistic	ADJ
fuelectenerg-2314	29	24	actuation	actuation	NOUN
fuelectenerg-2314	29	25	as	as	ADP
fuelectenerg-2314	29	26	a	a	DET
fuelectenerg-2314	29	27	big	big	ADJ
fuelectenerg-2314	29	28	step	step	NOUN
fuelectenerg-2314	29	29	towards	towards	ADP
fuelectenerg-2314	29	30	real	real	ADJ
fuelectenerg-2314	29	31	antagonistic	antagonistic	ADJ
fuelectenerg-2314	29	32	actuation	actuation	NOUN
fuelectenerg-2314	29	33	.	.	PUNCT
fuelectenerg-2314	30	1	the	the	DET
fuelectenerg-2314	30	2	most	most	ADV
fuelectenerg-2314	30	3	significant	significant	ADJ
fuelectenerg-2314	30	4	advantage	advantage	NOUN
fuelectenerg-2314	30	5	of	of	ADP
fuelectenerg-2314	30	6	bidirectional	bidirectional	ADJ
fuelectenerg-2314	30	7	antagonistic	antagonistic	ADJ
fuelectenerg-2314	30	8	actuation	actuation	NOUN
fuelectenerg-2314	30	9	is	be	AUX
fuelectenerg-2314	30	10	bidirectional	bidirectional	ADJ
fuelectenerg-2314	30	11	torque	torque	NOUN
fuelectenerg-2314	30	12	achieved	achieve	VERB
fuelectenerg-2314	30	13	by	by	ADP
fuelectenerg-2314	30	14	two	two	NUM
fuelectenerg-2314	30	15	antagonistically	antagonistically	ADV
fuelectenerg-2314	30	16	coupled	couple	VERB
fuelectenerg-2314	30	17	motors	motor	NOUN
fuelectenerg-2314	30	18	.	.	PUNCT
fuelectenerg-2314	31	1	namely	namely	ADV
fuelectenerg-2314	31	2	,	,	PUNCT
fuelectenerg-2314	31	3	both	both	DET
fuelectenerg-2314	31	4	motors	motor	NOUN
fuelectenerg-2314	31	5	could	could	AUX
fuelectenerg-2314	31	6	either	either	CCONJ
fuelectenerg-2314	31	7	pull	pull	VERB
fuelectenerg-2314	31	8	or	or	CCONJ
fuelectenerg-2314	31	9	push	push	VERB
fuelectenerg-2314	31	10	,	,	PUNCT
fuelectenerg-2314	31	11	contrary	contrary	ADV
fuelectenerg-2314	31	12	to	to	ADP
fuelectenerg-2314	31	13	classical	classical	ADJ
fuelectenerg-2314	31	14	antagonistic	antagonistic	ADJ
fuelectenerg-2314	31	15	,	,	PUNCT
fuelectenerg-2314	31	16	tendon	tendon	NOUN
fuelectenerg-2314	31	17	driven	drive	VERB
fuelectenerg-2314	31	18	actuators	actuator	NOUN
fuelectenerg-2314	31	19	and	and	CCONJ
fuelectenerg-2314	31	20	human	human	ADJ
fuelectenerg-2314	31	21	muscles	muscle	NOUN
fuelectenerg-2314	31	22	.	.	PUNCT
fuelectenerg-2314	32	1	therefore	therefore	ADV
fuelectenerg-2314	32	2	,	,	PUNCT
fuelectenerg-2314	32	3	slacking	slacking	NOUN
fuelectenerg-2314	32	4	of	of	ADP
fuelectenerg-2314	32	5	the	the	DET
fuelectenerg-2314	32	6	tendons	tendon	NOUN
fuelectenerg-2314	32	7	is	be	AUX
fuelectenerg-2314	32	8	not	not	PART
fuelectenerg-2314	32	9	possible	possible	ADJ
fuelectenerg-2314	32	10	,	,	PUNCT
fuelectenerg-2314	32	11	and	and	CCONJ
fuelectenerg-2314	32	12	controllability	controllability	NOUN
fuelectenerg-2314	32	13	of	of	ADP
fuelectenerg-2314	32	14	such	such	ADJ
fuelectenerg-2314	32	15	drives	drive	NOUN
fuelectenerg-2314	32	16	is	be	AUX
fuelectenerg-2314	32	17	ensured	ensure	VERB
fuelectenerg-2314	32	18	.	.	PUNCT
fuelectenerg-2314	33	1	pioneering	pioneer	VERB
fuelectenerg-2314	33	2	works	work	NOUN
fuelectenerg-2314	33	3	in	in	ADP
fuelectenerg-2314	33	4	antagonistic	antagonistic	ADJ
fuelectenerg-2314	33	5	actuation	actuation	NOUN
fuelectenerg-2314	33	6	exploited	exploit	VERB
fuelectenerg-2314	33	7	intrinsic	intrinsic	ADJ
fuelectenerg-2314	33	8	compliance	compliance	NOUN
fuelectenerg-2314	33	9	of	of	ADP
fuelectenerg-2314	33	10	hydraulic	hydraulic	ADJ
fuelectenerg-2314	33	11	and	and	CCONJ
fuelectenerg-2314	33	12	pneumatic	pneumatic	ADJ
fuelectenerg-2314	33	13	actuators	actuator	NOUN
fuelectenerg-2314	33	14	as	as	ADP
fuelectenerg-2314	33	15	antagonistically	antagonistically	ADV
fuelectenerg-2314	33	16	coupled	couple	VERB
fuelectenerg-2314	33	17	drives	drive	NOUN
fuelectenerg-2314	33	18	.	.	PUNCT
fuelectenerg-2314	34	1	therefore	therefore	ADV
fuelectenerg-2314	34	2	,	,	PUNCT
fuelectenerg-2314	34	3	the	the	DET
fuelectenerg-2314	34	4	first	first	ADJ
fuelectenerg-2314	34	5	widely	widely	ADV
fuelectenerg-2314	34	6	known	know	VERB
fuelectenerg-2314	34	7	implementation	implementation	NOUN
fuelectenerg-2314	34	8	of	of	ADP
fuelectenerg-2314	34	9	antagonistic	antagonistic	ADJ
fuelectenerg-2314	34	10	drives	drive	NOUN
fuelectenerg-2314	34	11	were	be	AUX
fuelectenerg-2314	34	12	:	:	PUNCT
fuelectenerg-2314	34	13	the	the	DET
fuelectenerg-2314	34	14	utah	utah	PROPN
fuelectenerg-2314	34	15	/	/	SYM
fuelectenerg-2314	34	16	m.i.t	m.i.t	PROPN
fuelectenerg-2314	34	17	.	.	PUNCT
fuelectenerg-2314	35	1	dexterous	dexterous	ADJ
fuelectenerg-2314	35	2	hand	hand	NOUN
fuelectenerg-2314	35	3	[	[	X
fuelectenerg-2314	35	4	7	7	NUM
fuelectenerg-2314	35	5	]	]	PUNCT
fuelectenerg-2314	35	6	,	,	PUNCT
fuelectenerg-2314	35	7	mckibben	mckibben	PROPN
fuelectenerg-2314	35	8	pneumatic	pneumatic	ADJ
fuelectenerg-2314	35	9	artificial	artificial	ADJ
fuelectenerg-2314	35	10	muscles	muscle	NOUN
fuelectenerg-2314	35	11	in	in	ADP
fuelectenerg-2314	35	12	antagonistic	antagonistic	ADJ
fuelectenerg-2314	35	13	arrangements	arrangement	NOUN
fuelectenerg-2314	35	14	[	[	X
fuelectenerg-2314	35	15	8	8	NUM
fuelectenerg-2314	35	16	]	]	X
fuelectenerg-2314	35	17	such	such	ADJ
fuelectenerg-2314	35	18	as	as	ADP
fuelectenerg-2314	35	19	work	work	NOUN
fuelectenerg-2314	35	20	of	of	ADP
fuelectenerg-2314	35	21	tondu	tondu	NOUN
fuelectenerg-2314	35	22	et	et	PROPN
fuelectenerg-2314	35	23	al	al	PROPN
fuelectenerg-2314	35	24	.	.	PUNCT
fuelectenerg-2314	36	1	[	[	X
fuelectenerg-2314	36	2	9	9	NUM
fuelectenerg-2314	36	3	]	]	PUNCT
fuelectenerg-2314	36	4	or	or	CCONJ
fuelectenerg-2314	36	5	boblan	boblan	NOUN
fuelectenerg-2314	36	6	et	et	PROPN
fuelectenerg-2314	36	7	al	al	PROPN
fuelectenerg-2314	36	8	.	.	PUNCT
fuelectenerg-2314	37	1	[	[	X
fuelectenerg-2314	37	2	10	10	NUM
fuelectenerg-2314	37	3	]	]	PUNCT
fuelectenerg-2314	37	4	,	,	PUNCT
fuelectenerg-2314	37	5	biped	biped	ADJ
fuelectenerg-2314	37	6	walking	walking	NOUN
fuelectenerg-2314	37	7	robots	robot	NOUN
fuelectenerg-2314	37	8	with	with	ADP
fuelectenerg-2314	37	9	antagonistically	antagonistically	ADV
fuelectenerg-2314	37	10	actuated	actuate	VERB
fuelectenerg-2314	37	11	joints	joint	NOUN
fuelectenerg-2314	37	12	at	at	ADP
fuelectenerg-2314	37	13	waseda	waseda	PROPN
fuelectenerg-2314	37	14	university	university	NOUN
fuelectenerg-2314	37	15	[	[	X
fuelectenerg-2314	37	16	11	11	NUM
fuelectenerg-2314	37	17	]	]	PUNCT
fuelectenerg-2314	37	18	,	,	PUNCT
fuelectenerg-2314	37	19	or	or	CCONJ
fuelectenerg-2314	37	20	european	european	ADJ
fuelectenerg-2314	37	21	pneumatic	pneumatic	ADJ
fuelectenerg-2314	37	22	biped	biped	PROPN
fuelectenerg-2314	37	23	lucy	lucy	PROPN
fuelectenerg-2314	37	24	build	build	PROPN
fuelectenerg-2314	37	25	at	at	ADP
fuelectenerg-2314	37	26	vrije	vrije	PROPN
fuelectenerg-2314	37	27	university	university	PROPN
fuelectenerg-2314	37	28	of	of	ADP
fuelectenerg-2314	37	29	brussels	brussels	PROPN
fuelectenerg-2314	38	1	[	[	X
fuelectenerg-2314	38	2	12	12	NUM
fuelectenerg-2314	38	3	]	]	PUNCT
fuelectenerg-2314	38	4	.	.	PUNCT
fuelectenerg-2314	39	1	in	in	ADP
fuelectenerg-2314	39	2	parallel	parallel	ADJ
fuelectenerg-2314	39	3	,	,	PUNCT
fuelectenerg-2314	39	4	electric	electric	ADJ
fuelectenerg-2314	39	5	drives	drive	NOUN
fuelectenerg-2314	39	6	have	have	AUX
fuelectenerg-2314	39	7	been	be	AUX
fuelectenerg-2314	39	8	gradually	gradually	ADV
fuelectenerg-2314	39	9	developed	develop	VERB
fuelectenerg-2314	39	10	and	and	CCONJ
fuelectenerg-2314	39	11	prevailed	prevail	VERB
fuelectenerg-2314	39	12	in	in	ADP
fuelectenerg-2314	39	13	antagonistic	antagonistic	ADJ
fuelectenerg-2314	39	14	drives	drive	NOUN
fuelectenerg-2314	39	15	due	due	ADJ
fuelectenerg-2314	39	16	to	to	ADP
fuelectenerg-2314	39	17	control	control	VERB
fuelectenerg-2314	39	18	issues	issue	NOUN
fuelectenerg-2314	39	19	when	when	SCONJ
fuelectenerg-2314	39	20	pneumatic	pneumatic	ADJ
fuelectenerg-2314	39	21	actuators	actuator	NOUN
fuelectenerg-2314	39	22	are	be	AUX
fuelectenerg-2314	39	23	employed	employ	VERB
fuelectenerg-2314	39	24	[	[	X
fuelectenerg-2314	39	25	13	13	NUM
fuelectenerg-2314	39	26	]	]	PUNCT
fuelectenerg-2314	39	27	.	.	PUNCT
fuelectenerg-2314	40	1	to	to	PART
fuelectenerg-2314	40	2	achieve	achieve	VERB
fuelectenerg-2314	40	3	variable	variable	ADJ
fuelectenerg-2314	40	4	stiffness	stiffness	NOUN
fuelectenerg-2314	40	5	,	,	PUNCT
fuelectenerg-2314	40	6	non	non	ADJ
fuelectenerg-2314	40	7	-	-	ADJ
fuelectenerg-2314	40	8	linear	linear	ADJ
fuelectenerg-2314	40	9	tendon	tendon	NOUN
fuelectenerg-2314	40	10	transmission	transmission	NOUN
fuelectenerg-2314	40	11	has	have	VERB
fuelectenerg-2314	40	12	to	to	PART
fuelectenerg-2314	40	13	be	be	AUX
fuelectenerg-2314	40	14	designed	design	VERB
fuelectenerg-2314	40	15	[	[	X
fuelectenerg-2314	40	16	14	14	NUM
fuelectenerg-2314	40	17	]	]	PUNCT
fuelectenerg-2314	40	18	.	.	PUNCT
fuelectenerg-2314	41	1	the	the	DET
fuelectenerg-2314	41	2	non	non	ADJ
fuelectenerg-2314	41	3	-	-	ADJ
fuelectenerg-2314	41	4	linear	linear	ADJ
fuelectenerg-2314	41	5	transmission	transmission	NOUN
fuelectenerg-2314	41	6	could	could	AUX
fuelectenerg-2314	41	7	be	be	AUX
fuelectenerg-2314	41	8	obtained	obtain	VERB
fuelectenerg-2314	41	9	either	either	ADV
fuelectenerg-2314	41	10	by	by	ADP
fuelectenerg-2314	41	11	placing	place	VERB
fuelectenerg-2314	41	12	non	non	ADJ
fuelectenerg-2314	41	13	-	-	ADJ
fuelectenerg-2314	41	14	linear	linear	ADJ
fuelectenerg-2314	41	15	elastic	elastic	ADJ
fuelectenerg-2314	41	16	elements	element	NOUN
fuelectenerg-2314	41	17	(	(	PUNCT
fuelectenerg-2314	41	18	[	[	X
fuelectenerg-2314	41	19	15	15	NUM
fuelectenerg-2314	41	20	]	]	PUNCT
fuelectenerg-2314	41	21	and	and	CCONJ
fuelectenerg-2314	41	22	[	[	X
fuelectenerg-2314	41	23	16	16	NUM
fuelectenerg-2314	41	24	]	]	PUNCT
fuelectenerg-2314	41	25	)	)	PUNCT
fuelectenerg-2314	41	26	or	or	CCONJ
fuelectenerg-2314	41	27	placing	place	VERB
fuelectenerg-2314	41	28	linear	linear	ADJ
fuelectenerg-2314	41	29	elastic	elastic	ADJ
fuelectenerg-2314	41	30	elements	element	NOUN
fuelectenerg-2314	41	31	with	with	ADP
fuelectenerg-2314	41	32	a	a	DET
fuelectenerg-2314	41	33	controlled	control	VERB
fuelectenerg-2314	41	34	system	system	NOUN
fuelectenerg-2314	41	35	feedback	feedback	NOUN
fuelectenerg-2314	41	36	linearization	linearization	NOUN
fuelectenerg-2314	41	37	for	for	ADP
fuelectenerg-2314	41	38	decoupled	decoupled	ADJ
fuelectenerg-2314	41	39	position	position	NOUN
fuelectenerg-2314	41	40	/	/	SYM
fuelectenerg-2314	41	41	stiffness	stiffness	NOUN
fuelectenerg-2314	41	42	control	control	NOUN
fuelectenerg-2314	41	43	of	of	ADP
fuelectenerg-2314	41	44	bidirectional	bidirectional	ADJ
fuelectenerg-2314	41	45	antagonistic	antagonistic	ADJ
fuelectenerg-2314	41	46	drives	drive	NOUN
fuelectenerg-2314	41	47	53	53	NUM
fuelectenerg-2314	41	48	dedicated	dedicate	VERB
fuelectenerg-2314	41	49	to	to	ADP
fuelectenerg-2314	41	50	shaping	shape	VERB
fuelectenerg-2314	41	51	non	non	NOUN
fuelectenerg-2314	41	52	-	-	NOUN
fuelectenerg-2314	41	53	linearity	linearity	NOUN
fuelectenerg-2314	41	54	in	in	ADP
fuelectenerg-2314	41	55	transmission	transmission	NOUN
fuelectenerg-2314	41	56	.	.	PUNCT
fuelectenerg-2314	42	1	the	the	DET
fuelectenerg-2314	42	2	latter	latter	ADJ
fuelectenerg-2314	42	3	approach	approach	NOUN
fuelectenerg-2314	42	4	was	be	AUX
fuelectenerg-2314	42	5	employed	employ	VERB
fuelectenerg-2314	42	6	by	by	ADP
fuelectenerg-2314	42	7	migliore	migliore	PROPN
fuelectenerg-2314	43	1	[	[	X
fuelectenerg-2314	43	2	17	17	NUM
fuelectenerg-2314	43	3	]	]	PUNCT
fuelectenerg-2314	43	4	,	,	PUNCT
fuelectenerg-2314	43	5	hurst	hurst	PROPN
fuelectenerg-2314	44	1	[	[	X
fuelectenerg-2314	44	2	18	18	NUM
fuelectenerg-2314	44	3	]	]	PUNCT
fuelectenerg-2314	44	4	,	,	PUNCT
fuelectenerg-2314	44	5	and	and	CCONJ
fuelectenerg-2314	44	6	tonietti	tonietti	NOUN
fuelectenerg-2314	45	1	[	[	X
fuelectenerg-2314	45	2	19	19	NUM
fuelectenerg-2314	45	3	]	]	PUNCT
fuelectenerg-2314	45	4	.	.	PUNCT
fuelectenerg-2314	46	1	in	in	ADP
fuelectenerg-2314	46	2	this	this	DET
fuelectenerg-2314	46	3	research	research	NOUN
fuelectenerg-2314	46	4	we	we	PRON
fuelectenerg-2314	46	5	opted	opt	VERB
fuelectenerg-2314	46	6	for	for	ADP
fuelectenerg-2314	46	7	the	the	DET
fuelectenerg-2314	46	8	first	first	ADJ
fuelectenerg-2314	46	9	approach	approach	NOUN
fuelectenerg-2314	46	10	.	.	PUNCT
fuelectenerg-2314	47	1	although	although	SCONJ
fuelectenerg-2314	47	2	vsa	vsa	NOUN
fuelectenerg-2314	47	3	is	be	AUX
fuelectenerg-2314	47	4	a	a	DET
fuelectenerg-2314	47	5	topic	topic	NOUN
fuelectenerg-2314	47	6	of	of	ADP
fuelectenerg-2314	47	7	an	an	DET
fuelectenerg-2314	47	8	increasing	increase	VERB
fuelectenerg-2314	47	9	importance	importance	NOUN
fuelectenerg-2314	47	10	towards	towards	ADP
fuelectenerg-2314	47	11	safe	safe	ADJ
fuelectenerg-2314	47	12	human	human	ADJ
fuelectenerg-2314	47	13	-	-	PUNCT
fuelectenerg-2314	47	14	robot	robot	NOUN
fuelectenerg-2314	47	15	interaction	interaction	NOUN
fuelectenerg-2314	47	16	,	,	PUNCT
fuelectenerg-2314	47	17	a	a	DET
fuelectenerg-2314	47	18	limited	limited	ADJ
fuelectenerg-2314	47	19	number	number	NOUN
fuelectenerg-2314	47	20	of	of	ADP
fuelectenerg-2314	47	21	vsa	vsa	NOUN
fuelectenerg-2314	47	22	is	be	AUX
fuelectenerg-2314	47	23	available	available	ADJ
fuelectenerg-2314	47	24	on	on	ADP
fuelectenerg-2314	47	25	the	the	DET
fuelectenerg-2314	47	26	market	market	NOUN
fuelectenerg-2314	47	27	due	due	ADP
fuelectenerg-2314	47	28	to	to	ADP
fuelectenerg-2314	47	29	high	high	ADJ
fuelectenerg-2314	47	30	costs	cost	NOUN
fuelectenerg-2314	47	31	and	and	CCONJ
fuelectenerg-2314	47	32	complex	complex	ADJ
fuelectenerg-2314	47	33	mechanical	mechanical	ADJ
fuelectenerg-2314	47	34	design	design	NOUN
fuelectenerg-2314	47	35	.	.	PUNCT
fuelectenerg-2314	48	1	with	with	ADP
fuelectenerg-2314	48	2	an	an	DET
fuelectenerg-2314	48	3	idea	idea	NOUN
fuelectenerg-2314	48	4	to	to	PART
fuelectenerg-2314	48	5	bring	bring	VERB
fuelectenerg-2314	48	6	an	an	DET
fuelectenerg-2314	48	7	instance	instance	NOUN
fuelectenerg-2314	48	8	of	of	ADP
fuelectenerg-2314	48	9	such	such	ADJ
fuelectenerg-2314	48	10	compliant	compliant	ADJ
fuelectenerg-2314	48	11	actuator	actuator	NOUN
fuelectenerg-2314	48	12	to	to	ADP
fuelectenerg-2314	48	13	a	a	DET
fuelectenerg-2314	48	14	broad	broad	ADJ
fuelectenerg-2314	48	15	audience	audience	NOUN
fuelectenerg-2314	48	16	,	,	PUNCT
fuelectenerg-2314	48	17	to	to	ADP
fuelectenerg-2314	48	18	researchers	researcher	NOUN
fuelectenerg-2314	48	19	and	and	CCONJ
fuelectenerg-2314	48	20	academy	academy	PROPN
fuelectenerg-2314	48	21	,	,	PUNCT
fuelectenerg-2314	48	22	the	the	DET
fuelectenerg-2314	48	23	natural	natural	ADJ
fuelectenerg-2314	48	24	motion	motion	NOUN
fuelectenerg-2314	48	25	initiative	initiative	NOUN
fuelectenerg-2314	48	26	[	[	X
fuelectenerg-2314	48	27	20	20	NUM
fuelectenerg-2314	48	28	]	]	PUNCT
fuelectenerg-2314	48	29	developed	develop	VERB
fuelectenerg-2314	48	30	qbmove	qbmove	PROPN
fuelectenerg-2314	48	31	maker	maker	NOUN
fuelectenerg-2314	48	32	series	series	NOUN
fuelectenerg-2314	48	33	of	of	ADP
fuelectenerg-2314	48	34	the	the	DET
fuelectenerg-2314	48	35	actuator	actuator	NOUN
fuelectenerg-2314	48	36	.	.	PUNCT
fuelectenerg-2314	49	1	their	their	PRON
fuelectenerg-2314	49	2	latest	late	ADJ
fuelectenerg-2314	49	3	prototype	prototype	NOUN
fuelectenerg-2314	49	4	,	,	PUNCT
fuelectenerg-2314	49	5	qbmove	qbmove	NOUN
fuelectenerg-2314	49	6	maker	maker	NOUN
fuelectenerg-2314	49	7	pro	pro	NOUN
fuelectenerg-2314	49	8	is	be	AUX
fuelectenerg-2314	49	9	a	a	DET
fuelectenerg-2314	49	10	lowcost	lowcost	X
fuelectenerg-2314	49	11	3d	3d	NOUN
fuelectenerg-2314	49	12	printed	print	VERB
fuelectenerg-2314	49	13	bidirectional	bidirectional	ADJ
fuelectenerg-2314	49	14	spring	spring	NOUN
fuelectenerg-2314	49	15	antagonistic	antagonistic	ADJ
fuelectenerg-2314	49	16	actuator	actuator	NOUN
fuelectenerg-2314	49	17	design	design	NOUN
fuelectenerg-2314	49	18	which	which	PRON
fuelectenerg-2314	49	19	is	be	AUX
fuelectenerg-2314	49	20	affordable	affordable	ADJ
fuelectenerg-2314	49	21	and	and	CCONJ
fuelectenerg-2314	49	22	it	it	PRON
fuelectenerg-2314	49	23	has	have	VERB
fuelectenerg-2314	49	24	all	all	DET
fuelectenerg-2314	49	25	features	feature	NOUN
fuelectenerg-2314	49	26	of	of	ADP
fuelectenerg-2314	49	27	bidirectional	bidirectional	ADJ
fuelectenerg-2314	49	28	antagonistic	antagonistic	ADJ
fuelectenerg-2314	49	29	vsa	vsa	NOUN
fuelectenerg-2314	49	30	.	.	PUNCT
fuelectenerg-2314	50	1	all	all	DET
fuelectenerg-2314	50	2	parts	part	NOUN
fuelectenerg-2314	50	3	of	of	ADP
fuelectenerg-2314	50	4	the	the	DET
fuelectenerg-2314	50	5	actuator	actuator	NOUN
fuelectenerg-2314	50	6	are	be	AUX
fuelectenerg-2314	50	7	on	on	ADP
fuelectenerg-2314	50	8	-	-	PUNCT
fuelectenerg-2314	50	9	the	the	DET
fuelectenerg-2314	50	10	-	-	PUNCT
fuelectenerg-2314	50	11	shelf	shelf	NOUN
fuelectenerg-2314	50	12	and	and	CCONJ
fuelectenerg-2314	50	13	could	could	AUX
fuelectenerg-2314	50	14	be	be	AUX
fuelectenerg-2314	50	15	either	either	CCONJ
fuelectenerg-2314	50	16	purchased	purchase	VERB
fuelectenerg-2314	50	17	from	from	ADP
fuelectenerg-2314	50	18	the	the	DET
fuelectenerg-2314	50	19	natural	natural	ADJ
fuelectenerg-2314	50	20	motion	motion	NOUN
fuelectenerg-2314	50	21	initiative	initiative	NOUN
fuelectenerg-2314	50	22	or	or	CCONJ
fuelectenerg-2314	50	23	their	their	PRON
fuelectenerg-2314	50	24	models	model	NOUN
fuelectenerg-2314	50	25	could	could	AUX
fuelectenerg-2314	50	26	be	be	AUX
fuelectenerg-2314	50	27	downloaded	download	VERB
fuelectenerg-2314	50	28	from	from	ADP
fuelectenerg-2314	50	29	the	the	DET
fuelectenerg-2314	50	30	internet	internet	NOUN
fuelectenerg-2314	50	31	free	free	ADJ
fuelectenerg-2314	50	32	-	-	PUNCT
fuelectenerg-2314	50	33	of	of	ADP
fuelectenerg-2314	50	34	-	-	PUNCT
fuelectenerg-2314	50	35	charge	charge	NOUN
fuelectenerg-2314	50	36	.	.	PUNCT
fuelectenerg-2314	51	1	furthermore	furthermore	ADV
fuelectenerg-2314	51	2	,	,	PUNCT
fuelectenerg-2314	51	3	all	all	DET
fuelectenerg-2314	51	4	software	software	NOUN
fuelectenerg-2314	51	5	dedicated	dedicate	VERB
fuelectenerg-2314	51	6	to	to	PART
fuelectenerg-2314	51	7	realtime	realtime	VERB
fuelectenerg-2314	51	8	control	control	NOUN
fuelectenerg-2314	51	9	of	of	ADP
fuelectenerg-2314	51	10	qbmove	qbmove	PROPN
fuelectenerg-2314	51	11	maker	maker	NOUN
fuelectenerg-2314	51	12	pro	pro	X
fuelectenerg-2314	51	13	is	be	AUX
fuelectenerg-2314	51	14	open	open	ADJ
fuelectenerg-2314	51	15	source	source	NOUN
fuelectenerg-2314	51	16	[	[	X
fuelectenerg-2314	51	17	21	21	NUM
fuelectenerg-2314	51	18	]	]	PUNCT
fuelectenerg-2314	51	19	.	.	PUNCT
fuelectenerg-2314	52	1	a	a	DET
fuelectenerg-2314	52	2	prototype	prototype	NOUN
fuelectenerg-2314	52	3	of	of	ADP
fuelectenerg-2314	52	4	qbmove	qbmove	PROPN
fuelectenerg-2314	52	5	maker	maker	NOUN
fuelectenerg-2314	52	6	pro	pro	ADJ
fuelectenerg-2314	52	7	actuator	actuator	NOUN
fuelectenerg-2314	52	8	and	and	CCONJ
fuelectenerg-2314	52	9	its	its	PRON
fuelectenerg-2314	52	10	functional	functional	ADJ
fuelectenerg-2314	52	11	scheme	scheme	NOUN
fuelectenerg-2314	52	12	are	be	AUX
fuelectenerg-2314	52	13	depicted	depict	VERB
fuelectenerg-2314	52	14	in	in	ADP
fuelectenerg-2314	52	15	fig.1	fig.1	PROPN
fuelectenerg-2314	52	16	.	.	PUNCT
fuelectenerg-2314	53	1	therefore	therefore	ADV
fuelectenerg-2314	53	2	,	,	PUNCT
fuelectenerg-2314	53	3	both	both	DET
fuelectenerg-2314	53	4	motors	motor	NOUN
fuelectenerg-2314	53	5	can	can	AUX
fuelectenerg-2314	53	6	contribute	contribute	VERB
fuelectenerg-2314	53	7	to	to	ADP
fuelectenerg-2314	53	8	the	the	DET
fuelectenerg-2314	53	9	overall	overall	ADJ
fuelectenerg-2314	53	10	shaft	shaft	NOUN
fuelectenerg-2314	53	11	torque	torque	NOUN
fuelectenerg-2314	53	12	symmetrically	symmetrically	ADV
fuelectenerg-2314	53	13	.	.	PUNCT
fuelectenerg-2314	54	1	this	this	PRON
fuelectenerg-2314	54	2	is	be	AUX
fuelectenerg-2314	54	3	the	the	DET
fuelectenerg-2314	54	4	basic	basic	ADJ
fuelectenerg-2314	54	5	difference	difference	NOUN
fuelectenerg-2314	54	6	when	when	SCONJ
fuelectenerg-2314	54	7	compared	compare	VERB
fuelectenerg-2314	54	8	to	to	ADP
fuelectenerg-2314	54	9	the	the	DET
fuelectenerg-2314	54	10	traditional	traditional	ADJ
fuelectenerg-2314	54	11	antagonistic	antagonistic	ADJ
fuelectenerg-2314	54	12	structure	structure	NOUN
fuelectenerg-2314	54	13	where	where	SCONJ
fuelectenerg-2314	54	14	each	each	DET
fuelectenerg-2314	54	15	motor	motor	NOUN
fuelectenerg-2314	54	16	can	can	AUX
fuelectenerg-2314	54	17	contribute	contribute	VERB
fuelectenerg-2314	54	18	only	only	ADV
fuelectenerg-2314	54	19	in	in	ADP
fuelectenerg-2314	54	20	one	one	NUM
fuelectenerg-2314	54	21	direction	direction	NOUN
fuelectenerg-2314	54	22	due	due	ADP
fuelectenerg-2314	54	23	to	to	ADP
fuelectenerg-2314	54	24	a	a	DET
fuelectenerg-2314	54	25	pulling	pull	VERB
fuelectenerg-2314	54	26	constraint	constraint	NOUN
fuelectenerg-2314	54	27	.	.	PUNCT
fuelectenerg-2314	55	1	joint	joint	ADJ
fuelectenerg-2314	55	2	shaft	shaft	NOUN
fuelectenerg-2314	55	3	and	and	CCONJ
fuelectenerg-2314	55	4	motors	motor	NOUN
fuelectenerg-2314	55	5	are	be	AUX
fuelectenerg-2314	55	6	coupled	couple	VERB
fuelectenerg-2314	55	7	via	via	ADP
fuelectenerg-2314	55	8	non	non	ADJ
fuelectenerg-2314	55	9	-	-	ADJ
fuelectenerg-2314	55	10	linear	linear	ADJ
fuelectenerg-2314	55	11	springs	spring	NOUN
fuelectenerg-2314	55	12	.	.	PUNCT
fuelectenerg-2314	56	1	the	the	DET
fuelectenerg-2314	56	2	non	non	ADJ
fuelectenerg-2314	56	3	-	-	ADJ
fuelectenerg-2314	56	4	linear	linear	ADJ
fuelectenerg-2314	56	5	force	force	NOUN
fuelectenerg-2314	56	6	-	-	PUNCT
fuelectenerg-2314	56	7	deflection	deflection	NOUN
fuelectenerg-2314	56	8	characteristic	characteristic	NOUN
fuelectenerg-2314	56	9	is	be	AUX
fuelectenerg-2314	56	10	of	of	ADP
fuelectenerg-2314	56	11	fundamental	fundamental	ADJ
fuelectenerg-2314	56	12	importance	importance	NOUN
fuelectenerg-2314	56	13	since	since	SCONJ
fuelectenerg-2314	56	14	it	it	PRON
fuelectenerg-2314	56	15	enables	enable	VERB
fuelectenerg-2314	56	16	variable	variable	ADJ
fuelectenerg-2314	56	17	stiffness	stiffness	NOUN
fuelectenerg-2314	56	18	of	of	ADP
fuelectenerg-2314	56	19	the	the	DET
fuelectenerg-2314	56	20	joint	joint	NOUN
fuelectenerg-2314	56	21	which	which	PRON
fuelectenerg-2314	56	22	depends	depend	VERB
fuelectenerg-2314	56	23	on	on	ADP
fuelectenerg-2314	56	24	spring	spring	NOUN
fuelectenerg-2314	56	25	pretensions	pretension	NOUN
fuelectenerg-2314	56	26	[	[	X
fuelectenerg-2314	56	27	17	17	NUM
fuelectenerg-2314	56	28	]	]	PUNCT
fuelectenerg-2314	56	29	.	.	PUNCT
fuelectenerg-2314	57	1	experiments	experiment	NOUN
fuelectenerg-2314	57	2	which	which	PRON
fuelectenerg-2314	57	3	confirm	confirm	VERB
fuelectenerg-2314	57	4	this	this	DET
fuelectenerg-2314	57	5	non	non	ADJ
fuelectenerg-2314	57	6	-	-	ADJ
fuelectenerg-2314	57	7	linear	linear	ADJ
fuelectenerg-2314	57	8	coupling	coupling	NOUN
fuelectenerg-2314	57	9	are	be	AUX
fuelectenerg-2314	57	10	given	give	VERB
fuelectenerg-2314	57	11	in	in	ADP
fuelectenerg-2314	57	12	[	[	X
fuelectenerg-2314	57	13	22	22	NUM
fuelectenerg-2314	57	14	]	]	PUNCT
fuelectenerg-2314	57	15	.	.	PUNCT
fuelectenerg-2314	58	1	fig	fig	NOUN
fuelectenerg-2314	58	2	.	.	PUNCT
fuelectenerg-2314	59	1	1	1	NUM
fuelectenerg-2314	59	2	qbmove	qbmove	NOUN
fuelectenerg-2314	59	3	maker	maker	NOUN
fuelectenerg-2314	59	4	pro	pro	ADJ
fuelectenerg-2314	59	5	:	:	PUNCT
fuelectenerg-2314	59	6	prototype	prototype	NOUN
fuelectenerg-2314	59	7	(	(	PUNCT
fuelectenerg-2314	59	8	left	left	ADJ
fuelectenerg-2314	59	9	)	)	PUNCT
fuelectenerg-2314	59	10	,	,	PUNCT
fuelectenerg-2314	59	11	functional	functional	ADJ
fuelectenerg-2314	59	12	scheme	scheme	NOUN
fuelectenerg-2314	59	13	(	(	PUNCT
fuelectenerg-2314	59	14	right	right	ADJ
fuelectenerg-2314	59	15	)	)	PUNCT
fuelectenerg-2314	59	16	a	a	DET
fuelectenerg-2314	59	17	mathematical	mathematical	ADJ
fuelectenerg-2314	59	18	model	model	NOUN
fuelectenerg-2314	59	19	of	of	ADP
fuelectenerg-2314	59	20	qbmove	qbmove	PROPN
fuelectenerg-2314	59	21	maker	maker	NOUN
fuelectenerg-2314	59	22	pro	pro	ADJ
fuelectenerg-2314	59	23	actuator	actuator	NOUN
fuelectenerg-2314	59	24	is	be	AUX
fuelectenerg-2314	59	25	given	give	VERB
fuelectenerg-2314	59	26	by	by	ADP
fuelectenerg-2314	59	27	equations	equation	NOUN
fuelectenerg-2314	59	28	(	(	PUNCT
fuelectenerg-2314	59	29	1	1	NUM
fuelectenerg-2314	59	30	)	)	PUNCT
fuelectenerg-2314	59	31	(	(	PUNCT
fuelectenerg-2314	59	32	7	7	NUM
fuelectenerg-2314	59	33	)	)	PUNCT
fuelectenerg-2314	59	34	.	.	PUNCT
fuelectenerg-2314	60	1	non	non	ADJ
fuelectenerg-2314	60	2	-	-	ADJ
fuelectenerg-2314	60	3	linearity	linearity	ADJ
fuelectenerg-2314	60	4	in	in	ADP
fuelectenerg-2314	60	5	force	force	NOUN
fuelectenerg-2314	60	6	-	-	PUNCT
fuelectenerg-2314	60	7	deflection	deflection	NOUN
fuelectenerg-2314	60	8	characteristics	characteristic	NOUN
fuelectenerg-2314	60	9	causes	cause	VERB
fuelectenerg-2314	60	10	that	that	SCONJ
fuelectenerg-2314	60	11	relatively	relatively	ADV
fuelectenerg-2314	60	12	small	small	ADJ
fuelectenerg-2314	60	13	displacement	displacement	NOUN
fuelectenerg-2314	60	14	of	of	ADP
fuelectenerg-2314	60	15	motors	motors	PROPN
fuelectenerg-2314	60	16	positions	position	NOUN
fuelectenerg-2314	60	17	and/or	and/or	CCONJ
fuelectenerg-2314	60	18	output	output	NOUN
fuelectenerg-2314	60	19	shaft	shaft	NOUN
fuelectenerg-2314	60	20	induces	induce	VERB
fuelectenerg-2314	60	21	a	a	DET
fuelectenerg-2314	60	22	significant	significant	ADJ
fuelectenerg-2314	60	23	change	change	NOUN
fuelectenerg-2314	60	24	in	in	ADP
fuelectenerg-2314	60	25	stiffness	stiffness	NOUN
fuelectenerg-2314	60	26	for	for	ADP
fuelectenerg-2314	60	27	high	high	ADJ
fuelectenerg-2314	60	28	stiffness	stiffness	ADJ
fuelectenerg-2314	60	29	values	value	NOUN
fuelectenerg-2314	60	30	.	.	PUNCT
fuelectenerg-2314	61	1	equation	equation	NOUN
fuelectenerg-2314	61	2	(	(	PUNCT
fuelectenerg-2314	61	3	1	1	X
fuelectenerg-2314	61	4	)	)	PUNCT
fuelectenerg-2314	61	5	describes	describe	VERB
fuelectenerg-2314	61	6	joint	joint	ADJ
fuelectenerg-2314	61	7	/	/	SYM
fuelectenerg-2314	61	8	shaft	shaft	NOUN
fuelectenerg-2314	61	9	dynamics	dynamic	NOUN
fuelectenerg-2314	61	10	,	,	PUNCT
fuelectenerg-2314	61	11	equation	equation	NOUN
fuelectenerg-2314	61	12	(	(	PUNCT
fuelectenerg-2314	61	13	2)-(3	2)-(3	NOUN
fuelectenerg-2314	61	14	)	)	PUNCT
fuelectenerg-2314	61	15	stands	stand	VERB
fuelectenerg-2314	61	16	for	for	ADP
fuelectenerg-2314	61	17	motor	motor	NOUN
fuelectenerg-2314	61	18	dynamics	dynamic	NOUN
fuelectenerg-2314	61	19	.	.	PUNCT
fuelectenerg-2314	62	1	resulting	result	VERB
fuelectenerg-2314	62	2	driving	drive	VERB
fuelectenerg-2314	62	3	torques	torque	NOUN
fuelectenerg-2314	62	4	are	be	AUX
fuelectenerg-2314	62	5	given	give	VERB
fuelectenerg-2314	62	6	by	by	ADP
fuelectenerg-2314	62	7	(	(	PUNCT
fuelectenerg-2314	62	8	4)-(7	4)-(7	NOUN
fuelectenerg-2314	62	9	)	)	PUNCT
fuelectenerg-2314	62	10	.	.	PUNCT
fuelectenerg-2314	63	1	(	(	PUNCT
fuelectenerg-2314	63	2	)	)	PUNCT
fuelectenerg-2314	63	3	̈	̈	X
fuelectenerg-2314	63	4	(	(	PUNCT
fuelectenerg-2314	63	5	̇	̇	PROPN
fuelectenerg-2314	63	6	)	)	PUNCT
fuelectenerg-2314	63	7	̇	̇	NOUN
fuelectenerg-2314	63	8	̇	̇	PROPN
fuelectenerg-2314	63	9	(	(	PUNCT
fuelectenerg-2314	63	10	)	)	PUNCT
fuelectenerg-2314	63	11	(	(	PUNCT
fuelectenerg-2314	63	12	)	)	PUNCT
fuelectenerg-2314	63	13	(	(	PUNCT
fuelectenerg-2314	63	14	1	1	X
fuelectenerg-2314	63	15	)	)	PUNCT
fuelectenerg-2314	63	16	̈	̈	X
fuelectenerg-2314	63	17	̇	̇	PROPN
fuelectenerg-2314	63	18	(	(	PUNCT
fuelectenerg-2314	63	19	)	)	PUNCT
fuelectenerg-2314	63	20	(	(	PUNCT
fuelectenerg-2314	63	21	2	2	X
fuelectenerg-2314	63	22	)	)	PUNCT
fuelectenerg-2314	63	23	̈	̈	X
fuelectenerg-2314	63	24	̇	̇	PROPN
fuelectenerg-2314	63	25	(	(	PUNCT
fuelectenerg-2314	63	26	)	)	PUNCT
fuelectenerg-2314	63	27	(	(	PUNCT
fuelectenerg-2314	63	28	3	3	X
fuelectenerg-2314	63	29	)	)	PUNCT
fuelectenerg-2314	63	30	(	(	PUNCT
fuelectenerg-2314	63	31	)	)	PUNCT
fuelectenerg-2314	63	32	(	(	PUNCT
fuelectenerg-2314	63	33	)	)	PUNCT
fuelectenerg-2314	63	34	(	(	PUNCT
fuelectenerg-2314	63	35	)	)	PUNCT
fuelectenerg-2314	63	36	(	(	PUNCT
fuelectenerg-2314	63	37	4	4	X
fuelectenerg-2314	63	38	)	)	PUNCT
fuelectenerg-2314	63	39	54	54	NUM
fuelectenerg-2314	63	40	k.	k.	PROPN
fuelectenerg-2314	63	41	jovanović	jovanović	PROPN
fuelectenerg-2314	63	42	,	,	PUNCT
fuelectenerg-2314	63	43	b.	b.	PROPN
fuelectenerg-2314	63	44	lukić	lukić	PROPN
fuelectenerg-2314	63	45	,	,	PUNCT
fuelectenerg-2314	63	46	v.	v.	ADP
fuelectenerg-2314	63	47	potkonjak	potkonjak	PROPN
fuelectenerg-2314	63	48	(	(	PUNCT
fuelectenerg-2314	63	49	)	)	PUNCT
fuelectenerg-2314	63	50	(	(	PUNCT
fuelectenerg-2314	63	51	(	(	PUNCT
fuelectenerg-2314	63	52	)	)	PUNCT
fuelectenerg-2314	63	53	)	)	PUNCT
fuelectenerg-2314	63	54	(	(	PUNCT
fuelectenerg-2314	63	55	5	5	X
fuelectenerg-2314	63	56	)	)	PUNCT
fuelectenerg-2314	63	57	(	(	PUNCT
fuelectenerg-2314	63	58	)	)	PUNCT
fuelectenerg-2314	63	59	(	(	PUNCT
fuelectenerg-2314	63	60	(	(	PUNCT
fuelectenerg-2314	63	61	)	)	PUNCT
fuelectenerg-2314	63	62	)	)	PUNCT
fuelectenerg-2314	63	63	(	(	PUNCT
fuelectenerg-2314	63	64	6	6	NUM
fuelectenerg-2314	63	65	)	)	PUNCT
fuelectenerg-2314	63	66	(	(	PUNCT
fuelectenerg-2314	63	67	)	)	PUNCT
fuelectenerg-2314	63	68	(	(	PUNCT
fuelectenerg-2314	63	69	(	(	PUNCT
fuelectenerg-2314	63	70	)	)	PUNCT
fuelectenerg-2314	63	71	)	)	PUNCT
fuelectenerg-2314	63	72	(	(	PUNCT
fuelectenerg-2314	63	73	(	(	PUNCT
fuelectenerg-2314	63	74	)	)	PUNCT
fuelectenerg-2314	63	75	)	)	PUNCT
fuelectenerg-2314	63	76	(	(	PUNCT
fuelectenerg-2314	63	77	7	7	X
fuelectenerg-2314	63	78	)	)	PUNCT
fuelectenerg-2314	63	79	actuator	actuator	NOUN
fuelectenerg-2314	63	80	dynamics	dynamic	NOUN
fuelectenerg-2314	63	81	is	be	AUX
fuelectenerg-2314	63	82	specified	specify	VERB
fuelectenerg-2314	63	83	by	by	ADP
fuelectenerg-2314	63	84	shaft	shaft	NOUN
fuelectenerg-2314	63	85	inertia	inertia	NOUN
fuelectenerg-2314	63	86	(	(	PUNCT
fuelectenerg-2314	63	87	)	)	PUNCT
fuelectenerg-2314	63	88	,	,	PUNCT
fuelectenerg-2314	63	89	velocity	velocity	NOUN
fuelectenerg-2314	63	90	related	relate	VERB
fuelectenerg-2314	63	91	terms	term	NOUN
fuelectenerg-2314	63	92	(	(	PUNCT
fuelectenerg-2314	63	93	centrifugal	centrifugal	ADJ
fuelectenerg-2314	63	94	and	and	CCONJ
fuelectenerg-2314	63	95	coriolis	coriolis	PROPN
fuelectenerg-2314	63	96	)	)	PUNCT
fuelectenerg-2314	63	97	(	(	PUNCT
fuelectenerg-2314	63	98	̇	̇	PROPN
fuelectenerg-2314	63	99	)	)	PUNCT
fuelectenerg-2314	63	100	̇	̇	PROPN
fuelectenerg-2314	63	101	,	,	PUNCT
fuelectenerg-2314	63	102	viscous	viscous	ADJ
fuelectenerg-2314	63	103	damping	damping	NOUN
fuelectenerg-2314	63	104	,	,	PUNCT
fuelectenerg-2314	63	105	gravity	gravity	NOUN
fuelectenerg-2314	63	106	load	load	NOUN
fuelectenerg-2314	63	107	(	(	PUNCT
fuelectenerg-2314	63	108	)	)	PUNCT
fuelectenerg-2314	63	109	,	,	PUNCT
fuelectenerg-2314	63	110	and	and	CCONJ
fuelectenerg-2314	63	111	overall	overall	ADJ
fuelectenerg-2314	63	112	actuator	actuator	NOUN
fuelectenerg-2314	63	113	torque	torque	NOUN
fuelectenerg-2314	63	114	(	(	PUNCT
fuelectenerg-2314	63	115	)	)	PUNCT
fuelectenerg-2314	63	116	as	as	ADP
fuelectenerg-2314	63	117	a	a	DET
fuelectenerg-2314	63	118	sum	sum	NOUN
fuelectenerg-2314	63	119	of	of	ADP
fuelectenerg-2314	63	120	both	both	DET
fuelectenerg-2314	63	121	bidirectional	bidirectional	ADJ
fuelectenerg-2314	63	122	antagonistic	antagonistic	ADJ
fuelectenerg-2314	63	123	tendon	tendon	NOUN
fuelectenerg-2314	63	124	/	/	SYM
fuelectenerg-2314	63	125	drive	drive	NOUN
fuelectenerg-2314	63	126	torques	torque	NOUN
fuelectenerg-2314	63	127	(	(	PUNCT
fuelectenerg-2314	63	128	)	)	PUNCT
fuelectenerg-2314	63	129	and	and	CCONJ
fuelectenerg-2314	63	130	(	(	PUNCT
fuelectenerg-2314	63	131	)	)	PUNCT
fuelectenerg-2314	63	132	.	.	PUNCT
fuelectenerg-2314	64	1	the	the	DET
fuelectenerg-2314	64	2	bidirectional	bidirectional	ADJ
fuelectenerg-2314	64	3	antagonistic	antagonistic	ADJ
fuelectenerg-2314	64	4	drives	drive	NOUN
fuelectenerg-2314	64	5	are	be	AUX
fuelectenerg-2314	64	6	assumed	assume	VERB
fuelectenerg-2314	64	7	to	to	PART
fuelectenerg-2314	64	8	be	be	AUX
fuelectenerg-2314	64	9	symmetric	symmetric	ADJ
fuelectenerg-2314	64	10	with	with	ADP
fuelectenerg-2314	64	11	inertia	inertia	NOUN
fuelectenerg-2314	64	12	–	–	PUNCT
fuelectenerg-2314	64	13	and	and	CCONJ
fuelectenerg-2314	64	14	damping	damp	VERB
fuelectenerg-2314	64	15	term	term	NOUN
fuelectenerg-2314	64	16	–	–	PUNCT
fuelectenerg-2314	64	17	.	.	PUNCT
fuelectenerg-2314	65	1	note	note	VERB
fuelectenerg-2314	65	2	that	that	SCONJ
fuelectenerg-2314	65	3	non	non	ADJ
fuelectenerg-2314	65	4	-	-	NOUN
fuelectenerg-2314	65	5	linearity	linearity	NOUN
fuelectenerg-2314	65	6	in	in	ADP
fuelectenerg-2314	65	7	the	the	DET
fuelectenerg-2314	65	8	transmission	transmission	NOUN
fuelectenerg-2314	65	9	given	give	VERB
fuelectenerg-2314	65	10	by	by	ADP
fuelectenerg-2314	65	11	(	(	PUNCT
fuelectenerg-2314	65	12	5	5	NUM
fuelectenerg-2314	65	13	)	)	PUNCT
fuelectenerg-2314	65	14	and	and	CCONJ
fuelectenerg-2314	65	15	(	(	PUNCT
fuelectenerg-2314	65	16	6	6	NUM
fuelectenerg-2314	65	17	)	)	PUNCT
fuelectenerg-2314	65	18	is	be	AUX
fuelectenerg-2314	65	19	a	a	DET
fuelectenerg-2314	65	20	prerequisite	prerequisite	NOUN
fuelectenerg-2314	65	21	for	for	ADP
fuelectenerg-2314	65	22	variable	variable	ADJ
fuelectenerg-2314	65	23	stiffness	stiffness	NOUN
fuelectenerg-2314	65	24	of	of	ADP
fuelectenerg-2314	65	25	qbmove	qbmove	NOUN
fuelectenerg-2314	65	26	maker	maker	NOUN
fuelectenerg-2314	65	27	pro	pro	ADJ
fuelectenerg-2314	65	28	actuator	actuator	NOUN
fuelectenerg-2314	65	29	.	.	PUNCT
fuelectenerg-2314	66	1	since	since	SCONJ
fuelectenerg-2314	66	2	both	both	PRON
fuelectenerg-2314	66	3	drives	drive	VERB
fuelectenerg-2314	66	4	influence	influence	NOUN
fuelectenerg-2314	66	5	actuator	actuator	NOUN
fuelectenerg-2314	66	6	position	position	NOUN
fuelectenerg-2314	66	7	as	as	ADV
fuelectenerg-2314	66	8	well	well	ADV
fuelectenerg-2314	66	9	as	as	ADP
fuelectenerg-2314	66	10	actuator	actuator	NOUN
fuelectenerg-2314	66	11	stiffness	stiffness	NOUN
fuelectenerg-2314	66	12	,	,	PUNCT
fuelectenerg-2314	66	13	decoupling	decouple	VERB
fuelectenerg-2314	66	14	of	of	ADP
fuelectenerg-2314	66	15	position	position	NOUN
fuelectenerg-2314	66	16	and	and	CCONJ
fuelectenerg-2314	66	17	stiffness	stiffness	ADJ
fuelectenerg-2314	66	18	subsystem	subsystem	NOUN
fuelectenerg-2314	66	19	is	be	AUX
fuelectenerg-2314	66	20	demanding	demand	VERB
fuelectenerg-2314	66	21	control	control	NOUN
fuelectenerg-2314	66	22	challenge	challenge	NOUN
fuelectenerg-2314	66	23	which	which	PRON
fuelectenerg-2314	66	24	is	be	AUX
fuelectenerg-2314	66	25	considered	consider	VERB
fuelectenerg-2314	66	26	in	in	ADP
fuelectenerg-2314	66	27	this	this	DET
fuelectenerg-2314	66	28	paper	paper	NOUN
fuelectenerg-2314	66	29	.	.	PUNCT
fuelectenerg-2314	67	1	since	since	SCONJ
fuelectenerg-2314	67	2	our	our	PRON
fuelectenerg-2314	67	3	final	final	ADJ
fuelectenerg-2314	67	4	goal	goal	NOUN
fuelectenerg-2314	67	5	to	to	PART
fuelectenerg-2314	67	6	control	control	VERB
fuelectenerg-2314	67	7	joint	joint	ADJ
fuelectenerg-2314	67	8	stiffness	stiffness	NOUN
fuelectenerg-2314	67	9	,	,	PUNCT
fuelectenerg-2314	67	10	let	let	VERB
fuelectenerg-2314	67	11	us	we	PRON
fuelectenerg-2314	67	12	briefly	briefly	ADV
fuelectenerg-2314	67	13	recall	recall	VERB
fuelectenerg-2314	67	14	the	the	DET
fuelectenerg-2314	67	15	definition	definition	NOUN
fuelectenerg-2314	67	16	of	of	ADP
fuelectenerg-2314	67	17	joint	joint	ADJ
fuelectenerg-2314	67	18	stiffness	stiffness	NOUN
fuelectenerg-2314	67	19	equivalent	equivalent	ADJ
fuelectenerg-2314	67	20	to	to	ADP
fuelectenerg-2314	67	21	the	the	DET
fuelectenerg-2314	67	22	stiffness	stiffness	NOUN
fuelectenerg-2314	67	23	of	of	ADP
fuelectenerg-2314	67	24	a	a	DET
fuelectenerg-2314	67	25	translational	translational	ADJ
fuelectenerg-2314	67	26	spring	spring	NOUN
fuelectenerg-2314	67	27	.	.	PUNCT
fuelectenerg-2314	68	1	the	the	DET
fuelectenerg-2314	68	2	force	force	NOUN
fuelectenerg-2314	68	3	acting	act	VERB
fuelectenerg-2314	68	4	on	on	ADP
fuelectenerg-2314	68	5	the	the	DET
fuelectenerg-2314	68	6	spring	spring	NOUN
fuelectenerg-2314	68	7	depends	depend	VERB
fuelectenerg-2314	68	8	on	on	ADP
fuelectenerg-2314	68	9	its	its	PRON
fuelectenerg-2314	68	10	extension	extension	NOUN
fuelectenerg-2314	68	11	and	and	CCONJ
fuelectenerg-2314	68	12	this	this	DET
fuelectenerg-2314	68	13	static	static	ADJ
fuelectenerg-2314	68	14	dependence	dependence	NOUN
fuelectenerg-2314	68	15	is	be	AUX
fuelectenerg-2314	68	16	defined	define	VERB
fuelectenerg-2314	68	17	as	as	ADP
fuelectenerg-2314	68	18	the	the	DET
fuelectenerg-2314	68	19	spring	spring	NOUN
fuelectenerg-2314	68	20	stiffness	stiffness	NOUN
fuelectenerg-2314	68	21	⁄	⁄	PROPN
fuelectenerg-2314	68	22	.	.	PUNCT
fuelectenerg-2314	69	1	thus	thus	ADV
fuelectenerg-2314	69	2	,	,	PUNCT
fuelectenerg-2314	69	3	the	the	DET
fuelectenerg-2314	69	4	spring	spring	NOUN
fuelectenerg-2314	69	5	of	of	ADP
fuelectenerg-2314	69	6	length	length	NOUN
fuelectenerg-2314	69	7	in	in	ADP
fuelectenerg-2314	69	8	its	its	PRON
fuelectenerg-2314	69	9	equilibrium	equilibrium	NOUN
fuelectenerg-2314	69	10	position	position	NOUN
fuelectenerg-2314	69	11	(	(	PUNCT
fuelectenerg-2314	69	12	)	)	PUNCT
fuelectenerg-2314	69	13	stays	stay	VERB
fuelectenerg-2314	69	14	undeformed	undeformed	ADJ
fuelectenerg-2314	69	15	,	,	PUNCT
fuelectenerg-2314	69	16	whereas	whereas	SCONJ
fuelectenerg-2314	69	17	if	if	SCONJ
fuelectenerg-2314	69	18	the	the	DET
fuelectenerg-2314	69	19	spring	spring	NOUN
fuelectenerg-2314	69	20	is	be	AUX
fuelectenerg-2314	69	21	extended	extend	VERB
fuelectenerg-2314	69	22	to	to	ADP
fuelectenerg-2314	69	23	a	a	DET
fuelectenerg-2314	69	24	length	length	NOUN
fuelectenerg-2314	69	25	,	,	PUNCT
fuelectenerg-2314	69	26	it	it	PRON
fuelectenerg-2314	69	27	generates	generate	VERB
fuelectenerg-2314	69	28	force	force	NOUN
fuelectenerg-2314	69	29	.	.	PUNCT
fuelectenerg-2314	70	1	if	if	SCONJ
fuelectenerg-2314	70	2	this	this	DET
fuelectenerg-2314	70	3	relation	relation	NOUN
fuelectenerg-2314	70	4	is	be	AUX
fuelectenerg-2314	70	5	linear	linear	ADJ
fuelectenerg-2314	70	6	,	,	PUNCT
fuelectenerg-2314	70	7	then	then	ADV
fuelectenerg-2314	70	8	we	we	PRON
fuelectenerg-2314	70	9	consider	consider	VERB
fuelectenerg-2314	70	10	the	the	DET
fuelectenerg-2314	70	11	spring	spring	NOUN
fuelectenerg-2314	70	12	as	as	ADP
fuelectenerg-2314	70	13	linear	linear	PROPN
fuelectenerg-2314	70	14	(	(	PUNCT
fuelectenerg-2314	70	15	8)	8)	NUM
fuelectenerg-2314	70	16	and	and	CCONJ
fuelectenerg-2314	70	17	the	the	DET
fuelectenerg-2314	70	18	stiffness	stiffness	NOUN
fuelectenerg-2314	70	19	is	be	AUX
fuelectenerg-2314	70	20	constant	constant	ADJ
fuelectenerg-2314	70	21	.	.	PUNCT
fuelectenerg-2314	71	1	otherwise	otherwise	ADV
fuelectenerg-2314	71	2	,	,	PUNCT
fuelectenerg-2314	71	3	the	the	DET
fuelectenerg-2314	71	4	spring	spring	NOUN
fuelectenerg-2314	71	5	is	be	AUX
fuelectenerg-2314	71	6	considered	consider	VERB
fuelectenerg-2314	71	7	as	as	ADP
fuelectenerg-2314	71	8	non	non	ADJ
fuelectenerg-2314	71	9	-	-	ADJ
fuelectenerg-2314	71	10	linear	linear	ADJ
fuelectenerg-2314	71	11	(	(	PUNCT
fuelectenerg-2314	71	12	9	9	NUM
fuelectenerg-2314	71	13	)	)	PUNCT
fuelectenerg-2314	71	14	and	and	CCONJ
fuelectenerg-2314	71	15	the	the	DET
fuelectenerg-2314	71	16	stiffness	stiffness	NOUN
fuelectenerg-2314	71	17	is	be	AUX
fuelectenerg-2314	71	18	variable	variable	ADJ
fuelectenerg-2314	71	19	.	.	PUNCT
fuelectenerg-2314	72	1	likewise	likewise	ADV
fuelectenerg-2314	72	2	,	,	PUNCT
fuelectenerg-2314	72	3	the	the	DET
fuelectenerg-2314	72	4	stiffness	stiffness	NOUN
fuelectenerg-2314	72	5	of	of	ADP
fuelectenerg-2314	72	6	the	the	DET
fuelectenerg-2314	72	7	robot	robot	NOUN
fuelectenerg-2314	72	8	joint	joint	NOUN
fuelectenerg-2314	72	9	(	(	PUNCT
fuelectenerg-2314	72	10	usually	usually	ADV
fuelectenerg-2314	72	11	denoted	denote	VERB
fuelectenerg-2314	72	12	in	in	ADP
fuelectenerg-2314	72	13	the	the	DET
fuelectenerg-2314	72	14	literature	literature	NOUN
fuelectenerg-2314	72	15	as	as	ADP
fuelectenerg-2314	72	16	⁄	⁄	PROPN
fuelectenerg-2314	72	17	)	)	PUNCT
fuelectenerg-2314	72	18	is	be	AUX
fuelectenerg-2314	72	19	defined	define	VERB
fuelectenerg-2314	72	20	by	by	ADP
fuelectenerg-2314	72	21	(	(	PUNCT
fuelectenerg-2314	72	22	10	10	NUM
fuelectenerg-2314	72	23	)	)	PUNCT
fuelectenerg-2314	72	24	,	,	PUNCT
fuelectenerg-2314	72	25	where	where	SCONJ
fuelectenerg-2314	72	26	stands	stand	VERB
fuelectenerg-2314	72	27	for	for	ADP
fuelectenerg-2314	72	28	the	the	DET
fuelectenerg-2314	72	29	torque	torque	NOUN
fuelectenerg-2314	72	30	generated	generate	VERB
fuelectenerg-2314	72	31	in	in	ADP
fuelectenerg-2314	72	32	the	the	DET
fuelectenerg-2314	72	33	joint	joint	NOUN
fuelectenerg-2314	72	34	and	and	CCONJ
fuelectenerg-2314	72	35	denotes	denote	VERB
fuelectenerg-2314	72	36	the	the	DET
fuelectenerg-2314	72	37	joint	joint	ADJ
fuelectenerg-2314	72	38	position	position	NOUN
fuelectenerg-2314	72	39	.	.	PUNCT
fuelectenerg-2314	73	1	(	(	PUNCT
fuelectenerg-2314	73	2	)	)	PUNCT
fuelectenerg-2314	73	3	⁄	⁄	PROPN
fuelectenerg-2314	73	4	(	(	PUNCT
fuelectenerg-2314	73	5	8)	8)	NUM
fuelectenerg-2314	73	6	(	(	PUNCT
fuelectenerg-2314	73	7	)	)	PUNCT
fuelectenerg-2314	73	8	(	(	PUNCT
fuelectenerg-2314	73	9	)	)	PUNCT
fuelectenerg-2314	73	10	(	(	PUNCT
fuelectenerg-2314	73	11	)	)	PUNCT
fuelectenerg-2314	73	12	⁄	⁄	ADJ
fuelectenerg-2314	73	13	(	(	PUNCT
fuelectenerg-2314	73	14	9	9	NUM
fuelectenerg-2314	73	15	)	)	PUNCT
fuelectenerg-2314	73	16	(	(	PUNCT
fuelectenerg-2314	73	17	10	10	NUM
fuelectenerg-2314	73	18	)	)	PUNCT
fuelectenerg-2314	73	19	analogously	analogously	ADV
fuelectenerg-2314	73	20	,	,	PUNCT
fuelectenerg-2314	73	21	joint	joint	ADJ
fuelectenerg-2314	73	22	stiffness	stiffness	NOUN
fuelectenerg-2314	73	23	can	can	AUX
fuelectenerg-2314	73	24	be	be	AUX
fuelectenerg-2314	73	25	constant	constant	ADJ
fuelectenerg-2314	73	26	or	or	CCONJ
fuelectenerg-2314	73	27	changeable	changeable	ADJ
fuelectenerg-2314	73	28	which	which	PRON
fuelectenerg-2314	73	29	is	be	AUX
fuelectenerg-2314	73	30	a	a	DET
fuelectenerg-2314	73	31	desirable	desirable	ADJ
fuelectenerg-2314	73	32	feature	feature	NOUN
fuelectenerg-2314	73	33	from	from	ADP
fuelectenerg-2314	73	34	an	an	DET
fuelectenerg-2314	73	35	exploitation	exploitation	NOUN
fuelectenerg-2314	73	36	point	point	NOUN
fuelectenerg-2314	73	37	of	of	ADP
fuelectenerg-2314	73	38	view	view	NOUN
fuelectenerg-2314	73	39	since	since	SCONJ
fuelectenerg-2314	73	40	it	it	PRON
fuelectenerg-2314	73	41	enables	enable	VERB
fuelectenerg-2314	73	42	tradeoffs	tradeoff	NOUN
fuelectenerg-2314	73	43	between	between	ADP
fuelectenerg-2314	73	44	safe	safe	ADJ
fuelectenerg-2314	73	45	and	and	CCONJ
fuelectenerg-2314	73	46	precise	precise	ADJ
fuelectenerg-2314	73	47	manipulation	manipulation	NOUN
fuelectenerg-2314	73	48	.	.	PUNCT
fuelectenerg-2314	74	1	since	since	SCONJ
fuelectenerg-2314	74	2	we	we	PRON
fuelectenerg-2314	74	3	focus	focus	VERB
fuelectenerg-2314	74	4	on	on	ADP
fuelectenerg-2314	74	5	robot	robot	NOUN
fuelectenerg-2314	74	6	joints	joint	NOUN
fuelectenerg-2314	74	7	that	that	PRON
fuelectenerg-2314	74	8	exploit	exploit	VERB
fuelectenerg-2314	74	9	antagonism	antagonism	NOUN
fuelectenerg-2314	74	10	,	,	PUNCT
fuelectenerg-2314	74	11	the	the	DET
fuelectenerg-2314	74	12	stiffness	stiffness	NOUN
fuelectenerg-2314	74	13	of	of	ADP
fuelectenerg-2314	74	14	such	such	ADJ
fuelectenerg-2314	74	15	joints	joint	NOUN
fuelectenerg-2314	74	16	is	be	AUX
fuelectenerg-2314	74	17	presented	present	VERB
fuelectenerg-2314	74	18	in	in	ADP
fuelectenerg-2314	74	19	accordance	accordance	NOUN
fuelectenerg-2314	74	20	with	with	ADP
fuelectenerg-2314	74	21	the	the	DET
fuelectenerg-2314	74	22	source	source	NOUN
fuelectenerg-2314	74	23	of	of	ADP
fuelectenerg-2314	74	24	mechanical	mechanical	ADJ
fuelectenerg-2314	74	25	stiffness	stiffness	NOUN
fuelectenerg-2314	74	26	in	in	ADP
fuelectenerg-2314	74	27	antagonistically	antagonistically	ADV
fuelectenerg-2314	74	28	coupled	couple	VERB
fuelectenerg-2314	74	29	tendons	tendon	NOUN
fuelectenerg-2314	74	30	.	.	PUNCT
fuelectenerg-2314	75	1	therefore	therefore	ADV
fuelectenerg-2314	75	2	,	,	PUNCT
fuelectenerg-2314	75	3	the	the	DET
fuelectenerg-2314	75	4	overall	overall	ADJ
fuelectenerg-2314	75	5	shaft	shaft	NOUN
fuelectenerg-2314	75	6	/	/	SYM
fuelectenerg-2314	75	7	joint	joint	ADJ
fuelectenerg-2314	75	8	stiffness	stiffness	NOUN
fuelectenerg-2314	75	9	of	of	ADP
fuelectenerg-2314	75	10	qbmove	qbmove	NOUN
fuelectenerg-2314	75	11	maker	maker	NOUN
fuelectenerg-2314	75	12	pro	pro	ADJ
fuelectenerg-2314	75	13	actuator	actuator	NOUN
fuelectenerg-2314	75	14	is	be	AUX
fuelectenerg-2314	75	15	estimated	estimate	VERB
fuelectenerg-2314	75	16	as	as	SCONJ
fuelectenerg-2314	75	17	follows	follow	VERB
fuelectenerg-2314	75	18	in	in	ADP
fuelectenerg-2314	75	19	(	(	PUNCT
fuelectenerg-2314	75	20	11	11	NUM
fuelectenerg-2314	75	21	)	)	PUNCT
fuelectenerg-2314	75	22	.	.	PUNCT
fuelectenerg-2314	76	1	for	for	ADP
fuelectenerg-2314	76	2	unloaded	unload	VERB
fuelectenerg-2314	76	3	shaft	shaft	NOUN
fuelectenerg-2314	76	4	,	,	PUNCT
fuelectenerg-2314	76	5	equilibrium	equilibrium	NOUN
fuelectenerg-2314	76	6	position	position	NOUN
fuelectenerg-2314	76	7	is	be	AUX
fuelectenerg-2314	76	8	given	give	VERB
fuelectenerg-2314	76	9	by	by	ADP
fuelectenerg-2314	76	10	(	(	PUNCT
fuelectenerg-2314	76	11	12	12	NUM
fuelectenerg-2314	76	12	)	)	PUNCT
fuelectenerg-2314	76	13	.	.	PUNCT
fuelectenerg-2314	77	1	(	(	PUNCT
fuelectenerg-2314	77	2	)	)	PUNCT
fuelectenerg-2314	77	3	(	(	PUNCT
fuelectenerg-2314	77	4	(	(	PUNCT
fuelectenerg-2314	77	5	)	)	PUNCT
fuelectenerg-2314	77	6	)	)	PUNCT
fuelectenerg-2314	78	1	(	(	PUNCT
fuelectenerg-2314	78	2	(	(	PUNCT
fuelectenerg-2314	78	3	)	)	PUNCT
fuelectenerg-2314	78	4	)	)	PUNCT
fuelectenerg-2314	78	5	(	(	PUNCT
fuelectenerg-2314	78	6	11	11	NUM
fuelectenerg-2314	78	7	)	)	PUNCT
fuelectenerg-2314	78	8	(	(	PUNCT
fuelectenerg-2314	78	9	12	12	NUM
fuelectenerg-2314	78	10	)	)	PUNCT
fuelectenerg-2314	78	11	feedback	feedback	NOUN
fuelectenerg-2314	78	12	linearization	linearization	NOUN
fuelectenerg-2314	78	13	for	for	ADP
fuelectenerg-2314	78	14	decoupled	decoupled	ADJ
fuelectenerg-2314	78	15	position	position	NOUN
fuelectenerg-2314	78	16	/	/	SYM
fuelectenerg-2314	78	17	stiffness	stiffness	NOUN
fuelectenerg-2314	78	18	control	control	NOUN
fuelectenerg-2314	78	19	of	of	ADP
fuelectenerg-2314	78	20	bidirectional	bidirectional	ADJ
fuelectenerg-2314	78	21	antagonistic	antagonistic	ADJ
fuelectenerg-2314	78	22	drives	drive	VERB
fuelectenerg-2314	78	23	55	55	NUM
fuelectenerg-2314	78	24	3	3	NUM
fuelectenerg-2314	78	25	.	.	PUNCT
fuelectenerg-2314	79	1	feedback	feedback	NOUN
fuelectenerg-2314	79	2	linearization	linearization	NOUN
fuelectenerg-2314	79	3	for	for	ADP
fuelectenerg-2314	79	4	decoupled	decoupled	ADJ
fuelectenerg-2314	79	5	position	position	NOUN
fuelectenerg-2314	79	6	/	/	SYM
fuelectenerg-2314	79	7	stiffness	stiffness	NOUN
fuelectenerg-2314	79	8	control	control	NOUN
fuelectenerg-2314	79	9	of	of	ADP
fuelectenerg-2314	79	10	bidirectional	bidirectional	ADJ
fuelectenerg-2314	79	11	antagonistic	antagonistic	ADJ
fuelectenerg-2314	79	12	drives	drive	NOUN
fuelectenerg-2314	79	13	since	since	SCONJ
fuelectenerg-2314	79	14	both	both	DET
fuelectenerg-2314	79	15	bidirectional	bidirectional	ADJ
fuelectenerg-2314	79	16	antagonistic	antagonistic	ADJ
fuelectenerg-2314	79	17	motors	motor	NOUN
fuelectenerg-2314	79	18	contribute	contribute	VERB
fuelectenerg-2314	79	19	to	to	ADP
fuelectenerg-2314	79	20	joint	joint	ADJ
fuelectenerg-2314	79	21	position	position	NOUN
fuelectenerg-2314	79	22	and	and	CCONJ
fuelectenerg-2314	79	23	joint	joint	ADJ
fuelectenerg-2314	79	24	stiffness	stiffness	NOUN
fuelectenerg-2314	79	25	,	,	PUNCT
fuelectenerg-2314	79	26	static	static	ADJ
fuelectenerg-2314	79	27	feedback	feedback	NOUN
fuelectenerg-2314	79	28	linearization	linearization	NOUN
fuelectenerg-2314	79	29	is	be	AUX
fuelectenerg-2314	79	30	employed	employ	VERB
fuelectenerg-2314	79	31	to	to	PART
fuelectenerg-2314	79	32	decouple	decouple	VERB
fuelectenerg-2314	79	33	this	this	DET
fuelectenerg-2314	79	34	multivariable	multivariable	ADJ
fuelectenerg-2314	79	35	system	system	NOUN
fuelectenerg-2314	79	36	into	into	ADP
fuelectenerg-2314	79	37	two	two	NUM
fuelectenerg-2314	79	38	decoupled	decouple	VERB
fuelectenerg-2314	79	39	and	and	CCONJ
fuelectenerg-2314	79	40	linearized	linearize	VERB
fuelectenerg-2314	79	41	single	single	ADJ
fuelectenerg-2314	79	42	-	-	PUNCT
fuelectenerg-2314	79	43	input	input	NOUN
fuelectenerg-2314	79	44	-	-	PUNCT
fuelectenerg-2314	79	45	single	single	ADJ
fuelectenerg-2314	79	46	-	-	PUNCT
fuelectenerg-2314	79	47	output	output	NOUN
fuelectenerg-2314	79	48	systems	system	NOUN
fuelectenerg-2314	79	49	.	.	PUNCT
fuelectenerg-2314	80	1	the	the	DET
fuelectenerg-2314	80	2	original	original	ADJ
fuelectenerg-2314	80	3	system	system	NOUN
fuelectenerg-2314	80	4	can	can	AUX
fuelectenerg-2314	80	5	be	be	AUX
fuelectenerg-2314	80	6	written	write	VERB
fuelectenerg-2314	80	7	in	in	ADP
fuelectenerg-2314	80	8	state	state	NOUN
fuelectenerg-2314	80	9	-	-	PUNCT
fuelectenerg-2314	80	10	space	space	NOUN
fuelectenerg-2314	80	11	representation	representation	NOUN
fuelectenerg-2314	80	12	(	(	PUNCT
fuelectenerg-2314	80	13	13	13	NUM
fuelectenerg-2314	80	14	)	)	PUNCT
fuelectenerg-2314	80	15	.	.	PUNCT
fuelectenerg-2314	81	1	̇	̇	PROPN
fuelectenerg-2314	81	2	(	(	PUNCT
fuelectenerg-2314	81	3	)	)	PUNCT
fuelectenerg-2314	81	4	(	(	PUNCT
fuelectenerg-2314	81	5	)	)	PUNCT
fuelectenerg-2314	81	6	(	(	PUNCT
fuelectenerg-2314	81	7	13	13	NUM
fuelectenerg-2314	81	8	)	)	PUNCT
fuelectenerg-2314	81	9	here	here	ADV
fuelectenerg-2314	81	10	,	,	PUNCT
fuelectenerg-2314	81	11	joint	joint	ADJ
fuelectenerg-2314	81	12	and	and	CCONJ
fuelectenerg-2314	81	13	motor	motor	NOUN
fuelectenerg-2314	81	14	positions	position	NOUN
fuelectenerg-2314	81	15	and	and	CCONJ
fuelectenerg-2314	81	16	velocities	velocity	NOUN
fuelectenerg-2314	81	17	are	be	AUX
fuelectenerg-2314	81	18	considered	consider	VERB
fuelectenerg-2314	81	19	as	as	SCONJ
fuelectenerg-2314	81	20	state	state	NOUN
fuelectenerg-2314	81	21	space	space	NOUN
fuelectenerg-2314	81	22	variables	variable	NOUN
fuelectenerg-2314	81	23	̇	̇	VERB
fuelectenerg-2314	81	24	̇	̇	PROPN
fuelectenerg-2314	81	25	̇	̇	NOUN
fuelectenerg-2314	81	26	,	,	PUNCT
fuelectenerg-2314	81	27	while	while	SCONJ
fuelectenerg-2314	81	28	motor	motor	NOUN
fuelectenerg-2314	81	29	torques	torque	NOUN
fuelectenerg-2314	81	30	are	be	AUX
fuelectenerg-2314	81	31	considered	consider	VERB
fuelectenerg-2314	81	32	as	as	ADP
fuelectenerg-2314	81	33	control	control	NOUN
fuelectenerg-2314	81	34	inputs	input	NOUN
fuelectenerg-2314	81	35	.	.	PUNCT
fuelectenerg-2314	82	1	joint	joint	ADJ
fuelectenerg-2314	82	2	position	position	NOUN
fuelectenerg-2314	82	3	and	and	CCONJ
fuelectenerg-2314	82	4	overall	overall	ADJ
fuelectenerg-2314	82	5	joint	joint	ADJ
fuelectenerg-2314	82	6	stiffness	stiffness	NOUN
fuelectenerg-2314	82	7	are	be	AUX
fuelectenerg-2314	82	8	outputs	output	NOUN
fuelectenerg-2314	82	9	:	:	PUNCT
fuelectenerg-2314	82	10	.	.	PUNCT
fuelectenerg-2314	83	1	by	by	ADP
fuelectenerg-2314	83	2	straightforward	straightforward	ADJ
fuelectenerg-2314	83	3	application	application	NOUN
fuelectenerg-2314	83	4	of	of	ADP
fuelectenerg-2314	83	5	feedback	feedback	NOUN
fuelectenerg-2314	83	6	linearization	linearization	NOUN
fuelectenerg-2314	83	7	[	[	X
fuelectenerg-2314	83	8	23	23	NUM
fuelectenerg-2314	83	9	]	]	PUNCT
fuelectenerg-2314	83	10	,	,	PUNCT
fuelectenerg-2314	83	11	outputs	output	NOUN
fuelectenerg-2314	83	12	and	and	CCONJ
fuelectenerg-2314	83	13	were	be	AUX
fuelectenerg-2314	83	14	differentiated	differentiate	VERB
fuelectenerg-2314	83	15	until	until	ADP
fuelectenerg-2314	83	16	a	a	DET
fuelectenerg-2314	83	17	linear	linear	ADJ
fuelectenerg-2314	83	18	relation	relation	NOUN
fuelectenerg-2314	83	19	to	to	ADP
fuelectenerg-2314	83	20	inputs	input	NOUN
fuelectenerg-2314	83	21	and/or	and/or	CCONJ
fuelectenerg-2314	83	22	was	be	AUX
fuelectenerg-2314	83	23	obtained	obtain	VERB
fuelectenerg-2314	83	24	.	.	PUNCT
fuelectenerg-2314	84	1	to	to	ADP
fuelectenerg-2314	84	2	that	that	DET
fuelectenerg-2314	84	3	end	end	NOUN
fuelectenerg-2314	84	4	,	,	PUNCT
fuelectenerg-2314	84	5	outputs	output	NOUN
fuelectenerg-2314	84	6	and	and	CCONJ
fuelectenerg-2314	84	7	were	be	AUX
fuelectenerg-2314	84	8	differentiated	differentiate	VERB
fuelectenerg-2314	84	9	four	four	NUM
fuelectenerg-2314	84	10	times	time	NOUN
fuelectenerg-2314	84	11	(	(	PUNCT
fuelectenerg-2314	84	12	14	14	NUM
fuelectenerg-2314	84	13	)	)	PUNCT
fuelectenerg-2314	84	14	and	and	CCONJ
fuelectenerg-2314	84	15	two	two	NUM
fuelectenerg-2314	84	16	times	time	NOUN
fuelectenerg-2314	84	17	(	(	PUNCT
fuelectenerg-2314	84	18	15	15	NUM
fuelectenerg-2314	84	19	)	)	PUNCT
fuelectenerg-2314	84	20	respectively	respectively	ADV
fuelectenerg-2314	84	21	.	.	PUNCT
fuelectenerg-2314	85	1	since	since	SCONJ
fuelectenerg-2314	85	2	the	the	DET
fuelectenerg-2314	85	3	sum	sum	NOUN
fuelectenerg-2314	85	4	of	of	ADP
fuelectenerg-2314	85	5	the	the	DET
fuelectenerg-2314	85	6	relative	relative	ADJ
fuelectenerg-2314	85	7	degrees	degree	NOUN
fuelectenerg-2314	85	8	(=	(=	NOUN
fuelectenerg-2314	85	9	4	4	NUM
fuelectenerg-2314	85	10	+	+	NOUN
fuelectenerg-2314	85	11	2	2	NUM
fuelectenerg-2314	85	12	)	)	PUNCT
fuelectenerg-2314	85	13	of	of	ADP
fuelectenerg-2314	85	14	the	the	DET
fuelectenerg-2314	85	15	outputs	output	NOUN
fuelectenerg-2314	85	16	was	be	AUX
fuelectenerg-2314	85	17	equal	equal	ADJ
fuelectenerg-2314	85	18	to	to	ADP
fuelectenerg-2314	85	19	the	the	DET
fuelectenerg-2314	85	20	state	state	NOUN
fuelectenerg-2314	85	21	dimension	dimension	NOUN
fuelectenerg-2314	85	22	of	of	ADP
fuelectenerg-2314	85	23	the	the	DET
fuelectenerg-2314	85	24	system	system	NOUN
fuelectenerg-2314	85	25	(=	(=	ADV
fuelectenerg-2314	85	26	6	6	NUM
fuelectenerg-2314	85	27	)	)	PUNCT
fuelectenerg-2314	85	28	,	,	PUNCT
fuelectenerg-2314	85	29	zero	zero	NUM
fuelectenerg-2314	85	30	dynamics	dynamic	NOUN
fuelectenerg-2314	85	31	does	do	AUX
fuelectenerg-2314	85	32	not	not	PART
fuelectenerg-2314	85	33	exist	exist	VERB
fuelectenerg-2314	85	34	and	and	CCONJ
fuelectenerg-2314	85	35	all	all	DET
fuelectenerg-2314	85	36	states	state	NOUN
fuelectenerg-2314	85	37	are	be	AUX
fuelectenerg-2314	85	38	fully	fully	ADV
fuelectenerg-2314	85	39	observable	observable	ADJ
fuelectenerg-2314	85	40	.	.	PUNCT
fuelectenerg-2314	86	1	(	(	PUNCT
fuelectenerg-2314	86	2	)	)	PUNCT
fuelectenerg-2314	86	3	(	(	PUNCT
fuelectenerg-2314	86	4	)	)	PUNCT
fuelectenerg-2314	86	5	(	(	PUNCT
fuelectenerg-2314	86	6	14	14	NUM
fuelectenerg-2314	86	7	)	)	PUNCT
fuelectenerg-2314	86	8	(	(	PUNCT
fuelectenerg-2314	86	9	)	)	PUNCT
fuelectenerg-2314	86	10	(	(	PUNCT
fuelectenerg-2314	86	11	)	)	PUNCT
fuelectenerg-2314	86	12	(	(	PUNCT
fuelectenerg-2314	86	13	15	15	NUM
fuelectenerg-2314	86	14	)	)	PUNCT
fuelectenerg-2314	86	15	(	(	PUNCT
fuelectenerg-2314	86	16	)	)	PUNCT
fuelectenerg-2314	86	17	denotes	denote	NOUN
fuelectenerg-2314	86	18	lie	lie	VERB
fuelectenerg-2314	86	19	derivative	derivative	NOUN
fuelectenerg-2314	86	20	of	of	ADP
fuelectenerg-2314	86	21	(	(	PUNCT
fuelectenerg-2314	86	22	)	)	PUNCT
fuelectenerg-2314	86	23	along	along	ADP
fuelectenerg-2314	86	24	vector	vector	NOUN
fuelectenerg-2314	86	25	function	function	NOUN
fuelectenerg-2314	86	26	(	(	PUNCT
fuelectenerg-2314	86	27	)	)	PUNCT
fuelectenerg-2314	86	28	.	.	PUNCT
fuelectenerg-2314	87	1	lie	lie	VERB
fuelectenerg-2314	87	2	derivatives	derivative	NOUN
fuelectenerg-2314	87	3	in	in	ADP
fuelectenerg-2314	87	4	cases	case	NOUN
fuelectenerg-2314	87	5	of	of	ADP
fuelectenerg-2314	87	6	position	position	NOUN
fuelectenerg-2314	87	7	and	and	CCONJ
fuelectenerg-2314	87	8	stiffness	stiffness	NOUN
fuelectenerg-2314	87	9	of	of	ADP
fuelectenerg-2314	87	10	the	the	DET
fuelectenerg-2314	87	11	model	model	NOUN
fuelectenerg-2314	87	12	representing	represent	VERB
fuelectenerg-2314	87	13	qbmove	qbmove	NOUN
fuelectenerg-2314	87	14	maker	maker	NOUN
fuelectenerg-2314	87	15	pro	pro	X
fuelectenerg-2314	87	16	are	be	AUX
fuelectenerg-2314	87	17	depicted	depict	VERB
fuelectenerg-2314	87	18	in	in	ADP
fuelectenerg-2314	87	19	(	(	PUNCT
fuelectenerg-2314	87	20	16	16	NUM
fuelectenerg-2314	87	21	)	)	PUNCT
fuelectenerg-2314	87	22	and	and	CCONJ
fuelectenerg-2314	87	23	(	(	PUNCT
fuelectenerg-2314	87	24	17	17	NUM
fuelectenerg-2314	87	25	)	)	PUNCT
fuelectenerg-2314	87	26	respectively	respectively	ADV
fuelectenerg-2314	87	27	.	.	PUNCT
fuelectenerg-2314	88	1	decoupling	decouple	VERB
fuelectenerg-2314	88	2	the	the	DET
fuelectenerg-2314	88	3	matrix	matrix	NOUN
fuelectenerg-2314	88	4	(	(	PUNCT
fuelectenerg-2314	88	5	)	)	PUNCT
fuelectenerg-2314	88	6	,	,	PUNCT
fuelectenerg-2314	88	7	defined	define	VERB
fuelectenerg-2314	88	8	as	as	ADP
fuelectenerg-2314	88	9	in	in	ADP
fuelectenerg-2314	88	10	(	(	PUNCT
fuelectenerg-2314	88	11	18	18	NUM
fuelectenerg-2314	88	12	)	)	PUNCT
fuelectenerg-2314	88	13	,	,	PUNCT
fuelectenerg-2314	88	14	has	have	VERB
fuelectenerg-2314	88	15	to	to	PART
fuelectenerg-2314	88	16	be	be	AUX
fuelectenerg-2314	88	17	non	non	ADJ
fuelectenerg-2314	88	18	-	-	ADJ
fuelectenerg-2314	88	19	singular	singular	ADJ
fuelectenerg-2314	88	20	to	to	PART
fuelectenerg-2314	88	21	prove	prove	VERB
fuelectenerg-2314	88	22	controllability	controllability	NOUN
fuelectenerg-2314	88	23	of	of	ADP
fuelectenerg-2314	88	24	the	the	DET
fuelectenerg-2314	88	25	system	system	NOUN
fuelectenerg-2314	88	26	,	,	PUNCT
fuelectenerg-2314	88	27	which	which	PRON
fuelectenerg-2314	88	28	is	be	AUX
fuelectenerg-2314	88	29	always	always	ADV
fuelectenerg-2314	88	30	valid	valid	ADJ
fuelectenerg-2314	88	31	for	for	ADP
fuelectenerg-2314	88	32	positive	positive	ADJ
fuelectenerg-2314	88	33	joint	joint	ADJ
fuelectenerg-2314	88	34	stiffness	stiffness	NOUN
fuelectenerg-2314	88	35	.	.	PUNCT
fuelectenerg-2314	89	1	at	at	ADP
fuelectenerg-2314	89	2	the	the	DET
fuelectenerg-2314	89	3	same	same	ADJ
fuelectenerg-2314	89	4	time	time	NOUN
fuelectenerg-2314	89	5	,	,	PUNCT
fuelectenerg-2314	89	6	this	this	PRON
fuelectenerg-2314	89	7	is	be	AUX
fuelectenerg-2314	89	8	the	the	DET
fuelectenerg-2314	89	9	second	second	ADJ
fuelectenerg-2314	89	10	precondition	precondition	NOUN
fuelectenerg-2314	89	11	for	for	ADP
fuelectenerg-2314	89	12	the	the	DET
fuelectenerg-2314	89	13	application	application	NOUN
fuelectenerg-2314	89	14	of	of	ADP
fuelectenerg-2314	89	15	static	static	ADJ
fuelectenerg-2314	89	16	feedback	feedback	NOUN
fuelectenerg-2314	89	17	linearization	linearization	NOUN
fuelectenerg-2314	89	18	.	.	PUNCT
fuelectenerg-2314	90	1	for	for	ADP
fuelectenerg-2314	90	2	the	the	DET
fuelectenerg-2314	90	3	sake	sake	NOUN
fuelectenerg-2314	90	4	of	of	ADP
fuelectenerg-2314	90	5	simplicity	simplicity	NOUN
fuelectenerg-2314	90	6	,	,	PUNCT
fuelectenerg-2314	90	7	the	the	DET
fuelectenerg-2314	90	8	following	follow	VERB
fuelectenerg-2314	90	9	notation	notation	NOUN
fuelectenerg-2314	90	10	is	be	AUX
fuelectenerg-2314	90	11	adopted	adopt	VERB
fuelectenerg-2314	90	12	:	:	PUNCT
fuelectenerg-2314	90	13	(	(	PUNCT
fuelectenerg-2314	90	14	(	(	PUNCT
fuelectenerg-2314	90	15	)	)	PUNCT
fuelectenerg-2314	90	16	)	)	PUNCT
fuelectenerg-2314	90	17	,	,	PUNCT
fuelectenerg-2314	90	18	(	(	PUNCT
fuelectenerg-2314	90	19	(	(	PUNCT
fuelectenerg-2314	90	20	–	–	PUNCT
fuelectenerg-2314	90	21	)	)	PUNCT
fuelectenerg-2314	90	22	)	)	PUNCT
fuelectenerg-2314	90	23	,	,	PUNCT
fuelectenerg-2314	90	24	(	(	PUNCT
fuelectenerg-2314	90	25	(	(	PUNCT
fuelectenerg-2314	90	26	)	)	PUNCT
fuelectenerg-2314	90	27	)	)	PUNCT
fuelectenerg-2314	90	28	,	,	PUNCT
fuelectenerg-2314	90	29	and	and	CCONJ
fuelectenerg-2314	90	30	(	(	PUNCT
fuelectenerg-2314	90	31	(	(	PUNCT
fuelectenerg-2314	90	32	)	)	PUNCT
fuelectenerg-2314	90	33	)	)	PUNCT
fuelectenerg-2314	90	34	.	.	PUNCT
fuelectenerg-2314	91	1	(	(	PUNCT
fuelectenerg-2314	91	2	(	(	PUNCT
fuelectenerg-2314	91	3	(	(	PUNCT
fuelectenerg-2314	91	4	)	)	PUNCT
fuelectenerg-2314	91	5	)	)	PUNCT
fuelectenerg-2314	91	6	(	(	PUNCT
fuelectenerg-2314	91	7	̇	̇	PROPN
fuelectenerg-2314	91	8	̇	̇	PROPN
fuelectenerg-2314	91	9	)	)	PUNCT
fuelectenerg-2314	91	10	(	(	PUNCT
fuelectenerg-2314	91	11	(	(	PUNCT
fuelectenerg-2314	91	12	)	)	PUNCT
fuelectenerg-2314	91	13	)	)	PUNCT
fuelectenerg-2314	91	14	(	(	PUNCT
fuelectenerg-2314	91	15	̇	̇	PROPN
fuelectenerg-2314	91	16	̇	̇	PROPN
fuelectenerg-2314	91	17	)	)	PUNCT
fuelectenerg-2314	91	18	)	)	PUNCT
fuelectenerg-2314	92	1	(	(	PUNCT
fuelectenerg-2314	92	2	16	16	NUM
fuelectenerg-2314	92	3	)	)	PUNCT
fuelectenerg-2314	92	4	(	(	PUNCT
fuelectenerg-2314	92	5	(	(	PUNCT
fuelectenerg-2314	92	6	(	(	PUNCT
fuelectenerg-2314	92	7	)	)	PUNCT
fuelectenerg-2314	92	8	)	)	PUNCT
fuelectenerg-2314	92	9	(	(	PUNCT
fuelectenerg-2314	92	10	̇	̇	PROPN
fuelectenerg-2314	92	11	̇	̇	PROPN
fuelectenerg-2314	92	12	)	)	PUNCT
fuelectenerg-2314	92	13	(	(	PUNCT
fuelectenerg-2314	92	14	(	(	PUNCT
fuelectenerg-2314	92	15	)	)	PUNCT
fuelectenerg-2314	92	16	)	)	PUNCT
fuelectenerg-2314	92	17	(	(	PUNCT
fuelectenerg-2314	92	18	̇	̇	PROPN
fuelectenerg-2314	92	19	̇	̇	PROPN
fuelectenerg-2314	92	20	)	)	PUNCT
fuelectenerg-2314	92	21	)	)	PUNCT
fuelectenerg-2314	93	1	(	(	PUNCT
fuelectenerg-2314	93	2	17	17	NUM
fuelectenerg-2314	93	3	)	)	PUNCT
fuelectenerg-2314	93	4	56	56	NUM
fuelectenerg-2314	93	5	k.	k.	PROPN
fuelectenerg-2314	93	6	jovanović	jovanović	PROPN
fuelectenerg-2314	93	7	,	,	PUNCT
fuelectenerg-2314	93	8	b.	b.	PROPN
fuelectenerg-2314	93	9	lukić	lukić	PROPN
fuelectenerg-2314	93	10	,	,	PUNCT
fuelectenerg-2314	93	11	v.	v.	ADP
fuelectenerg-2314	93	12	potkonjak	potkonjak	PROPN
fuelectenerg-2314	93	13	[	[	PUNCT
fuelectenerg-2314	93	14	]	]	X
fuelectenerg-2314	93	15	[	[	PUNCT
fuelectenerg-2314	93	16	]	]	X
fuelectenerg-2314	93	17	(	(	PUNCT
fuelectenerg-2314	93	18	18	18	NUM
fuelectenerg-2314	93	19	)	)	PUNCT
fuelectenerg-2314	93	20	finally	finally	ADV
fuelectenerg-2314	93	21	,	,	PUNCT
fuelectenerg-2314	93	22	in	in	ADP
fuelectenerg-2314	93	23	accordance	accordance	NOUN
fuelectenerg-2314	93	24	to	to	ADP
fuelectenerg-2314	93	25	[	[	X
fuelectenerg-2314	93	26	23	23	NUM
fuelectenerg-2314	93	27	]	]	PUNCT
fuelectenerg-2314	93	28	,	,	PUNCT
fuelectenerg-2314	93	29	original	original	ADJ
fuelectenerg-2314	93	30	input	input	NOUN
fuelectenerg-2314	93	31	can	can	AUX
fuelectenerg-2314	93	32	be	be	AUX
fuelectenerg-2314	93	33	transformed	transform	VERB
fuelectenerg-2314	93	34	as	as	ADP
fuelectenerg-2314	93	35	in	in	ADP
fuelectenerg-2314	93	36	(	(	PUNCT
fuelectenerg-2314	93	37	19	19	NUM
fuelectenerg-2314	93	38	)	)	PUNCT
fuelectenerg-2314	93	39	to	to	PART
fuelectenerg-2314	93	40	achieve	achieve	VERB
fuelectenerg-2314	93	41	independent	independent	ADJ
fuelectenerg-2314	93	42	control	control	NOUN
fuelectenerg-2314	93	43	of	of	ADP
fuelectenerg-2314	93	44	both	both	CCONJ
fuelectenerg-2314	93	45	the	the	DET
fuelectenerg-2314	93	46	joint	joint	ADJ
fuelectenerg-2314	93	47	position	position	NOUN
fuelectenerg-2314	93	48	and	and	CCONJ
fuelectenerg-2314	93	49	stiffness	stiffness	NOUN
fuelectenerg-2314	93	50	via	via	ADP
fuelectenerg-2314	93	51	the	the	DET
fuelectenerg-2314	93	52	newly	newly	ADV
fuelectenerg-2314	93	53	-	-	PUNCT
fuelectenerg-2314	93	54	defined	define	VERB
fuelectenerg-2314	93	55	intermediate	intermediate	ADJ
fuelectenerg-2314	93	56	input	input	NOUN
fuelectenerg-2314	93	57	[	[	PUNCT
fuelectenerg-2314	93	58	]	]	PUNCT
fuelectenerg-2314	93	59	.	.	PUNCT
fuelectenerg-2314	94	1	the	the	DET
fuelectenerg-2314	94	2	result	result	NOUN
fuelectenerg-2314	94	3	of	of	ADP
fuelectenerg-2314	94	4	this	this	DET
fuelectenerg-2314	94	5	input	input	NOUN
fuelectenerg-2314	94	6	transformation	transformation	NOUN
fuelectenerg-2314	94	7	is	be	AUX
fuelectenerg-2314	94	8	two	two	NUM
fuelectenerg-2314	94	9	linear	linear	ADJ
fuelectenerg-2314	94	10	single	single	ADJ
fuelectenerg-2314	94	11	-	-	PUNCT
fuelectenerg-2314	94	12	input	input	NOUN
fuelectenerg-2314	94	13	-	-	PUNCT
fuelectenerg-2314	94	14	single	single	ADJ
fuelectenerg-2314	94	15	-	-	PUNCT
fuelectenerg-2314	94	16	output	output	NOUN
fuelectenerg-2314	94	17	systems	system	NOUN
fuelectenerg-2314	94	18	controlled	control	VERB
fuelectenerg-2314	94	19	by	by	ADP
fuelectenerg-2314	94	20	intermediate	intermediate	ADJ
fuelectenerg-2314	94	21	input	input	NOUN
fuelectenerg-2314	94	22	which	which	PRON
fuelectenerg-2314	94	23	can	can	AUX
fuelectenerg-2314	94	24	be	be	AUX
fuelectenerg-2314	94	25	written	write	VERB
fuelectenerg-2314	94	26	in	in	ADP
fuelectenerg-2314	94	27	linear	linear	PROPN
fuelectenerg-2314	94	28	state	state	NOUN
fuelectenerg-2314	94	29	space	space	NOUN
fuelectenerg-2314	94	30	form	form	NOUN
fuelectenerg-2314	94	31	(	(	PUNCT
fuelectenerg-2314	94	32	20	20	NUM
fuelectenerg-2314	94	33	)	)	PUNCT
fuelectenerg-2314	94	34	.	.	PUNCT
fuelectenerg-2314	95	1	new	new	ADJ
fuelectenerg-2314	95	2	state	state	NOUN
fuelectenerg-2314	95	3	vector	vector	NOUN
fuelectenerg-2314	95	4	contains	contain	VERB
fuelectenerg-2314	95	5	all	all	DET
fuelectenerg-2314	95	6	output	output	NOUN
fuelectenerg-2314	95	7	derivatives	derivative	NOUN
fuelectenerg-2314	95	8	up	up	ADP
fuelectenerg-2314	95	9	to	to	ADP
fuelectenerg-2314	95	10	the	the	DET
fuelectenerg-2314	95	11	highest	high	ADJ
fuelectenerg-2314	95	12	order	order	NOUN
fuelectenerg-2314	95	13	[	[	PUNCT
fuelectenerg-2314	95	14	̇	̇	VERB
fuelectenerg-2314	95	15	̈	̈	PRON
fuelectenerg-2314	95	16	(	(	PUNCT
fuelectenerg-2314	95	17	)	)	PUNCT
fuelectenerg-2314	95	18	̇	̇	NOUN
fuelectenerg-2314	95	19	]	]	PUNCT
fuelectenerg-2314	95	20	.	.	PUNCT
fuelectenerg-2314	96	1	(	(	PUNCT
fuelectenerg-2314	96	2	*	*	PUNCT
fuelectenerg-2314	96	3	(	(	PUNCT
fuelectenerg-2314	96	4	)	)	PUNCT
fuelectenerg-2314	96	5	(	(	PUNCT
fuelectenerg-2314	96	6	)	)	PUNCT
fuelectenerg-2314	97	1	+	+	PUNCT
fuelectenerg-2314	97	2	*	*	PUNCT
fuelectenerg-2314	97	3	+	+	X
fuelectenerg-2314	97	4	)	)	PUNCT
fuelectenerg-2314	97	5	(	(	PUNCT
fuelectenerg-2314	97	6	19	19	NUM
fuelectenerg-2314	97	7	)	)	PUNCT
fuelectenerg-2314	97	8	̇	̇	NOUN
fuelectenerg-2314	97	9	(	(	PUNCT
fuelectenerg-2314	97	10	20	20	NUM
fuelectenerg-2314	97	11	)	)	PUNCT
fuelectenerg-2314	97	12	from	from	ADP
fuelectenerg-2314	97	13	(	(	PUNCT
fuelectenerg-2314	97	14	14	14	NUM
fuelectenerg-2314	97	15	)	)	PUNCT
fuelectenerg-2314	97	16	through	through	ADP
fuelectenerg-2314	97	17	(	(	PUNCT
fuelectenerg-2314	97	18	20	20	NUM
fuelectenerg-2314	97	19	)	)	PUNCT
fuelectenerg-2314	97	20	follows	follow	VERB
fuelectenerg-2314	97	21	that	that	PRON
fuelectenerg-2314	97	22	(	(	PUNCT
fuelectenerg-2314	97	23	)	)	PUNCT
fuelectenerg-2314	97	24	(	(	PUNCT
fuelectenerg-2314	97	25	)	)	PUNCT
fuelectenerg-2314	98	1	[	[	PUNCT
fuelectenerg-2314	98	2	]	]	X
fuelectenerg-2314	98	3	.	.	PUNCT
fuelectenerg-2314	99	1	thus	thus	ADV
fuelectenerg-2314	99	2	,	,	PUNCT
fuelectenerg-2314	99	3	if	if	SCONJ
fuelectenerg-2314	99	4	we	we	PRON
fuelectenerg-2314	99	5	choose	choose	VERB
fuelectenerg-2314	99	6	as	as	ADP
fuelectenerg-2314	99	7	the	the	DET
fuelectenerg-2314	99	8	desired	desire	VERB
fuelectenerg-2314	99	9	joint	joint	ADJ
fuelectenerg-2314	99	10	position	position	NOUN
fuelectenerg-2314	99	11	and	and	CCONJ
fuelectenerg-2314	99	12	as	as	ADP
fuelectenerg-2314	99	13	the	the	DET
fuelectenerg-2314	99	14	desired	desire	VERB
fuelectenerg-2314	99	15	joint	joint	ADJ
fuelectenerg-2314	99	16	stiffness	stiffness	NOUN
fuelectenerg-2314	99	17	,	,	PUNCT
fuelectenerg-2314	99	18	a	a	DET
fuelectenerg-2314	99	19	basic	basic	ADJ
fuelectenerg-2314	99	20	control	control	NOUN
fuelectenerg-2314	99	21	law	law	NOUN
fuelectenerg-2314	99	22	(	(	PUNCT
fuelectenerg-2314	99	23	21	21	NUM
fuelectenerg-2314	99	24	)	)	PUNCT
fuelectenerg-2314	99	25	can	can	AUX
fuelectenerg-2314	99	26	be	be	AUX
fuelectenerg-2314	99	27	applied	apply	VERB
fuelectenerg-2314	99	28	.	.	PUNCT
fuelectenerg-2314	100	1	accordingly	accordingly	ADV
fuelectenerg-2314	100	2	,	,	PUNCT
fuelectenerg-2314	100	3	state	state	NOUN
fuelectenerg-2314	100	4	feedback	feedback	NOUN
fuelectenerg-2314	100	5	linearization	linearization	NOUN
fuelectenerg-2314	100	6	allows	allow	VERB
fuelectenerg-2314	100	7	control	control	NOUN
fuelectenerg-2314	100	8	of	of	ADP
fuelectenerg-2314	100	9	both	both	CCONJ
fuelectenerg-2314	100	10	the	the	DET
fuelectenerg-2314	100	11	positions	position	NOUN
fuelectenerg-2314	100	12	and	and	CCONJ
fuelectenerg-2314	100	13	stiffness	stiffness	NOUN
fuelectenerg-2314	100	14	of	of	ADP
fuelectenerg-2314	100	15	the	the	DET
fuelectenerg-2314	100	16	bidirectional	bidirectional	ADJ
fuelectenerg-2314	100	17	antagonistic	antagonistic	ADJ
fuelectenerg-2314	100	18	robot	robot	NOUN
fuelectenerg-2314	100	19	joint	joint	NOUN
fuelectenerg-2314	100	20	,	,	PUNCT
fuelectenerg-2314	100	21	using	use	VERB
fuelectenerg-2314	100	22	two	two	NUM
fuelectenerg-2314	100	23	totally	totally	ADV
fuelectenerg-2314	100	24	independent	independent	ADJ
fuelectenerg-2314	100	25	linear	linear	ADJ
fuelectenerg-2314	100	26	controllers	controller	NOUN
fuelectenerg-2314	100	27	,	,	PUNCT
fuelectenerg-2314	100	28	composed	compose	VERB
fuelectenerg-2314	100	29	of	of	ADP
fuelectenerg-2314	100	30	static	static	ADJ
fuelectenerg-2314	100	31	state	state	NOUN
fuelectenerg-2314	100	32	feedback	feedback	NOUN
fuelectenerg-2314	100	33	and	and	CCONJ
fuelectenerg-2314	100	34	feed	feed	NOUN
fuelectenerg-2314	100	35	-	-	PUNCT
fuelectenerg-2314	100	36	forward	forward	NOUN
fuelectenerg-2314	100	37	action	action	NOUN
fuelectenerg-2314	100	38	.	.	PUNCT
fuelectenerg-2314	101	1	as	as	SCONJ
fuelectenerg-2314	101	2	demonstrated	demonstrate	VERB
fuelectenerg-2314	101	3	in	in	ADP
fuelectenerg-2314	101	4	[	[	X
fuelectenerg-2314	101	5	24	24	NUM
fuelectenerg-2314	101	6	]	]	PUNCT
fuelectenerg-2314	101	7	and	and	CCONJ
fuelectenerg-2314	101	8	[	[	X
fuelectenerg-2314	101	9	25	25	NUM
fuelectenerg-2314	101	10	]	]	PUNCT
fuelectenerg-2314	101	11	,	,	PUNCT
fuelectenerg-2314	101	12	the	the	DET
fuelectenerg-2314	101	13	stability	stability	NOUN
fuelectenerg-2314	101	14	of	of	ADP
fuelectenerg-2314	101	15	the	the	DET
fuelectenerg-2314	101	16	proposed	propose	VERB
fuelectenerg-2314	101	17	control	control	NOUN
fuelectenerg-2314	101	18	methodology	methodology	NOUN
fuelectenerg-2314	101	19	(	(	PUNCT
fuelectenerg-2314	101	20	21	21	NUM
fuelectenerg-2314	101	21	)	)	PUNCT
fuelectenerg-2314	101	22	is	be	AUX
fuelectenerg-2314	101	23	ensured	ensure	VERB
fuelectenerg-2314	101	24	if	if	SCONJ
fuelectenerg-2314	101	25	the	the	DET
fuelectenerg-2314	101	26	gains	gain	NOUN
fuelectenerg-2314	101	27	in	in	ADP
fuelectenerg-2314	101	28	are	be	AUX
fuelectenerg-2314	101	29	chosen	choose	VERB
fuelectenerg-2314	101	30	so	so	SCONJ
fuelectenerg-2314	101	31	the	the	DET
fuelectenerg-2314	101	32	polynomials	polynomial	NOUN
fuelectenerg-2314	101	33	depicted	depict	VERB
fuelectenerg-2314	101	34	in	in	ADP
fuelectenerg-2314	101	35	(	(	PUNCT
fuelectenerg-2314	101	36	22	22	NUM
fuelectenerg-2314	101	37	)	)	PUNCT
fuelectenerg-2314	101	38	are	be	AUX
fuelectenerg-2314	101	39	hurwitz	hurwitz	PROPN
fuelectenerg-2314	101	40	's	's	PART
fuelectenerg-2314	101	41	.	.	PUNCT
fuelectenerg-2314	102	1	(	(	PUNCT
fuelectenerg-2314	102	2	)	)	PUNCT
fuelectenerg-2314	102	3	(	(	PUNCT
fuelectenerg-2314	102	4	(	(	PUNCT
fuelectenerg-2314	102	5	)	)	PUNCT
fuelectenerg-2314	102	6	(	(	PUNCT
fuelectenerg-2314	102	7	)	)	PUNCT
fuelectenerg-2314	102	8	)	)	PUNCT
fuelectenerg-2314	102	9	(	(	PUNCT
fuelectenerg-2314	102	10	̈	̈	X
fuelectenerg-2314	102	11	(	(	PUNCT
fuelectenerg-2314	102	12	)	)	PUNCT
fuelectenerg-2314	102	13	)	)	PUNCT
fuelectenerg-2314	102	14	(	(	PUNCT
fuelectenerg-2314	102	15	̇	̇	PROPN
fuelectenerg-2314	102	16	(	(	PUNCT
fuelectenerg-2314	102	17	)	)	PUNCT
fuelectenerg-2314	102	18	)	)	PUNCT
fuelectenerg-2314	102	19	(	(	PUNCT
fuelectenerg-2314	102	20	(	(	PUNCT
fuelectenerg-2314	102	21	)	)	PUNCT
fuelectenerg-2314	102	22	)	)	PUNCT
fuelectenerg-2314	102	23	̈	̈	X
fuelectenerg-2314	102	24	(	(	PUNCT
fuelectenerg-2314	102	25	̇	̇	PROPN
fuelectenerg-2314	102	26	(	(	PUNCT
fuelectenerg-2314	102	27	)	)	PUNCT
fuelectenerg-2314	102	28	)	)	PUNCT
fuelectenerg-2314	102	29	(	(	PUNCT
fuelectenerg-2314	102	30	(	(	PUNCT
fuelectenerg-2314	102	31	)	)	PUNCT
fuelectenerg-2314	102	32	)	)	PUNCT
fuelectenerg-2314	102	33	(	(	PUNCT
fuelectenerg-2314	102	34	21	21	NUM
fuelectenerg-2314	102	35	)	)	PUNCT
fuelectenerg-2314	102	36	(	(	PUNCT
fuelectenerg-2314	102	37	22	22	NUM
fuelectenerg-2314	102	38	)	)	PUNCT
fuelectenerg-2314	102	39	theoretically	theoretically	ADV
fuelectenerg-2314	102	40	,	,	PUNCT
fuelectenerg-2314	102	41	if	if	SCONJ
fuelectenerg-2314	102	42	the	the	DET
fuelectenerg-2314	102	43	desired	desire	VERB
fuelectenerg-2314	102	44	joint	joint	ADJ
fuelectenerg-2314	102	45	positions	position	NOUN
fuelectenerg-2314	102	46	and	and	CCONJ
fuelectenerg-2314	102	47	stiffness	stiffness	NOUN
fuelectenerg-2314	102	48	are	be	AUX
fuelectenerg-2314	102	49	smooth	smooth	ADJ
fuelectenerg-2314	102	50	trajectory	trajectory	NOUN
fuelectenerg-2314	102	51	,	,	PUNCT
fuelectenerg-2314	102	52	asymptotic	asymptotic	ADJ
fuelectenerg-2314	102	53	trajectory	trajectory	NOUN
fuelectenerg-2314	102	54	/	/	SYM
fuelectenerg-2314	102	55	force	force	NOUN
fuelectenerg-2314	102	56	tracking	tracking	NOUN
fuelectenerg-2314	102	57	is	be	AUX
fuelectenerg-2314	102	58	possible	possible	ADJ
fuelectenerg-2314	102	59	.	.	PUNCT
fuelectenerg-2314	103	1	in	in	ADP
fuelectenerg-2314	103	2	this	this	DET
fuelectenerg-2314	103	3	paper	paper	NOUN
fuelectenerg-2314	103	4	,	,	PUNCT
fuelectenerg-2314	103	5	the	the	DET
fuelectenerg-2314	103	6	desired	desire	VERB
fuelectenerg-2314	103	7	trajectories	trajectory	NOUN
fuelectenerg-2314	103	8	are	be	AUX
fuelectenerg-2314	103	9	set	set	VERB
fuelectenerg-2314	103	10	manually	manually	ADV
fuelectenerg-2314	103	11	without	without	ADP
fuelectenerg-2314	103	12	considering	consider	VERB
fuelectenerg-2314	103	13	higher	high	ADJ
fuelectenerg-2314	103	14	control	control	NOUN
fuelectenerg-2314	103	15	levels	level	NOUN
fuelectenerg-2314	103	16	and	and	CCONJ
fuelectenerg-2314	103	17	optimization	optimization	NOUN
fuelectenerg-2314	103	18	issues	issue	NOUN
fuelectenerg-2314	103	19	.	.	PUNCT
fuelectenerg-2314	104	1	an	an	DET
fuelectenerg-2314	104	2	illustrative	illustrative	ADJ
fuelectenerg-2314	104	3	scheme	scheme	NOUN
fuelectenerg-2314	104	4	of	of	ADP
fuelectenerg-2314	104	5	the	the	DET
fuelectenerg-2314	104	6	proposed	propose	VERB
fuelectenerg-2314	104	7	algorithm	algorithm	NOUN
fuelectenerg-2314	104	8	is	be	AUX
fuelectenerg-2314	104	9	depicted	depict	VERB
fuelectenerg-2314	104	10	in	in	ADP
fuelectenerg-2314	104	11	fig	fig	NOUN
fuelectenerg-2314	104	12	2	2	NUM
fuelectenerg-2314	104	13	.	.	PUNCT
fuelectenerg-2314	104	14	feedback	feedback	NOUN
fuelectenerg-2314	104	15	linearization	linearization	NOUN
fuelectenerg-2314	104	16	for	for	ADP
fuelectenerg-2314	104	17	decoupled	decoupled	ADJ
fuelectenerg-2314	104	18	position	position	NOUN
fuelectenerg-2314	104	19	/	/	SYM
fuelectenerg-2314	104	20	stiffness	stiffness	NOUN
fuelectenerg-2314	104	21	control	control	NOUN
fuelectenerg-2314	104	22	of	of	ADP
fuelectenerg-2314	104	23	bidirectional	bidirectional	ADJ
fuelectenerg-2314	104	24	antagonistic	antagonistic	ADJ
fuelectenerg-2314	104	25	drives	drive	VERB
fuelectenerg-2314	104	26	57	57	NUM
fuelectenerg-2314	104	27	fig	fig	NOUN
fuelectenerg-2314	104	28	.	.	PUNCT
fuelectenerg-2314	105	1	2	2	NUM
fuelectenerg-2314	105	2	decoupled	decouple	VERB
fuelectenerg-2314	105	3	position	position	NOUN
fuelectenerg-2314	105	4	/	/	SYM
fuelectenerg-2314	105	5	stiffness	stiffness	NOUN
fuelectenerg-2314	105	6	control	control	NOUN
fuelectenerg-2314	105	7	scheme	scheme	NOUN
fuelectenerg-2314	105	8	for	for	ADP
fuelectenerg-2314	105	9	qbmove	qbmove	NOUN
fuelectenerg-2314	105	10	maker	maker	NOUN
fuelectenerg-2314	105	11	pro	pro	ADJ
fuelectenerg-2314	105	12	actuator	actuator	PROPN
fuelectenerg-2314	105	13	4	4	NUM
fuelectenerg-2314	105	14	.	.	PUNCT
fuelectenerg-2314	105	15	results	result	NOUN
fuelectenerg-2314	105	16	and	and	CCONJ
fuelectenerg-2314	105	17	discussion	discussion	VERB
fuelectenerg-2314	105	18	the	the	DET
fuelectenerg-2314	105	19	mathematical	mathematical	ADJ
fuelectenerg-2314	105	20	model	model	NOUN
fuelectenerg-2314	105	21	(	(	PUNCT
fuelectenerg-2314	105	22	presented	present	VERB
fuelectenerg-2314	105	23	in	in	ADP
fuelectenerg-2314	105	24	section	section	NOUN
fuelectenerg-2314	105	25	2	2	NUM
fuelectenerg-2314	105	26	)	)	PUNCT
fuelectenerg-2314	105	27	and	and	CCONJ
fuelectenerg-2314	105	28	the	the	DET
fuelectenerg-2314	105	29	presented	present	VERB
fuelectenerg-2314	105	30	control	control	NOUN
fuelectenerg-2314	105	31	approach	approach	NOUN
fuelectenerg-2314	105	32	(	(	PUNCT
fuelectenerg-2314	105	33	section	section	NOUN
fuelectenerg-2314	105	34	3	3	NUM
fuelectenerg-2314	105	35	)	)	PUNCT
fuelectenerg-2314	105	36	are	be	AUX
fuelectenerg-2314	105	37	implemented	implement	VERB
fuelectenerg-2314	105	38	in	in	ADP
fuelectenerg-2314	105	39	user	user	NOUN
fuelectenerg-2314	105	40	-	-	PUNCT
fuelectenerg-2314	105	41	defined	define	VERB
fuelectenerg-2314	105	42	dedicated	dedicated	ADJ
fuelectenerg-2314	105	43	matlab	matlab	PROPN
fuelectenerg-2314	105	44	/	/	SYM
fuelectenerg-2314	105	45	simulink	simulink	PROPN
fuelectenerg-2314	105	46	model	model	NOUN
fuelectenerg-2314	105	47	.	.	PUNCT
fuelectenerg-2314	106	1	the	the	DET
fuelectenerg-2314	106	2	validation	validation	NOUN
fuelectenerg-2314	106	3	of	of	ADP
fuelectenerg-2314	106	4	the	the	DET
fuelectenerg-2314	106	5	proposed	propose	VERB
fuelectenerg-2314	106	6	approach	approach	NOUN
fuelectenerg-2314	106	7	is	be	AUX
fuelectenerg-2314	106	8	given	give	VERB
fuelectenerg-2314	106	9	in	in	ADP
fuelectenerg-2314	106	10	fig	fig	NOUN
fuelectenerg-2314	106	11	3	3	NUM
fuelectenerg-2314	106	12	through	through	ADP
fuelectenerg-2314	106	13	fig	fig	NOUN
fuelectenerg-2314	106	14	6	6	NUM
fuelectenerg-2314	106	15	.	.	PUNCT
fuelectenerg-2314	106	16	fig	fig	NOUN
fuelectenerg-2314	106	17	3	3	NUM
fuelectenerg-2314	106	18	presents	present	VERB
fuelectenerg-2314	106	19	joint	joint	ADJ
fuelectenerg-2314	106	20	position	position	NOUN
fuelectenerg-2314	106	21	tracking	track	VERB
fuelectenerg-2314	106	22	the	the	DET
fuelectenerg-2314	106	23	desired	desire	VERB
fuelectenerg-2314	106	24	trajectory	trajectory	NOUN
fuelectenerg-2314	106	25	combines	combine	VERB
fuelectenerg-2314	106	26	an	an	DET
fuelectenerg-2314	106	27	interval	interval	NOUN
fuelectenerg-2314	106	28	of	of	ADP
fuelectenerg-2314	106	29	smooth	smooth	ADJ
fuelectenerg-2314	106	30	increase	increase	NOUN
fuelectenerg-2314	106	31	in	in	ADP
fuelectenerg-2314	106	32	position	position	NOUN
fuelectenerg-2314	106	33	for	for	ADP
fuelectenerg-2314	106	34	⁄	⁄	ADJ
fuelectenerg-2314	106	35	and	and	CCONJ
fuelectenerg-2314	106	36	sine	sine	ADJ
fuelectenerg-2314	106	37	trajectory	trajectory	NOUN
fuelectenerg-2314	106	38	with	with	ADP
fuelectenerg-2314	106	39	an	an	DET
fuelectenerg-2314	106	40	amplitude	amplitude	NOUN
fuelectenerg-2314	106	41	of	of	ADP
fuelectenerg-2314	106	42	⁄	⁄	PROPN
fuelectenerg-2314	106	43	.	.	PUNCT
fuelectenerg-2314	107	1	desired	desire	VERB
fuelectenerg-2314	107	2	and	and	CCONJ
fuelectenerg-2314	107	3	achieved	achieve	VERB
fuelectenerg-2314	107	4	stiffness	stiffness	NOUN
fuelectenerg-2314	107	5	are	be	AUX
fuelectenerg-2314	107	6	depicted	depict	VERB
fuelectenerg-2314	107	7	in	in	ADP
fuelectenerg-2314	107	8	fig	fig	NOUN
fuelectenerg-2314	107	9	4	4	NUM
fuelectenerg-2314	107	10	.	.	PUNCT
fuelectenerg-2314	108	1	desired	desire	VERB
fuelectenerg-2314	108	2	stiffness	stiffness	NOUN
fuelectenerg-2314	108	3	comprises	comprise	VERB
fuelectenerg-2314	108	4	flat	flat	ADJ
fuelectenerg-2314	108	5	and	and	CCONJ
fuelectenerg-2314	108	6	sine	sine	VERB
fuelectenerg-2314	108	7	part	part	NOUN
fuelectenerg-2314	108	8	of	of	ADP
fuelectenerg-2314	108	9	an	an	DET
fuelectenerg-2314	108	10	amplitude	amplitude	NOUN
fuelectenerg-2314	108	11	of	of	ADP
fuelectenerg-2314	108	12	which	which	PRON
fuelectenerg-2314	108	13	is	be	AUX
fuelectenerg-2314	108	14	in	in	ADP
fuelectenerg-2314	108	15	accordance	accordance	NOUN
fuelectenerg-2314	108	16	with	with	ADP
fuelectenerg-2314	108	17	desired	desire	VERB
fuelectenerg-2314	108	18	trajectory	trajectory	NOUN
fuelectenerg-2314	108	19	to	to	PART
fuelectenerg-2314	108	20	demonstrate	demonstrate	VERB
fuelectenerg-2314	108	21	simultaneous	simultaneous	ADJ
fuelectenerg-2314	108	22	control	control	NOUN
fuelectenerg-2314	108	23	of	of	ADP
fuelectenerg-2314	108	24	both	both	CCONJ
fuelectenerg-2314	108	25	joint	joint	ADJ
fuelectenerg-2314	108	26	position	position	NOUN
fuelectenerg-2314	108	27	and	and	CCONJ
fuelectenerg-2314	108	28	stiffness	stiffness	NOUN
fuelectenerg-2314	108	29	for	for	ADP
fuelectenerg-2314	108	30	different	different	ADJ
fuelectenerg-2314	108	31	trajectory	trajectory	NOUN
fuelectenerg-2314	108	32	patterns	pattern	NOUN
fuelectenerg-2314	108	33	.	.	PUNCT
fuelectenerg-2314	109	1	theoretically	theoretically	ADV
fuelectenerg-2314	109	2	,	,	PUNCT
fuelectenerg-2314	109	3	as	as	SCONJ
fuelectenerg-2314	109	4	elaborated	elaborate	VERB
fuelectenerg-2314	109	5	by	by	ADP
fuelectenerg-2314	109	6	palli	palli	PROPN
fuelectenerg-2314	109	7	et	et	PROPN
fuelectenerg-2314	109	8	al	al	PROPN
fuelectenerg-2314	109	9	.	.	PUNCT
fuelectenerg-2314	110	1	[	[	X
fuelectenerg-2314	110	2	24	24	NUM
fuelectenerg-2314	110	3	]	]	PUNCT
fuelectenerg-2314	110	4	,	,	PUNCT
fuelectenerg-2314	110	5	[	[	X
fuelectenerg-2314	110	6	25	25	NUM
fuelectenerg-2314	110	7	]	]	PUNCT
fuelectenerg-2314	110	8	,	,	PUNCT
fuelectenerg-2314	110	9	if	if	SCONJ
fuelectenerg-2314	110	10	the	the	DET
fuelectenerg-2314	110	11	desired	desire	VERB
fuelectenerg-2314	110	12	joint	joint	ADJ
fuelectenerg-2314	110	13	positions	position	NOUN
fuelectenerg-2314	110	14	are	be	AUX
fuelectenerg-2314	110	15	continuous	continuous	ADJ
fuelectenerg-2314	110	16	up	up	ADP
fuelectenerg-2314	110	17	to	to	ADP
fuelectenerg-2314	110	18	the	the	DET
fuelectenerg-2314	110	19	4	4	NUM
fuelectenerg-2314	110	20	th	th	NOUN
fuelectenerg-2314	110	21	order	order	NOUN
fuelectenerg-2314	110	22	(	(	PUNCT
fuelectenerg-2314	110	23	)	)	PUNCT
fuelectenerg-2314	110	24	,	,	PUNCT
fuelectenerg-2314	110	25	and	and	CCONJ
fuelectenerg-2314	110	26	the	the	DET
fuelectenerg-2314	110	27	stiffness	stiffness	NOUN
fuelectenerg-2314	110	28	is	be	AUX
fuelectenerg-2314	110	29	planned	plan	VERB
fuelectenerg-2314	110	30	to	to	PART
fuelectenerg-2314	110	31	be	be	AUX
fuelectenerg-2314	110	32	continuous	continuous	ADJ
fuelectenerg-2314	110	33	up	up	ADP
fuelectenerg-2314	110	34	to	to	ADP
fuelectenerg-2314	110	35	the	the	DET
fuelectenerg-2314	110	36	2	2	NUM
fuelectenerg-2314	110	37	nd	nd	NOUN
fuelectenerg-2314	110	38	order	order	NOUN
fuelectenerg-2314	110	39	(	(	PUNCT
fuelectenerg-2314	110	40	)	)	PUNCT
fuelectenerg-2314	110	41	,	,	PUNCT
fuelectenerg-2314	110	42	asymptotic	asymptotic	ADJ
fuelectenerg-2314	110	43	trajectory/	trajectory/	NUM
fuelectenerg-2314	110	44	force	force	NOUN
fuelectenerg-2314	110	45	tracking	tracking	NOUN
fuelectenerg-2314	110	46	is	be	AUX
fuelectenerg-2314	110	47	achieved	achieve	VERB
fuelectenerg-2314	110	48	.	.	PUNCT
fuelectenerg-2314	111	1	fig	fig	NOUN
fuelectenerg-2314	111	2	5	5	NUM
fuelectenerg-2314	111	3	presents	present	NOUN
fuelectenerg-2314	111	4	coordinated	coordinate	VERB
fuelectenerg-2314	111	5	actions	action	NOUN
fuelectenerg-2314	111	6	of	of	ADP
fuelectenerg-2314	111	7	two	two	NUM
fuelectenerg-2314	111	8	antagonistically	antagonistically	ADV
fuelectenerg-2314	111	9	coupled	couple	VERB
fuelectenerg-2314	111	10	motors	motor	NOUN
fuelectenerg-2314	111	11	which	which	PRON
fuelectenerg-2314	111	12	contribute	contribute	VERB
fuelectenerg-2314	111	13	to	to	ADP
fuelectenerg-2314	111	14	the	the	DET
fuelectenerg-2314	111	15	joint	joint	ADJ
fuelectenerg-2314	111	16	position	position	NOUN
fuelectenerg-2314	111	17	but	but	CCONJ
fuelectenerg-2314	111	18	also	also	ADV
fuelectenerg-2314	111	19	stiffness	stiffness	NOUN
fuelectenerg-2314	111	20	.	.	PUNCT
fuelectenerg-2314	112	1	one	one	PRON
fuelectenerg-2314	112	2	can	can	AUX
fuelectenerg-2314	112	3	see	see	VERB
fuelectenerg-2314	112	4	that	that	SCONJ
fuelectenerg-2314	112	5	while	while	SCONJ
fuelectenerg-2314	112	6	the	the	DET
fuelectenerg-2314	112	7	desired	desire	VERB
fuelectenerg-2314	112	8	stiffness	stiffness	NOUN
fuelectenerg-2314	112	9	is	be	AUX
fuelectenerg-2314	112	10	constant	constant	ADJ
fuelectenerg-2314	112	11	(	(	PUNCT
fuelectenerg-2314	112	12	)	)	PUNCT
fuelectenerg-2314	112	13	both	both	DET
fuelectenerg-2314	112	14	motors	motor	NOUN
fuelectenerg-2314	112	15	move	move	VERB
fuelectenerg-2314	112	16	in	in	ADP
fuelectenerg-2314	112	17	the	the	DET
fuelectenerg-2314	112	18	same	same	ADJ
fuelectenerg-2314	112	19	direction	direction	NOUN
fuelectenerg-2314	112	20	equally	equally	ADV
fuelectenerg-2314	112	21	contributing	contribute	VERB
fuelectenerg-2314	112	22	to	to	ADP
fuelectenerg-2314	112	23	the	the	DET
fuelectenerg-2314	112	24	joint	joint	ADJ
fuelectenerg-2314	112	25	position	position	NOUN
fuelectenerg-2314	112	26	which	which	PRON
fuelectenerg-2314	112	27	follows	follow	VERB
fuelectenerg-2314	112	28	its	its	PRON
fuelectenerg-2314	112	29	pattern	pattern	NOUN
fuelectenerg-2314	112	30	.	.	PUNCT
fuelectenerg-2314	113	1	when	when	SCONJ
fuelectenerg-2314	113	2	stiffness	stiffness	NOUN
fuelectenerg-2314	113	3	starts	start	VERB
fuelectenerg-2314	113	4	changing	change	VERB
fuelectenerg-2314	113	5	its	its	PRON
fuelectenerg-2314	113	6	value	value	NOUN
fuelectenerg-2314	113	7	motors	motor	NOUN
fuelectenerg-2314	113	8	act	act	VERB
fuelectenerg-2314	113	9	as	as	SCONJ
fuelectenerg-2314	113	10	follows	follow	VERB
fuelectenerg-2314	113	11	:	:	PUNCT
fuelectenerg-2314	113	12	when	when	SCONJ
fuelectenerg-2314	113	13	joint	joint	ADJ
fuelectenerg-2314	113	14	stiffen	stiffen	NOUN
fuelectenerg-2314	113	15	(	(	PUNCT
fuelectenerg-2314	113	16	rise	rise	VERB
fuelectenerg-2314	113	17	in	in	ADP
fuelectenerg-2314	113	18	stiffness	stiffness	NOUN
fuelectenerg-2314	113	19	)	)	PUNCT
fuelectenerg-2314	113	20	motors	motor	NOUN
fuelectenerg-2314	113	21	move	move	VERB
fuelectenerg-2314	113	22	in	in	ADP
fuelectenerg-2314	113	23	opposing	oppose	VERB
fuelectenerg-2314	113	24	directions	direction	NOUN
fuelectenerg-2314	113	25	while	while	SCONJ
fuelectenerg-2314	113	26	a	a	DET
fuelectenerg-2314	113	27	decrease	decrease	NOUN
fuelectenerg-2314	113	28	in	in	ADP
fuelectenerg-2314	113	29	joint	joint	ADJ
fuelectenerg-2314	113	30	stiffness	stiffness	NOUN
fuelectenerg-2314	113	31	results	result	NOUN
fuelectenerg-2314	113	32	in	in	ADP
fuelectenerg-2314	113	33	a	a	DET
fuelectenerg-2314	113	34	decrease	decrease	NOUN
fuelectenerg-2314	113	35	in	in	ADP
fuelectenerg-2314	113	36	the	the	DET
fuelectenerg-2314	113	37	difference	difference	NOUN
fuelectenerg-2314	113	38	in	in	ADP
fuelectenerg-2314	113	39	antagonistic	antagonistic	ADJ
fuelectenerg-2314	113	40	motor	motor	NOUN
fuelectenerg-2314	113	41	positions	position	NOUN
fuelectenerg-2314	113	42	.	.	PUNCT
fuelectenerg-2314	114	1	the	the	DET
fuelectenerg-2314	114	2	overall	overall	ADJ
fuelectenerg-2314	114	3	resulting	result	VERB
fuelectenerg-2314	114	4	joint	joint	ADJ
fuelectenerg-2314	114	5	torque	torque	NOUN
fuelectenerg-2314	114	6	is	be	AUX
fuelectenerg-2314	114	7	depicted	depict	VERB
fuelectenerg-2314	114	8	in	in	ADP
fuelectenerg-2314	114	9	fig	fig	NOUN
fuelectenerg-2314	114	10	6	6	NUM
fuelectenerg-2314	114	11	which	which	PRON
fuelectenerg-2314	114	12	fits	fit	VERB
fuelectenerg-2314	114	13	the	the	DET
fuelectenerg-2314	114	14	pattern	pattern	NOUN
fuelectenerg-2314	114	15	of	of	ADP
fuelectenerg-2314	114	16	the	the	DET
fuelectenerg-2314	114	17	desired	desire	VERB
fuelectenerg-2314	114	18	joint	joint	ADJ
fuelectenerg-2314	114	19	trajectory	trajectory	NOUN
fuelectenerg-2314	114	20	.	.	PUNCT
fuelectenerg-2314	115	1	demonstrated	demonstrate	VERB
fuelectenerg-2314	115	2	results	result	NOUN
fuelectenerg-2314	115	3	are	be	AUX
fuelectenerg-2314	115	4	obtained	obtain	VERB
fuelectenerg-2314	115	5	for	for	ADP
fuelectenerg-2314	115	6	parameters	parameter	NOUN
fuelectenerg-2314	115	7	adopted	adopt	VERB
fuelectenerg-2314	115	8	as	as	SCONJ
fuelectenerg-2314	115	9	shown	show	VERB
fuelectenerg-2314	115	10	in	in	ADP
fuelectenerg-2314	115	11	table	table	NOUN
fuelectenerg-2314	115	12	1	1	NUM
fuelectenerg-2314	115	13	.	.	PUNCT
fuelectenerg-2314	116	1	control	control	NOUN
fuelectenerg-2314	116	2	parameters	parameter	NOUN
fuelectenerg-2314	116	3	(	(	PUNCT
fuelectenerg-2314	116	4	23	23	NUM
fuelectenerg-2314	116	5	)	)	PUNCT
fuelectenerg-2314	116	6	and	and	CCONJ
fuelectenerg-2314	116	7	(	(	PUNCT
fuelectenerg-2314	116	8	24	24	NUM
fuelectenerg-2314	116	9	)	)	PUNCT
fuelectenerg-2314	116	10	are	be	AUX
fuelectenerg-2314	116	11	adopted	adopt	VERB
fuelectenerg-2314	116	12	from	from	ADP
fuelectenerg-2314	116	13	[	[	X
fuelectenerg-2314	116	14	6	6	NUM
fuelectenerg-2314	116	15	]	]	PUNCT
fuelectenerg-2314	116	16	.	.	PUNCT
fuelectenerg-2314	117	1	(	(	PUNCT
fuelectenerg-2314	117	2	)	)	PUNCT
fuelectenerg-2314	117	3	(	(	PUNCT
fuelectenerg-2314	117	4	)	)	PUNCT
fuelectenerg-2314	117	5	(	(	PUNCT
fuelectenerg-2314	117	6	)	)	PUNCT
fuelectenerg-2314	117	7	(	(	PUNCT
fuelectenerg-2314	117	8	)	)	PUNCT
fuelectenerg-2314	117	9	(	(	PUNCT
fuelectenerg-2314	117	10	23	23	NUM
fuelectenerg-2314	117	11	)	)	PUNCT
fuelectenerg-2314	117	12	(	(	PUNCT
fuelectenerg-2314	117	13	)	)	PUNCT
fuelectenerg-2314	117	14	(	(	PUNCT
fuelectenerg-2314	117	15	24	24	NUM
fuelectenerg-2314	117	16	)	)	PUNCT
fuelectenerg-2314	117	17	58	58	NUM
fuelectenerg-2314	117	18	k.	k.	PROPN
fuelectenerg-2314	117	19	jovanović	jovanović	PROPN
fuelectenerg-2314	117	20	,	,	PUNCT
fuelectenerg-2314	117	21	b.	b.	PROPN
fuelectenerg-2314	117	22	lukić	lukić	PROPN
fuelectenerg-2314	117	23	,	,	PUNCT
fuelectenerg-2314	117	24	v.	v.	ADP
fuelectenerg-2314	117	25	potkonjak	potkonjak	PROPN
fuelectenerg-2314	117	26	table	table	NOUN
fuelectenerg-2314	117	27	1	1	NUM
fuelectenerg-2314	117	28	simulation	simulation	NOUN
fuelectenerg-2314	117	29	parameters	parameter	NOUN
fuelectenerg-2314	117	30	label	label	VERB
fuelectenerg-2314	117	31	numerical	numerical	PROPN
fuelectenerg-2314	117	32	value	value	NOUN
fuelectenerg-2314	117	33	unit	unit	NOUN
fuelectenerg-2314	117	34	description	description	NOUN
fuelectenerg-2314	117	35	0.000003	0.000003	NUM
fuelectenerg-2314	117	36	motor	motor	NOUN
fuelectenerg-2314	117	37	inertia	inertia	NOUN
fuelectenerg-2314	117	38	0.015	0.015	NUM
fuelectenerg-2314	117	39	joint	joint	ADJ
fuelectenerg-2314	117	40	inertia	inertia	NOUN
fuelectenerg-2314	117	41	0.000001	0.000001	NUM
fuelectenerg-2314	117	42	[	[	PUNCT
fuelectenerg-2314	117	43	s	s	X
fuelectenerg-2314	117	44	/	/	SYM
fuelectenerg-2314	117	45	rad	rad	NOUN
fuelectenerg-2314	117	46	]	]	X
fuelectenerg-2314	117	47	motor	motor	NOUN
fuelectenerg-2314	117	48	damping	damp	VERB
fuelectenerg-2314	117	49	0	0	PUNCT
fuelectenerg-2314	118	1	[	[	PUNCT
fuelectenerg-2314	118	2	s	s	X
fuelectenerg-2314	118	3	/	/	SYM
fuelectenerg-2314	118	4	rad	rad	NOUN
fuelectenerg-2314	118	5	]	]	X
fuelectenerg-2314	118	6	joint	joint	ADJ
fuelectenerg-2314	118	7	damping	damp	VERB
fuelectenerg-2314	118	8	6.7328	6.7328	NUM
fuelectenerg-2314	118	9	spring	spring	NOUN
fuelectenerg-2314	118	10	coefficient	coefficient	NOUN
fuelectenerg-2314	118	11	0.0227	0.0227	NUM
fuelectenerg-2314	118	12	spring	spring	NOUN
fuelectenerg-2314	118	13	coefficient	coefficient	NOUN
fuelectenerg-2314	118	14	fig	fig	NOUN
fuelectenerg-2314	118	15	.	.	PUNCT
fuelectenerg-2314	119	1	3	3	NUM
fuelectenerg-2314	119	2	joint	joint	ADJ
fuelectenerg-2314	119	3	position	position	NOUN
fuelectenerg-2314	119	4	tracking	track	VERB
fuelectenerg-2314	119	5	fig	fig	NOUN
fuelectenerg-2314	119	6	.	.	PUNCT
fuelectenerg-2314	120	1	4	4	NUM
fuelectenerg-2314	120	2	joint	joint	ADJ
fuelectenerg-2314	120	3	stiffness	stiffness	NOUN
fuelectenerg-2314	120	4	tracking	track	VERB
fuelectenerg-2314	120	5	feedback	feedback	NOUN
fuelectenerg-2314	120	6	linearization	linearization	NOUN
fuelectenerg-2314	120	7	for	for	ADP
fuelectenerg-2314	120	8	decoupled	decoupled	ADJ
fuelectenerg-2314	120	9	position	position	NOUN
fuelectenerg-2314	120	10	/	/	SYM
fuelectenerg-2314	120	11	stiffness	stiffness	NOUN
fuelectenerg-2314	120	12	control	control	NOUN
fuelectenerg-2314	120	13	of	of	ADP
fuelectenerg-2314	120	14	bidirectional	bidirectional	ADJ
fuelectenerg-2314	120	15	antagonistic	antagonistic	ADJ
fuelectenerg-2314	120	16	drives	drive	VERB
fuelectenerg-2314	120	17	59	59	NUM
fuelectenerg-2314	120	18	fig	fig	NOUN
fuelectenerg-2314	120	19	.	.	PUNCT
fuelectenerg-2314	121	1	5	5	NUM
fuelectenerg-2314	121	2	positions	position	NOUN
fuelectenerg-2314	121	3	of	of	ADP
fuelectenerg-2314	121	4	bidirectional	bidirectional	NOUN
fuelectenerg-2314	121	5	antagonistically	antagonistically	ADV
fuelectenerg-2314	121	6	coupled	couple	VERB
fuelectenerg-2314	121	7	motors	motors	PROPN
fuelectenerg-2314	121	8	fig	fig	NOUN
fuelectenerg-2314	121	9	.	.	PUNCT
fuelectenerg-2314	122	1	6	6	NUM
fuelectenerg-2314	122	2	resulting	result	VERB
fuelectenerg-2314	122	3	joint	joint	ADJ
fuelectenerg-2314	122	4	torque	torque	NOUN
fuelectenerg-2314	122	5	as	as	ADP
fuelectenerg-2314	122	6	contribution	contribution	NOUN
fuelectenerg-2314	122	7	of	of	ADP
fuelectenerg-2314	122	8	both	both	CCONJ
fuelectenerg-2314	122	9	bidirectional	bidirectional	NOUN
fuelectenerg-2314	122	10	antagonistically	antagonistically	ADV
fuelectenerg-2314	122	11	coupled	couple	VERB
fuelectenerg-2314	122	12	motors	motor	NOUN
fuelectenerg-2314	122	13	5	5	NUM
fuelectenerg-2314	122	14	.	.	PUNCT
fuelectenerg-2314	122	15	conclusion	conclusion	NOUN
fuelectenerg-2314	122	16	the	the	DET
fuelectenerg-2314	122	17	paper	paper	NOUN
fuelectenerg-2314	122	18	elaborated	elaborate	VERB
fuelectenerg-2314	122	19	exploitation	exploitation	NOUN
fuelectenerg-2314	122	20	of	of	ADP
fuelectenerg-2314	122	21	the	the	DET
fuelectenerg-2314	122	22	stiffness	stiffness	NOUN
fuelectenerg-2314	122	23	control	control	NOUN
fuelectenerg-2314	122	24	method	method	NOUN
fuelectenerg-2314	122	25	proposed	propose	VERB
fuelectenerg-2314	122	26	in	in	ADP
fuelectenerg-2314	122	27	[	[	X
fuelectenerg-2314	122	28	1	1	NUM
fuelectenerg-2314	122	29	]	]	PUNCT
fuelectenerg-2314	122	30	to	to	PART
fuelectenerg-2314	122	31	robot	robot	NOUN
fuelectenerg-2314	122	32	joint	joint	PROPN
fuelectenerg-2314	122	33	driven	drive	VERB
fuelectenerg-2314	122	34	by	by	ADP
fuelectenerg-2314	122	35	a	a	DET
fuelectenerg-2314	122	36	bidirectional	bidirectional	ADJ
fuelectenerg-2314	122	37	antagonistic	antagonistic	ADJ
fuelectenerg-2314	122	38	actuators	actuator	NOUN
fuelectenerg-2314	122	39	qbmove	qbmove	VERB
fuelectenerg-2314	122	40	maker	maker	NOUN
fuelectenerg-2314	122	41	pro	pro	ADJ
fuelectenerg-2314	122	42	actuator	actuator	NOUN
fuelectenerg-2314	122	43	.	.	PUNCT
fuelectenerg-2314	123	1	therefore	therefore	ADV
fuelectenerg-2314	123	2	,	,	PUNCT
fuelectenerg-2314	123	3	an	an	DET
fuelectenerg-2314	123	4	increasing	increase	VERB
fuelectenerg-2314	123	5	topic	topic	NOUN
fuelectenerg-2314	123	6	of	of	ADP
fuelectenerg-2314	123	7	variable	variable	ADJ
fuelectenerg-2314	123	8	stiffness	stiffness	NOUN
fuelectenerg-2314	123	9	actuation	actuation	NOUN
fuelectenerg-2314	123	10	was	be	AUX
fuelectenerg-2314	123	11	presented	present	VERB
fuelectenerg-2314	123	12	.	.	PUNCT
fuelectenerg-2314	124	1	the	the	DET
fuelectenerg-2314	124	2	approach	approach	NOUN
fuelectenerg-2314	124	3	which	which	PRON
fuelectenerg-2314	124	4	enables	enable	VERB
fuelectenerg-2314	124	5	simultaneous	simultaneous	ADJ
fuelectenerg-2314	124	6	decoupled	decouple	VERB
fuelectenerg-2314	124	7	control	control	NOUN
fuelectenerg-2314	124	8	of	of	ADP
fuelectenerg-2314	124	9	joint	joint	ADJ
fuelectenerg-2314	124	10	position	position	NOUN
fuelectenerg-2314	124	11	and	and	CCONJ
fuelectenerg-2314	124	12	joint	joint	ADJ
fuelectenerg-2314	124	13	stiffness	stiffness	NOUN
fuelectenerg-2314	124	14	was	be	AUX
fuelectenerg-2314	124	15	demonstrated	demonstrate	VERB
fuelectenerg-2314	124	16	.	.	PUNCT
fuelectenerg-2314	125	1	the	the	DET
fuelectenerg-2314	125	2	concept	concept	NOUN
fuelectenerg-2314	125	3	is	be	AUX
fuelectenerg-2314	125	4	validated	validate	VERB
fuelectenerg-2314	125	5	through	through	ADP
fuelectenerg-2314	125	6	simulations	simulation	NOUN
fuelectenerg-2314	125	7	.	.	PUNCT
fuelectenerg-2314	126	1	60	60	NUM
fuelectenerg-2314	126	2	k.	k.	PROPN
fuelectenerg-2314	126	3	jovanović	jovanović	PROPN
fuelectenerg-2314	126	4	,	,	PUNCT
fuelectenerg-2314	126	5	b.	b.	PROPN
fuelectenerg-2314	126	6	lukić	lukić	PROPN
fuelectenerg-2314	126	7	,	,	PUNCT
fuelectenerg-2314	126	8	v.	v.	CCONJ
fuelectenerg-2314	126	9	potkonjak	potkonjak	PROPN
fuelectenerg-2314	126	10	however	however	ADV
fuelectenerg-2314	126	11	,	,	PUNCT
fuelectenerg-2314	126	12	the	the	DET
fuelectenerg-2314	126	13	key	key	ADJ
fuelectenerg-2314	126	14	issue	issue	NOUN
fuelectenerg-2314	126	15	in	in	ADP
fuelectenerg-2314	126	16	the	the	DET
fuelectenerg-2314	126	17	implementation	implementation	NOUN
fuelectenerg-2314	126	18	of	of	ADP
fuelectenerg-2314	126	19	this	this	DET
fuelectenerg-2314	126	20	feedback	feedback	NOUN
fuelectenerg-2314	126	21	linearization	linearization	NOUN
fuelectenerg-2314	126	22	based	base	VERB
fuelectenerg-2314	126	23	control	control	NOUN
fuelectenerg-2314	126	24	approach	approach	NOUN
fuelectenerg-2314	126	25	is	be	AUX
fuelectenerg-2314	126	26	model	model	NOUN
fuelectenerg-2314	126	27	dependence	dependence	NOUN
fuelectenerg-2314	126	28	.	.	PUNCT
fuelectenerg-2314	127	1	the	the	DET
fuelectenerg-2314	127	2	model	model	NOUN
fuelectenerg-2314	127	3	itself	itself	PRON
fuelectenerg-2314	127	4	is	be	AUX
fuelectenerg-2314	127	5	very	very	ADV
fuelectenerg-2314	127	6	complex	complex	ADJ
fuelectenerg-2314	127	7	and	and	CCONJ
fuelectenerg-2314	127	8	non	non	ADJ
fuelectenerg-2314	127	9	-	-	ADJ
fuelectenerg-2314	127	10	linear	linear	ADJ
fuelectenerg-2314	127	11	,	,	PUNCT
fuelectenerg-2314	127	12	so	so	ADV
fuelectenerg-2314	127	13	model	model	NOUN
fuelectenerg-2314	127	14	identification	identification	NOUN
fuelectenerg-2314	127	15	must	must	AUX
fuelectenerg-2314	127	16	be	be	AUX
fuelectenerg-2314	127	17	considered	consider	VERB
fuelectenerg-2314	127	18	comprehensively	comprehensively	ADV
fuelectenerg-2314	127	19	before	before	SCONJ
fuelectenerg-2314	127	20	the	the	DET
fuelectenerg-2314	127	21	approach	approach	NOUN
fuelectenerg-2314	127	22	is	be	AUX
fuelectenerg-2314	127	23	used	use	VERB
fuelectenerg-2314	127	24	.	.	PUNCT
fuelectenerg-2314	128	1	moreover	moreover	ADV
fuelectenerg-2314	128	2	,	,	PUNCT
fuelectenerg-2314	128	3	it	it	PRON
fuelectenerg-2314	128	4	is	be	AUX
fuelectenerg-2314	128	5	well	well	ADV
fuelectenerg-2314	128	6	known	know	VERB
fuelectenerg-2314	128	7	that	that	SCONJ
fuelectenerg-2314	128	8	systems	system	NOUN
fuelectenerg-2314	128	9	that	that	PRON
fuelectenerg-2314	128	10	are	be	AUX
fuelectenerg-2314	128	11	linearized	linearize	VERB
fuelectenerg-2314	128	12	by	by	ADP
fuelectenerg-2314	128	13	decomposing	decompose	VERB
fuelectenerg-2314	128	14	their	their	PRON
fuelectenerg-2314	128	15	structure	structure	NOUN
fuelectenerg-2314	128	16	to	to	ADP
fuelectenerg-2314	128	17	two	two	NUM
fuelectenerg-2314	128	18	or	or	CCONJ
fuelectenerg-2314	128	19	more	more	ADJ
fuelectenerg-2314	128	20	linear	linear	ADJ
fuelectenerg-2314	128	21	subsystems	subsystem	NOUN
fuelectenerg-2314	128	22	are	be	AUX
fuelectenerg-2314	128	23	prone	prone	ADJ
fuelectenerg-2314	128	24	to	to	PART
fuelectenerg-2314	128	25	behave	behave	VERB
fuelectenerg-2314	128	26	erratically	erratically	ADV
fuelectenerg-2314	128	27	when	when	SCONJ
fuelectenerg-2314	128	28	disturbed	disturb	VERB
fuelectenerg-2314	128	29	.	.	PUNCT
fuelectenerg-2314	129	1	the	the	DET
fuelectenerg-2314	129	2	robustness	robustness	NOUN
fuelectenerg-2314	129	3	of	of	ADP
fuelectenerg-2314	129	4	the	the	DET
fuelectenerg-2314	129	5	presented	present	VERB
fuelectenerg-2314	129	6	approach	approach	NOUN
fuelectenerg-2314	129	7	is	be	AUX
fuelectenerg-2314	129	8	discussed	discuss	VERB
fuelectenerg-2314	129	9	by	by	ADP
fuelectenerg-2314	129	10	authors	author	NOUN
fuelectenerg-2314	129	11	’	'	PUNCT
fuelectenerg-2314	129	12	previous	previous	ADJ
fuelectenerg-2314	129	13	work	work	NOUN
fuelectenerg-2314	129	14	[	[	X
fuelectenerg-2314	129	15	6	6	NUM
fuelectenerg-2314	129	16	]	]	PUNCT
fuelectenerg-2314	129	17	.	.	PUNCT
fuelectenerg-2314	130	1	to	to	PART
fuelectenerg-2314	130	2	overcome	overcome	VERB
fuelectenerg-2314	130	3	the	the	DET
fuelectenerg-2314	130	4	dependence	dependence	NOUN
fuelectenerg-2314	130	5	on	on	ADP
fuelectenerg-2314	130	6	the	the	DET
fuelectenerg-2314	130	7	model	model	NOUN
fuelectenerg-2314	130	8	,	,	PUNCT
fuelectenerg-2314	130	9	alternative	alternative	ADJ
fuelectenerg-2314	130	10	approaches	approach	NOUN
fuelectenerg-2314	130	11	to	to	ADP
fuelectenerg-2314	130	12	simultaneous	simultaneous	ADJ
fuelectenerg-2314	130	13	position/	position/	NUM
fuelectenerg-2314	130	14	stiffness	stiffness	NOUN
fuelectenerg-2314	130	15	control	control	NOUN
fuelectenerg-2314	130	16	of	of	ADP
fuelectenerg-2314	130	17	bidirectional	bidirectional	ADJ
fuelectenerg-2314	130	18	antagonistic	antagonistic	ADJ
fuelectenerg-2314	130	19	drives	drive	NOUN
fuelectenerg-2314	130	20	were	be	AUX
fuelectenerg-2314	130	21	pointed	point	VERB
fuelectenerg-2314	130	22	out	out	ADP
fuelectenerg-2314	130	23	in	in	ADP
fuelectenerg-2314	130	24	authors	author	NOUN
fuelectenerg-2314	130	25	’	'	PUNCT
fuelectenerg-2314	130	26	previous	previous	ADJ
fuelectenerg-2314	130	27	works	work	NOUN
fuelectenerg-2314	130	28	[	[	X
fuelectenerg-2314	130	29	27	27	NUM
fuelectenerg-2314	130	30	]	]	PUNCT
fuelectenerg-2314	130	31	and	and	CCONJ
fuelectenerg-2314	130	32	[	[	X
fuelectenerg-2314	130	33	28	28	NUM
fuelectenerg-2314	130	34	]	]	PUNCT
fuelectenerg-2314	130	35	,	,	PUNCT
fuelectenerg-2314	130	36	while	while	SCONJ
fuelectenerg-2314	130	37	neural	neural	ADJ
fuelectenerg-2314	130	38	networks	network	NOUN
fuelectenerg-2314	130	39	for	for	ADP
fuelectenerg-2314	130	40	system	system	NOUN
fuelectenerg-2314	130	41	modeling	modeling	NOUN
fuelectenerg-2314	130	42	and	and	CCONJ
fuelectenerg-2314	130	43	feed	feed	NOUN
fuelectenerg-2314	130	44	-	-	PUNCT
fuelectenerg-2314	130	45	forward	forward	NOUN
fuelectenerg-2314	130	46	control	control	NOUN
fuelectenerg-2314	130	47	were	be	AUX
fuelectenerg-2314	130	48	presented	present	VERB
fuelectenerg-2314	130	49	in	in	ADP
fuelectenerg-2314	130	50	[	[	X
fuelectenerg-2314	130	51	29	29	NUM
fuelectenerg-2314	130	52	]	]	PUNCT
fuelectenerg-2314	130	53	.	.	PUNCT
fuelectenerg-2314	131	1	future	future	ADJ
fuelectenerg-2314	131	2	work	work	NOUN
fuelectenerg-2314	131	3	on	on	ADP
fuelectenerg-2314	131	4	the	the	DET
fuelectenerg-2314	131	5	topic	topic	NOUN
fuelectenerg-2314	131	6	will	will	AUX
fuelectenerg-2314	131	7	consider	consider	VERB
fuelectenerg-2314	131	8	the	the	DET
fuelectenerg-2314	131	9	implementation	implementation	NOUN
fuelectenerg-2314	131	10	of	of	ADP
fuelectenerg-2314	131	11	the	the	DET
fuelectenerg-2314	131	12	proposed	propose	VERB
fuelectenerg-2314	131	13	approach	approach	NOUN
fuelectenerg-2314	131	14	for	for	ADP
fuelectenerg-2314	131	15	stiffness	stiffness	ADJ
fuelectenerg-2314	131	16	control	control	NOUN
fuelectenerg-2314	131	17	on	on	ADP
fuelectenerg-2314	131	18	the	the	DET
fuelectenerg-2314	131	19	laboratory	laboratory	NOUN
fuelectenerg-2314	131	20	setup	setup	NOUN
fuelectenerg-2314	131	21	driven	drive	VERB
fuelectenerg-2314	131	22	by	by	ADP
fuelectenerg-2314	131	23	qbmove	qbmove	NOUN
fuelectenerg-2314	131	24	maker	maker	NOUN
fuelectenerg-2314	131	25	pro	pro	ADJ
fuelectenerg-2314	131	26	actuators	actuator	NOUN
fuelectenerg-2314	131	27	,	,	PUNCT
fuelectenerg-2314	131	28	on	on	ADP
fuelectenerg-2314	131	29	a	a	DET
fuelectenerg-2314	131	30	model	model	NOUN
fuelectenerg-2314	131	31	-	-	PUNCT
fuelectenerg-2314	131	32	based	base	VERB
fuelectenerg-2314	131	33	multi	multi	ADJ
fuelectenerg-2314	131	34	-	-	ADJ
fuelectenerg-2314	131	35	jointed	jointed	ADJ
fuelectenerg-2314	131	36	robot	robot	NOUN
fuelectenerg-2314	131	37	with	with	ADP
fuelectenerg-2314	131	38	bidirectional	bidirectional	ADJ
fuelectenerg-2314	131	39	antagonistic	antagonistic	ADJ
fuelectenerg-2314	131	40	drives	drive	NOUN
fuelectenerg-2314	131	41	,	,	PUNCT
fuelectenerg-2314	131	42	as	as	ADV
fuelectenerg-2314	131	43	well	well	ADV
fuelectenerg-2314	131	44	as	as	ADP
fuelectenerg-2314	131	45	its	its	PRON
fuelectenerg-2314	131	46	implementation	implementation	NOUN
fuelectenerg-2314	131	47	for	for	ADP
fuelectenerg-2314	131	48	cartesian	cartesian	ADJ
fuelectenerg-2314	131	49	stiffness	stiffness	NOUN
fuelectenerg-2314	131	50	control	control	NOUN
fuelectenerg-2314	131	51	.	.	PUNCT
fuelectenerg-2314	132	1	an	an	DET
fuelectenerg-2314	132	2	ultimate	ultimate	ADJ
fuelectenerg-2314	132	3	goal	goal	NOUN
fuelectenerg-2314	132	4	of	of	ADP
fuelectenerg-2314	132	5	this	this	DET
fuelectenerg-2314	132	6	research	research	NOUN
fuelectenerg-2314	132	7	is	be	AUX
fuelectenerg-2314	132	8	the	the	DET
fuelectenerg-2314	132	9	development	development	NOUN
fuelectenerg-2314	132	10	of	of	ADP
fuelectenerg-2314	132	11	a	a	DET
fuelectenerg-2314	132	12	control	control	NOUN
fuelectenerg-2314	132	13	scheme	scheme	NOUN
fuelectenerg-2314	132	14	which	which	PRON
fuelectenerg-2314	132	15	should	should	AUX
fuelectenerg-2314	132	16	shape	shape	VERB
fuelectenerg-2314	132	17	cartesian	cartesian	ADJ
fuelectenerg-2314	132	18	stiffness	stiffness	NOUN
fuelectenerg-2314	132	19	by	by	ADP
fuelectenerg-2314	132	20	symbiosis	symbiosis	NOUN
fuelectenerg-2314	132	21	of	of	ADP
fuelectenerg-2314	132	22	joint	joint	ADJ
fuelectenerg-2314	132	23	stiffness	stiffness	NOUN
fuelectenerg-2314	132	24	control	control	NOUN
fuelectenerg-2314	132	25	and	and	CCONJ
fuelectenerg-2314	132	26	posture	posture	NOUN
fuelectenerg-2314	132	27	planning	planning	NOUN
fuelectenerg-2314	132	28	of	of	ADP
fuelectenerg-2314	132	29	the	the	DET
fuelectenerg-2314	132	30	robot	robot	NOUN
fuelectenerg-2314	132	31	.	.	PUNCT
fuelectenerg-2314	133	1	acknowledgment	acknowledgment	NOUN
fuelectenerg-2314	133	2	:	:	PUNCT
fuelectenerg-2314	133	3	research	research	NOUN
fuelectenerg-2314	133	4	leading	lead	VERB
fuelectenerg-2314	133	5	to	to	ADP
fuelectenerg-2314	133	6	these	these	DET
fuelectenerg-2314	133	7	results	result	NOUN
fuelectenerg-2314	133	8	was	be	AUX
fuelectenerg-2314	133	9	funded	fund	VERB
fuelectenerg-2314	133	10	by	by	ADP
fuelectenerg-2314	133	11	the	the	DET
fuelectenerg-2314	133	12	ministry	ministry	PROPN
fuelectenerg-2314	133	13	of	of	ADP
fuelectenerg-2314	133	14	education	education	PROPN
fuelectenerg-2314	133	15	,	,	PUNCT
fuelectenerg-2314	133	16	science	science	NOUN
fuelectenerg-2314	133	17	and	and	CCONJ
fuelectenerg-2314	133	18	technological	technological	ADJ
fuelectenerg-2314	133	19	development	development	NOUN
fuelectenerg-2314	133	20	,	,	PUNCT
fuelectenerg-2314	133	21	republic	republic	NOUN
fuelectenerg-2314	133	22	of	of	ADP
fuelectenerg-2314	133	23	serbia	serbia	PROPN
fuelectenerg-2314	133	24	,	,	PUNCT
fuelectenerg-2314	133	25	under	under	ADP
fuelectenerg-2314	133	26	contract	contract	NOUN
fuelectenerg-2314	133	27	tr-35003	tr-35003	NOUN
fuelectenerg-2314	133	28	.	.	PUNCT
fuelectenerg-2314	134	1	references	reference	NOUN
fuelectenerg-2314	134	2	[	[	X
fuelectenerg-2314	134	3	1	1	NUM
fuelectenerg-2314	134	4	]	]	PUNCT
fuelectenerg-2314	134	5	k.	k.	PROPN
fuelectenerg-2314	134	6	jovanovic	jovanovic	PROPN
fuelectenerg-2314	134	7	,	,	PUNCT
fuelectenerg-2314	134	8	b.	b.	PROPN
fuelectenerg-2314	134	9	lukic	lukic	PROPN
fuelectenerg-2314	134	10	,	,	PUNCT
fuelectenerg-2314	134	11	v.	v.	ADP
fuelectenerg-2314	134	12	potkonjak	potkonjak	ADV
fuelectenerg-2314	134	13	,	,	PUNCT
fuelectenerg-2314	134	14	“	"	PUNCT
fuelectenerg-2314	134	15	enhanced	enhanced	ADJ
fuelectenerg-2314	134	16	puller	puller	NOUN
fuelectenerg-2314	134	17	-	-	PUNCT
fuelectenerg-2314	134	18	follower	follower	NOUN
fuelectenerg-2314	134	19	approach	approach	NOUN
fuelectenerg-2314	134	20	for	for	ADP
fuelectenerg-2314	134	21	stiffness	stiffness	ADJ
fuelectenerg-2314	134	22	control	control	NOUN
fuelectenerg-2314	134	23	of	of	ADP
fuelectenerg-2314	134	24	antagonistically	antagonistically	ADV
fuelectenerg-2314	134	25	actuated	actuate	VERB
fuelectenerg-2314	134	26	joints	joint	NOUN
fuelectenerg-2314	134	27	”	"	PUNCT
fuelectenerg-2314	134	28	,	,	PUNCT
fuelectenerg-2314	134	29	in	in	ADP
fuelectenerg-2314	134	30	proceedings	proceeding	NOUN
fuelectenerg-2314	134	31	of	of	ADP
fuelectenerg-2314	134	32	international	international	ADJ
fuelectenerg-2314	134	33	conference	conference	NOUN
fuelectenerg-2314	134	34	on	on	ADP
fuelectenerg-2314	134	35	electrical	electrical	ADJ
fuelectenerg-2314	134	36	,	,	PUNCT
fuelectenerg-2314	134	37	electronic	electronic	ADJ
fuelectenerg-2314	134	38	and	and	CCONJ
fuelectenerg-2314	134	39	computing	compute	VERB
fuelectenerg-2314	134	40	engineering	engineering	NOUN
fuelectenerg-2314	134	41	(	(	PUNCT
fuelectenerg-2314	134	42	icetran	icetran	NOUN
fuelectenerg-2314	134	43	’	'	PUNCT
fuelectenerg-2314	134	44	16	16	NUM
fuelectenerg-2314	134	45	)	)	PUNCT
fuelectenerg-2314	134	46	,	,	PUNCT
fuelectenerg-2314	134	47	13	13	NUM
fuelectenerg-2314	134	48	-	-	SYM
fuelectenerg-2314	134	49	16	16	NUM
fuelectenerg-2314	134	50	jun	jun	PROPN
fuelectenerg-2314	134	51	2016	2016	NUM
fuelectenerg-2314	134	52	,	,	PUNCT
fuelectenerg-2314	134	53	pp	pp	ADV
fuelectenerg-2314	134	54	.	.	PUNCT
fuelectenerg-2314	135	1	roi1.2.1	roi1.2.1	VERB
fuelectenerg-2314	135	2	-	-	PUNCT
fuelectenerg-2314	135	3	5	5	NUM
fuelectenerg-2314	135	4	.	.	PUNCT
fuelectenerg-2314	136	1	[	[	X
fuelectenerg-2314	136	2	2	2	NUM
fuelectenerg-2314	136	3	]	]	PUNCT
fuelectenerg-2314	136	4	a.	a.	NOUN
fuelectenerg-2314	136	5	diamond	diamond	NOUN
fuelectenerg-2314	136	6	,	,	PUNCT
fuelectenerg-2314	136	7	r.	r.	PROPN
fuelectenerg-2314	136	8	knight	knight	PROPN
fuelectenerg-2314	136	9	,	,	PUNCT
fuelectenerg-2314	136	10	d.	d.	PROPN
fuelectenerg-2314	136	11	devereux	devereux	PROPN
fuelectenerg-2314	136	12	,	,	PUNCT
fuelectenerg-2314	136	13	o.	o.	PROPN
fuelectenerg-2314	136	14	holland	holland	PROPN
fuelectenerg-2314	136	15	,	,	PUNCT
fuelectenerg-2314	136	16	"	"	PUNCT
fuelectenerg-2314	136	17	anthropomimetic	anthropomimetic	ADJ
fuelectenerg-2314	136	18	robots	robot	NOUN
fuelectenerg-2314	136	19	:	:	PUNCT
fuelectenerg-2314	136	20	concept	concept	NOUN
fuelectenerg-2314	136	21	,	,	PUNCT
fuelectenerg-2314	136	22	construction	construction	NOUN
fuelectenerg-2314	136	23	and	and	CCONJ
fuelectenerg-2314	136	24	modelling	modelling	NOUN
fuelectenerg-2314	136	25	,	,	PUNCT
fuelectenerg-2314	136	26	"	"	PUNCT
fuelectenerg-2314	136	27	international	international	ADJ
fuelectenerg-2314	136	28	journal	journal	NOUN
fuelectenerg-2314	136	29	of	of	ADP
fuelectenerg-2314	136	30	advanced	advanced	ADJ
fuelectenerg-2314	136	31	robotic	robotic	ADJ
fuelectenerg-2314	136	32	systems	system	NOUN
fuelectenerg-2314	136	33	,	,	PUNCT
fuelectenerg-2314	136	34	vol	vol	NOUN
fuelectenerg-2314	136	35	.	.	PROPN
fuelectenerg-2314	136	36	9	9	NUM
fuelectenerg-2314	136	37	,	,	PUNCT
fuelectenerg-2314	136	38	no	no	INTJ
fuelectenerg-2314	136	39	.	.	NOUN
fuelectenerg-2314	136	40	209	209	NUM
fuelectenerg-2314	136	41	,	,	PUNCT
fuelectenerg-2314	136	42	pp	pp	ADJ
fuelectenerg-2314	136	43	.	.	PUNCT
fuelectenerg-2314	137	1	1	1	NUM
fuelectenerg-2314	137	2	-	-	SYM
fuelectenerg-2314	137	3	14	14	NUM
fuelectenerg-2314	137	4	,	,	PUNCT
fuelectenerg-2314	137	5	2012	2012	NUM
fuelectenerg-2314	137	6	.	.	PUNCT
fuelectenerg-2314	138	1	[	[	X
fuelectenerg-2314	138	2	3	3	X
fuelectenerg-2314	138	3	]	]	PUNCT
fuelectenerg-2314	138	4	k.	k.	PROPN
fuelectenerg-2314	138	5	jovanovic	jovanovic	PROPN
fuelectenerg-2314	138	6	,	,	PUNCT
fuelectenerg-2314	138	7	v.	v.	ADP
fuelectenerg-2314	138	8	potkonjak	potkonjak	ADV
fuelectenerg-2314	138	9	,	,	PUNCT
fuelectenerg-2314	138	10	o.	o.	PROPN
fuelectenerg-2314	138	11	holland	holland	PROPN
fuelectenerg-2314	138	12	,	,	PUNCT
fuelectenerg-2314	138	13	"	"	PUNCT
fuelectenerg-2314	138	14	dynamic	dynamic	ADJ
fuelectenerg-2314	138	15	modelling	modelling	NOUN
fuelectenerg-2314	138	16	of	of	ADP
fuelectenerg-2314	138	17	an	an	DET
fuelectenerg-2314	138	18	anthropomimetic	anthropomimetic	ADJ
fuelectenerg-2314	138	19	robot	robot	NOUN
fuelectenerg-2314	138	20	in	in	ADP
fuelectenerg-2314	138	21	contact	contact	NOUN
fuelectenerg-2314	138	22	tasks	task	NOUN
fuelectenerg-2314	138	23	,	,	PUNCT
fuelectenerg-2314	138	24	"	"	PUNCT
fuelectenerg-2314	138	25	advanced	advanced	ADJ
fuelectenerg-2314	138	26	robotics	robotic	NOUN
fuelectenerg-2314	138	27	,	,	PUNCT
fuelectenerg-2314	138	28	vol	vol	NOUN
fuelectenerg-2314	138	29	.	.	PROPN
fuelectenerg-2314	138	30	28	28	NUM
fuelectenerg-2314	138	31	,	,	PUNCT
fuelectenerg-2314	138	32	no	no	INTJ
fuelectenerg-2314	138	33	.	.	NOUN
fuelectenerg-2314	138	34	11	11	NUM
fuelectenerg-2314	138	35	,	,	PUNCT
fuelectenerg-2314	138	36	pp	pp	ADJ
fuelectenerg-2314	138	37	.	.	PUNCT
fuelectenerg-2314	139	1	793	793	NUM
fuelectenerg-2314	139	2	-	-	SYM
fuelectenerg-2314	139	3	806	806	NUM
fuelectenerg-2314	139	4	,	,	PUNCT
fuelectenerg-2314	139	5	2014	2014	NUM
fuelectenerg-2314	139	6	.	.	PUNCT
fuelectenerg-2314	140	1	[	[	X
fuelectenerg-2314	140	2	4	4	X
fuelectenerg-2314	140	3	]	]	X
fuelectenerg-2314	140	4	y.	y.	PROPN
fuelectenerg-2314	140	5	nakanishi	nakanishi	PROPN
fuelectenerg-2314	140	6	,	,	PUNCT
fuelectenerg-2314	140	7	s.	s.	PROPN
fuelectenerg-2314	140	8	ohta	ohta	PROPN
fuelectenerg-2314	140	9	,	,	PUNCT
fuelectenerg-2314	140	10	t.	t.	PROPN
fuelectenerg-2314	140	11	shirai	shirai	PROPN
fuelectenerg-2314	140	12	,	,	PUNCT
fuelectenerg-2314	140	13	y.	y.	PROPN
fuelectenerg-2314	140	14	asano	asano	PROPN
fuelectenerg-2314	140	15	,	,	PUNCT
fuelectenerg-2314	140	16	t.	t.	PROPN
fuelectenerg-2314	140	17	kozuki	kozuki	PROPN
fuelectenerg-2314	140	18	,	,	PUNCT
fuelectenerg-2314	140	19	y.	y.	PROPN
fuelectenerg-2314	140	20	kakehashi	kakehashi	PROPN
fuelectenerg-2314	140	21	,	,	PUNCT
fuelectenerg-2314	140	22	h.	h.	PROPN
fuelectenerg-2314	140	23	mizoguchi	mizoguchi	PROPN
fuelectenerg-2314	140	24	,	,	PUNCT
fuelectenerg-2314	140	25	t.	t.	PROPN
fuelectenerg-2314	140	26	kurotobi	kurotobi	PROPN
fuelectenerg-2314	140	27	,	,	PUNCT
fuelectenerg-2314	140	28	y.	y.	PROPN
fuelectenerg-2314	140	29	motegi	motegi	PROPN
fuelectenerg-2314	140	30	,	,	PUNCT
fuelectenerg-2314	140	31	k.	k.	PROPN
fuelectenerg-2314	140	32	sasabuchi	sasabuchi	PROPN
fuelectenerg-2314	140	33	,	,	PUNCT
fuelectenerg-2314	140	34	j.	j.	PROPN
fuelectenerg-2314	140	35	urata	urata	PROPN
fuelectenerg-2314	140	36	,	,	PUNCT
fuelectenerg-2314	140	37	k.	k.	PROPN
fuelectenerg-2314	140	38	okada	okada	PROPN
fuelectenerg-2314	140	39	,	,	PUNCT
fuelectenerg-2314	140	40	i.	i.	PROPN
fuelectenerg-2314	140	41	mizuuchi	mizuuchi	PROPN
fuelectenerg-2314	140	42	,	,	PUNCT
fuelectenerg-2314	140	43	m.	m.	NOUN
fuelectenerg-2314	140	44	inaba	inaba	PROPN
fuelectenerg-2314	140	45	,	,	PUNCT
fuelectenerg-2314	140	46	"	"	PUNCT
fuelectenerg-2314	140	47	design	design	NOUN
fuelectenerg-2314	140	48	approach	approach	NOUN
fuelectenerg-2314	140	49	of	of	ADP
fuelectenerg-2314	140	50	biologicallyinspired	biologicallyinspire	VERB
fuelectenerg-2314	140	51	musculoskeletal	musculoskeletal	ADJ
fuelectenerg-2314	140	52	humanoids	humanoid	NOUN
fuelectenerg-2314	140	53	"	"	PUNCT
fuelectenerg-2314	140	54	,	,	PUNCT
fuelectenerg-2314	140	55	international	international	ADJ
fuelectenerg-2314	140	56	journal	journal	NOUN
fuelectenerg-2314	140	57	of	of	ADP
fuelectenerg-2314	140	58	advanced	advanced	ADJ
fuelectenerg-2314	140	59	robotics	robotic	NOUN
fuelectenerg-2314	140	60	systems	system	NOUN
fuelectenerg-2314	140	61	,	,	PUNCT
fuelectenerg-2314	140	62	vol	vol	NOUN
fuelectenerg-2314	140	63	.	.	PROPN
fuelectenerg-2314	140	64	10	10	NUM
fuelectenerg-2314	140	65	,	,	PUNCT
fuelectenerg-2314	140	66	no	no	INTJ
fuelectenerg-2314	140	67	.	.	NOUN
fuelectenerg-2314	140	68	216	216	NUM
fuelectenerg-2314	140	69	,	,	PUNCT
fuelectenerg-2314	140	70	pp	pp	ADJ
fuelectenerg-2314	140	71	.	.	PUNCT
fuelectenerg-2314	141	1	1	1	NUM
fuelectenerg-2314	141	2	-	-	SYM
fuelectenerg-2314	141	3	13	13	NUM
fuelectenerg-2314	141	4	,	,	PUNCT
fuelectenerg-2314	141	5	2013	2013	NUM
fuelectenerg-2314	141	6	.	.	PUNCT
fuelectenerg-2314	142	1	[	[	X
fuelectenerg-2314	142	2	5	5	X
fuelectenerg-2314	142	3	]	]	PUNCT
fuelectenerg-2314	142	4	s.	s.	PROPN
fuelectenerg-2314	142	5	wittmeier	wittmeier	PROPN
fuelectenerg-2314	142	6	,	,	PUNCT
fuelectenerg-2314	142	7	c.	c.	PROPN
fuelectenerg-2314	142	8	alessandro	alessandro	PROPN
fuelectenerg-2314	142	9	,	,	PUNCT
fuelectenerg-2314	142	10	n.	n.	NOUN
fuelectenerg-2314	142	11	bascarevic	bascarevic	PROPN
fuelectenerg-2314	142	12	,	,	PUNCT
fuelectenerg-2314	142	13	k.	k.	PROPN
fuelectenerg-2314	142	14	dalamagkidis	dalamagkidis	PROPN
fuelectenerg-2314	142	15	,	,	PUNCT
fuelectenerg-2314	142	16	a.	a.	NOUN
fuelectenerg-2314	142	17	diamond	diamond	NOUN
fuelectenerg-2314	142	18	,	,	PUNCT
fuelectenerg-2314	142	19	m.	m.	NOUN
fuelectenerg-2314	142	20	jäntsch	jäntsch	PROPN
fuelectenerg-2314	142	21	,	,	PUNCT
fuelectenerg-2314	142	22	k.	k.	PROPN
fuelectenerg-2314	142	23	jovanovic	jovanovic	PROPN
fuelectenerg-2314	142	24	,	,	PUNCT
fuelectenerg-2314	142	25	r.	r.	PROPN
fuelectenerg-2314	142	26	knight	knight	PROPN
fuelectenerg-2314	142	27	,	,	PUNCT
fuelectenerg-2314	142	28	h.	h.	PROPN
fuelectenerg-2314	142	29	g.	g.	PROPN
fuelectenerg-2314	142	30	marques	marques	PROPN
fuelectenerg-2314	142	31	,	,	PUNCT
fuelectenerg-2314	142	32	p.	p.	PROPN
fuelectenerg-2314	142	33	milosavljevic	milosavljevic	PROPN
fuelectenerg-2314	142	34	,	,	PUNCT
fuelectenerg-2314	142	35	b.	b.	PROPN
fuelectenerg-2314	142	36	svetozarevic	svetozarevic	PROPN
fuelectenerg-2314	142	37	,	,	PUNCT
fuelectenerg-2314	142	38	v.	v.	ADP
fuelectenerg-2314	142	39	potkonjak	potkonjak	ADV
fuelectenerg-2314	142	40	,	,	PUNCT
fuelectenerg-2314	142	41	r.	r.	PROPN
fuelectenerg-2314	142	42	pfeifer	pfeifer	PROPN
fuelectenerg-2314	142	43	,	,	PUNCT
fuelectenerg-2314	142	44	a.	a.	NOUN
fuelectenerg-2314	142	45	knoll	knoll	PROPN
fuelectenerg-2314	142	46	,	,	PUNCT
fuelectenerg-2314	142	47	o.	o.	PROPN
fuelectenerg-2314	142	48	holland	holland	PROPN
fuelectenerg-2314	142	49	,	,	PUNCT
fuelectenerg-2314	142	50	"	"	PUNCT
fuelectenerg-2314	142	51	toward	toward	ADP
fuelectenerg-2314	142	52	anthropomimetic	anthropomimetic	ADJ
fuelectenerg-2314	142	53	robotics	robotic	NOUN
fuelectenerg-2314	142	54	:	:	PUNCT
fuelectenerg-2314	142	55	development	development	NOUN
fuelectenerg-2314	142	56	,	,	PUNCT
fuelectenerg-2314	142	57	simulation	simulation	NOUN
fuelectenerg-2314	142	58	,	,	PUNCT
fuelectenerg-2314	142	59	and	and	CCONJ
fuelectenerg-2314	142	60	control	control	NOUN
fuelectenerg-2314	142	61	of	of	ADP
fuelectenerg-2314	142	62	a	a	DET
fuelectenerg-2314	142	63	musculoskeletal	musculoskeletal	ADJ
fuelectenerg-2314	142	64	torso	torso	NOUN
fuelectenerg-2314	142	65	"	"	PUNCT
fuelectenerg-2314	142	66	,	,	PUNCT
fuelectenerg-2314	142	67	artificial	artificial	ADJ
fuelectenerg-2314	142	68	life	life	NOUN
fuelectenerg-2314	142	69	,	,	PUNCT
fuelectenerg-2314	142	70	vol	vol	NOUN
fuelectenerg-2314	142	71	.	.	PROPN
fuelectenerg-2314	142	72	19	19	NUM
fuelectenerg-2314	142	73	,	,	PUNCT
fuelectenerg-2314	142	74	no	no	INTJ
fuelectenerg-2314	142	75	.	.	NOUN
fuelectenerg-2314	142	76	1	1	NUM
fuelectenerg-2314	142	77	,	,	PUNCT
fuelectenerg-2314	142	78	pp	pp	ADJ
fuelectenerg-2314	142	79	.	.	PUNCT
fuelectenerg-2314	143	1	171	171	NUM
fuelectenerg-2314	143	2	-	-	SYM
fuelectenerg-2314	143	3	193	193	NUM
fuelectenerg-2314	143	4	,	,	PUNCT
fuelectenerg-2314	143	5	2013	2013	NUM
fuelectenerg-2314	143	6	.	.	PUNCT
fuelectenerg-2314	144	1	[	[	X
fuelectenerg-2314	144	2	6	6	NUM
fuelectenerg-2314	144	3	]	]	PUNCT
fuelectenerg-2314	144	4	v.	v.	CCONJ
fuelectenerg-2314	144	5	potkonjak	potkonjak	ADV
fuelectenerg-2314	144	6	,	,	PUNCT
fuelectenerg-2314	144	7	b.	b.	PROPN
fuelectenerg-2314	144	8	svetozarevic	svetozarevic	PROPN
fuelectenerg-2314	144	9	,	,	PUNCT
fuelectenerg-2314	144	10	k.	k.	PROPN
fuelectenerg-2314	144	11	jovanovic	jovanovic	PROPN
fuelectenerg-2314	144	12	,	,	PUNCT
fuelectenerg-2314	144	13	o.	o.	PROPN
fuelectenerg-2314	144	14	holland	holland	PROPN
fuelectenerg-2314	144	15	,	,	PUNCT
fuelectenerg-2314	144	16	"	"	PUNCT
fuelectenerg-2314	144	17	the	the	DET
fuelectenerg-2314	144	18	puller	puller	NOUN
fuelectenerg-2314	144	19	-	-	PUNCT
fuelectenerg-2314	144	20	follower	follower	NOUN
fuelectenerg-2314	144	21	control	control	NOUN
fuelectenerg-2314	144	22	of	of	ADP
fuelectenerg-2314	144	23	compliant	compliant	ADJ
fuelectenerg-2314	144	24	and	and	CCONJ
fuelectenerg-2314	144	25	noncompliant	noncompliant	ADJ
fuelectenerg-2314	144	26	antagonistic	antagonistic	ADJ
fuelectenerg-2314	144	27	tendon	tendon	NOUN
fuelectenerg-2314	144	28	drives	drive	VERB
fuelectenerg-2314	144	29	in	in	ADP
fuelectenerg-2314	144	30	robotic	robotic	ADJ
fuelectenerg-2314	144	31	system	system	NOUN
fuelectenerg-2314	144	32	"	"	PUNCT
fuelectenerg-2314	144	33	,	,	PUNCT
fuelectenerg-2314	144	34	international	international	ADJ
fuelectenerg-2314	144	35	journal	journal	NOUN
fuelectenerg-2314	144	36	of	of	ADP
fuelectenerg-2314	144	37	advanced	advanced	ADJ
fuelectenerg-2314	144	38	robotics	robotic	NOUN
fuelectenerg-2314	144	39	systems	system	NOUN
fuelectenerg-2314	144	40	,	,	PUNCT
fuelectenerg-2314	144	41	vol	vol	NOUN
fuelectenerg-2314	144	42	.	.	PROPN
fuelectenerg-2314	144	43	8	8	NUM
fuelectenerg-2314	144	44	,	,	PUNCT
fuelectenerg-2314	144	45	no	no	INTJ
fuelectenerg-2314	144	46	.	.	NOUN
fuelectenerg-2314	144	47	5	5	NUM
fuelectenerg-2314	144	48	,	,	PUNCT
fuelectenerg-2314	144	49	pp	pp	ADJ
fuelectenerg-2314	144	50	.	.	PUNCT
fuelectenerg-2314	144	51	143	143	NUM
fuelectenerg-2314	144	52	-	-	SYM
fuelectenerg-2314	144	53	155	155	NUM
fuelectenerg-2314	144	54	,	,	PUNCT
fuelectenerg-2314	144	55	2012	2012	NUM
fuelectenerg-2314	144	56	.	.	PUNCT
fuelectenerg-2314	145	1	[	[	X
fuelectenerg-2314	145	2	7	7	X
fuelectenerg-2314	145	3	]	]	X
fuelectenerg-2314	145	4	s.	s.	PROPN
fuelectenerg-2314	145	5	c.	c.	PROPN
fuelectenerg-2314	145	6	jacobsen	jacobsen	PROPN
fuelectenerg-2314	145	7	,	,	PUNCT
fuelectenerg-2314	145	8	e.	e.	PROPN
fuelectenerg-2314	145	9	k.	k.	PROPN
fuelectenerg-2314	145	10	iversen	iversen	PROPN
fuelectenerg-2314	145	11	,	,	PUNCT
fuelectenerg-2314	145	12	d.	d.	PROPN
fuelectenerg-2314	145	13	knutti	knutti	PROPN
fuelectenerg-2314	145	14	,	,	PUNCT
fuelectenerg-2314	145	15	r.	r.	PROPN
fuelectenerg-2314	145	16	johnson	johnson	PROPN
fuelectenerg-2314	145	17	,	,	PUNCT
fuelectenerg-2314	145	18	k.	k.	PROPN
fuelectenerg-2314	145	19	biggers	biggers	PROPN
fuelectenerg-2314	145	20	,	,	PUNCT
fuelectenerg-2314	145	21	"	"	PUNCT
fuelectenerg-2314	145	22	design	design	NOUN
fuelectenerg-2314	145	23	of	of	ADP
fuelectenerg-2314	145	24	the	the	DET
fuelectenerg-2314	145	25	utah	utah	PROPN
fuelectenerg-2314	145	26	/	/	SYM
fuelectenerg-2314	145	27	m.i.t	m.i.t	NOUN
fuelectenerg-2314	145	28	.	.	PUNCT
fuelectenerg-2314	146	1	dextrous	dextrous	ADJ
fuelectenerg-2314	146	2	hand	hand	NOUN
fuelectenerg-2314	146	3	"	"	PUNCT
fuelectenerg-2314	146	4	,	,	PUNCT
fuelectenerg-2314	146	5	in	in	ADP
fuelectenerg-2314	146	6	proceedings	proceeding	NOUN
fuelectenerg-2314	146	7	of	of	ADP
fuelectenerg-2314	146	8	ieee	ieee	PROPN
fuelectenerg-2314	146	9	international	international	ADJ
fuelectenerg-2314	146	10	conference	conference	NOUN
fuelectenerg-2314	146	11	on	on	ADP
fuelectenerg-2314	146	12	robotics	robotic	NOUN
fuelectenerg-2314	146	13	and	and	CCONJ
fuelectenerg-2314	146	14	automation	automation	NOUN
fuelectenerg-2314	146	15	(	(	PUNCT
fuelectenerg-2314	146	16	icra	icra	PROPN
fuelectenerg-2314	146	17	1986	1986	NUM
fuelectenerg-2314	146	18	)	)	PUNCT
fuelectenerg-2314	146	19	,	,	PUNCT
fuelectenerg-2314	146	20	san	san	PROPN
fuelectenerg-2314	146	21	francisco	francisco	PROPN
fuelectenerg-2314	146	22	,	,	PUNCT
fuelectenerg-2314	146	23	ca	ca	PROPN
fuelectenerg-2314	146	24	,	,	PUNCT
fuelectenerg-2314	146	25	usa	usa	PROPN
fuelectenerg-2314	146	26	,	,	PUNCT
fuelectenerg-2314	146	27	7	7	NUM
fuelectenerg-2314	146	28	-	-	SYM
fuelectenerg-2314	146	29	10	10	NUM
fuelectenerg-2314	146	30	april	april	PROPN
fuelectenerg-2314	146	31	1986	1986	NUM
fuelectenerg-2314	146	32	.	.	PUNCT
fuelectenerg-2314	147	1	pp	pp	ADJ
fuelectenerg-2314	147	2	.	.	PUNCT
fuelectenerg-2314	148	1	1520	1520	NUM
fuelectenerg-2314	148	2	-	-	SYM
fuelectenerg-2314	148	3	1532	1532	NUM
fuelectenerg-2314	148	4	.	.	PUNCT
fuelectenerg-2314	149	1	[	[	X
fuelectenerg-2314	149	2	8	8	NUM
fuelectenerg-2314	149	3	]	]	X
fuelectenerg-2314	149	4	g.	g.	PROPN
fuelectenerg-2314	149	5	c.	c.	PROPN
fuelectenerg-2314	149	6	klute	klute	PROPN
fuelectenerg-2314	149	7	,	,	PUNCT
fuelectenerg-2314	149	8	j.	j.	PROPN
fuelectenerg-2314	149	9	m.	m.	PROPN
fuelectenerg-2314	149	10	czerniecki	czerniecki	PROPN
fuelectenerg-2314	149	11	,	,	PUNCT
fuelectenerg-2314	149	12	b.	b.	PROPN
fuelectenerg-2314	149	13	hannaford	hannaford	PROPN
fuelectenerg-2314	149	14	,	,	PUNCT
fuelectenerg-2314	149	15	"	"	PUNCT
fuelectenerg-2314	149	16	mckibben	mckibben	PROPN
fuelectenerg-2314	149	17	artificial	artificial	ADJ
fuelectenerg-2314	149	18	muscles	muscle	NOUN
fuelectenerg-2314	149	19	:	:	PUNCT
fuelectenerg-2314	149	20	pneumatic	pneumatic	ADJ
fuelectenerg-2314	149	21	actuators	actuator	NOUN
fuelectenerg-2314	149	22	with	with	ADP
fuelectenerg-2314	149	23	biomechanical	biomechanical	ADJ
fuelectenerg-2314	149	24	intelligence	intelligence	NOUN
fuelectenerg-2314	149	25	"	"	PUNCT
fuelectenerg-2314	149	26	,	,	PUNCT
fuelectenerg-2314	149	27	in	in	ADP
fuelectenerg-2314	149	28	proceedings	proceeding	NOUN
fuelectenerg-2314	149	29	of	of	ADP
fuelectenerg-2314	149	30	ieee	ieee	PROPN
fuelectenerg-2314	149	31	/	/	SYM
fuelectenerg-2314	149	32	asme	asme	PROPN
fuelectenerg-2314	149	33	international	international	PROPN
fuelectenerg-2314	149	34	conference	conference	PROPN
fuelectenerg-2314	149	35	on	on	ADP
fuelectenerg-2314	149	36	advanced	advanced	ADJ
fuelectenerg-2314	149	37	intelligent	intelligent	ADJ
fuelectenerg-2314	149	38	mechatronics	mechatronic	NOUN
fuelectenerg-2314	149	39	,	,	PUNCT
fuelectenerg-2314	149	40	atlanta	atlanta	PROPN
fuelectenerg-2314	149	41	,	,	PUNCT
fuelectenerg-2314	149	42	ga	ga	PROPN
fuelectenerg-2314	149	43	,	,	PUNCT
fuelectenerg-2314	149	44	usa	usa	PROPN
fuelectenerg-2314	149	45	,	,	PUNCT
fuelectenerg-2314	149	46	19	19	NUM
fuelectenerg-2314	149	47	-	-	SYM
fuelectenerg-2314	149	48	23	23	NUM
fuelectenerg-2314	149	49	september	september	PROPN
fuelectenerg-2314	149	50	1999	1999	NUM
fuelectenerg-2314	149	51	,	,	PUNCT
fuelectenerg-2314	149	52	pp	pp	ADP
fuelectenerg-2314	149	53	.	.	PUNCT
fuelectenerg-2314	150	1	221	221	NUM
fuelectenerg-2314	150	2	-	-	SYM
fuelectenerg-2314	150	3	226	226	NUM
fuelectenerg-2314	150	4	.	.	PUNCT
fuelectenerg-2314	151	1	[	[	X
fuelectenerg-2314	151	2	9	9	NUM
fuelectenerg-2314	151	3	]	]	X
fuelectenerg-2314	151	4	b.	b.	PROPN
fuelectenerg-2314	151	5	tondu	tondu	PROPN
fuelectenerg-2314	151	6	,	,	PUNCT
fuelectenerg-2314	151	7	s.	s.	PROPN
fuelectenerg-2314	151	8	ippolito	ippolito	PROPN
fuelectenerg-2314	151	9	,	,	PUNCT
fuelectenerg-2314	151	10	j.	j.	PROPN
fuelectenerg-2314	151	11	guiochet	guiochet	PROPN
fuelectenerg-2314	151	12	,	,	PUNCT
fuelectenerg-2314	151	13	a.	a.	NOUN
fuelectenerg-2314	151	14	daidie	daidie	PROPN
fuelectenerg-2314	151	15	,	,	PUNCT
fuelectenerg-2314	151	16	"	"	PUNCT
fuelectenerg-2314	151	17	a	a	DET
fuelectenerg-2314	151	18	seven	seven	NUM
fuelectenerg-2314	151	19	-	-	PUNCT
fuelectenerg-2314	151	20	degrees	degree	NOUN
fuelectenerg-2314	151	21	-	-	PUNCT
fuelectenerg-2314	151	22	of	of	ADP
fuelectenerg-2314	151	23	-	-	PUNCT
fuelectenerg-2314	151	24	freedom	freedom	NOUN
fuelectenerg-2314	151	25	robotarm	robotarm	NOUN
fuelectenerg-2314	151	26	driven	drive	VERB
fuelectenerg-2314	151	27	by	by	ADP
fuelectenerg-2314	151	28	pneumatic	pneumatic	ADJ
fuelectenerg-2314	151	29	artificial	artificial	ADJ
fuelectenerg-2314	151	30	muscles	muscle	NOUN
fuelectenerg-2314	151	31	for	for	ADP
fuelectenerg-2314	151	32	humanoid	humanoid	NOUN
fuelectenerg-2314	151	33	robots	robot	NOUN
fuelectenerg-2314	151	34	"	"	PUNCT
fuelectenerg-2314	151	35	,	,	PUNCT
fuelectenerg-2314	151	36	the	the	DET
fuelectenerg-2314	151	37	international	international	ADJ
fuelectenerg-2314	151	38	journal	journal	NOUN
fuelectenerg-2314	151	39	of	of	ADP
fuelectenerg-2314	151	40	robotics	robotic	NOUN
fuelectenerg-2314	151	41	research	research	NOUN
fuelectenerg-2314	151	42	,	,	PUNCT
fuelectenerg-2314	151	43	vol	vol	NOUN
fuelectenerg-2314	151	44	.	.	PROPN
fuelectenerg-2314	151	45	24	24	NUM
fuelectenerg-2314	151	46	,	,	PUNCT
fuelectenerg-2314	151	47	no	no	INTJ
fuelectenerg-2314	151	48	.	.	NOUN
fuelectenerg-2314	151	49	4	4	NUM
fuelectenerg-2314	151	50	,	,	PUNCT
fuelectenerg-2314	151	51	pp	pp	ADJ
fuelectenerg-2314	151	52	.	.	PUNCT
fuelectenerg-2314	151	53	257	257	NUM
fuelectenerg-2314	151	54	-	-	SYM
fuelectenerg-2314	151	55	274	274	NUM
fuelectenerg-2314	151	56	,	,	PUNCT
fuelectenerg-2314	151	57	2005	2005	NUM
fuelectenerg-2314	151	58	.	.	PUNCT
fuelectenerg-2314	152	1	[	[	X
fuelectenerg-2314	152	2	10	10	NUM
fuelectenerg-2314	152	3	]	]	X
fuelectenerg-2314	152	4	i.	i.	PROPN
fuelectenerg-2314	152	5	boblan	boblan	PROPN
fuelectenerg-2314	152	6	,	,	PUNCT
fuelectenerg-2314	152	7	j.	j.	PROPN
fuelectenerg-2314	152	8	maschuw	maschuw	PROPN
fuelectenerg-2314	152	9	,	,	PUNCT
fuelectenerg-2314	152	10	d.	d.	PROPN
fuelectenerg-2314	152	11	engelhardt	engelhardt	PROPN
fuelectenerg-2314	152	12	,	,	PUNCT
fuelectenerg-2314	152	13	a.	a.	PROPN
fuelectenerg-2314	152	14	schulz	schulz	PROPN
fuelectenerg-2314	152	15	,	,	PUNCT
fuelectenerg-2314	152	16	h.	h.	PROPN
fuelectenerg-2314	152	17	schwenk	schwenk	PROPN
fuelectenerg-2314	152	18	,	,	PUNCT
fuelectenerg-2314	152	19	r.	r.	PROPN
fuelectenerg-2314	152	20	bannasch	bannasch	PROPN
fuelectenerg-2314	152	21	,	,	PUNCT
fuelectenerg-2314	152	22	i.	i.	PROPN
fuelectenerg-2314	152	23	rechenberg	rechenberg	PROPN
fuelectenerg-2314	152	24	,	,	PUNCT
fuelectenerg-2314	152	25	"	"	PUNCT
fuelectenerg-2314	152	26	a	a	DET
fuelectenerg-2314	152	27	humanlike	humanlike	NOUN
fuelectenerg-2314	152	28	robot	robot	NOUN
fuelectenerg-2314	152	29	hand	hand	NOUN
fuelectenerg-2314	152	30	and	and	CCONJ
fuelectenerg-2314	152	31	arm	arm	VERB
fuelectenerg-2314	152	32	with	with	ADP
fuelectenerg-2314	152	33	fluidic	fluidic	ADJ
fuelectenerg-2314	152	34	muscles	muscle	NOUN
fuelectenerg-2314	152	35	:	:	PUNCT
fuelectenerg-2314	152	36	modelling	modelling	NOUN
fuelectenerg-2314	152	37	of	of	ADP
fuelectenerg-2314	152	38	a	a	DET
fuelectenerg-2314	152	39	muscle	muscle	NOUN
fuelectenerg-2314	152	40	driven	drive	VERB
fuelectenerg-2314	152	41	joint	joint	NOUN
fuelectenerg-2314	152	42	with	with	ADP
fuelectenerg-2314	152	43	an	an	DET
fuelectenerg-2314	152	44	antagonistic	antagonistic	ADJ
fuelectenerg-2314	152	45	feedback	feedback	NOUN
fuelectenerg-2314	152	46	linearization	linearization	NOUN
fuelectenerg-2314	152	47	for	for	ADP
fuelectenerg-2314	152	48	decoupled	decoupled	ADJ
fuelectenerg-2314	152	49	position	position	NOUN
fuelectenerg-2314	152	50	/	/	SYM
fuelectenerg-2314	152	51	stiffness	stiffness	NOUN
fuelectenerg-2314	152	52	control	control	NOUN
fuelectenerg-2314	152	53	of	of	ADP
fuelectenerg-2314	152	54	bidirectional	bidirectional	ADJ
fuelectenerg-2314	152	55	antagonistic	antagonistic	ADJ
fuelectenerg-2314	152	56	drives	drive	VERB
fuelectenerg-2314	152	57	61	61	NUM
fuelectenerg-2314	152	58	setup	setup	NOUN
fuelectenerg-2314	152	59	"	"	PUNCT
fuelectenerg-2314	152	60	,	,	PUNCT
fuelectenerg-2314	152	61	in	in	ADP
fuelectenerg-2314	152	62	proceedings	proceeding	NOUN
fuelectenerg-2314	152	63	of	of	ADP
fuelectenerg-2314	152	64	international	international	ADJ
fuelectenerg-2314	152	65	symposium	symposium	NOUN
fuelectenerg-2314	152	66	on	on	ADP
fuelectenerg-2314	152	67	adaptive	adaptive	ADJ
fuelectenerg-2314	152	68	motion	motion	NOUN
fuelectenerg-2314	152	69	in	in	ADP
fuelectenerg-2314	152	70	animals	animal	NOUN
fuelectenerg-2314	152	71	and	and	CCONJ
fuelectenerg-2314	152	72	machines	machine	NOUN
fuelectenerg-2314	152	73	,	,	PUNCT
fuelectenerg-2314	152	74	ilmenau	ilmenau	PROPN
fuelectenerg-2314	152	75	,	,	PUNCT
fuelectenerg-2314	152	76	germany	germany	PROPN
fuelectenerg-2314	152	77	,	,	PUNCT
fuelectenerg-2314	152	78	25	25	NUM
fuelectenerg-2314	152	79	-	-	SYM
fuelectenerg-2314	152	80	30	30	NUM
fuelectenerg-2314	152	81	september	september	PROPN
fuelectenerg-2314	152	82	2005	2005	NUM
fuelectenerg-2314	152	83	.	.	PUNCT
fuelectenerg-2314	153	1	[	[	X
fuelectenerg-2314	153	2	11	11	NUM
fuelectenerg-2314	153	3	]	]	PUNCT
fuelectenerg-2314	153	4	j.	j.	PROPN
fuelectenerg-2314	153	5	yamaguchi	yamaguchi	PROPN
fuelectenerg-2314	153	6	,	,	PUNCT
fuelectenerg-2314	153	7	d.	d.	PROPN
fuelectenerg-2314	153	8	nishino	nishino	PROPN
fuelectenerg-2314	153	9	,	,	PUNCT
fuelectenerg-2314	153	10	a.	a.	PROPN
fuelectenerg-2314	153	11	takanishi	takanishi	PROPN
fuelectenerg-2314	153	12	,	,	PUNCT
fuelectenerg-2314	153	13	"	"	PUNCT
fuelectenerg-2314	153	14	realization	realization	NOUN
fuelectenerg-2314	153	15	of	of	ADP
fuelectenerg-2314	153	16	dynamic	dynamic	ADJ
fuelectenerg-2314	153	17	biped	biped	NOUN
fuelectenerg-2314	153	18	walking	walk	VERB
fuelectenerg-2314	153	19	varying	vary	VERB
fuelectenerg-2314	153	20	joint	joint	ADJ
fuelectenerg-2314	153	21	stiffness	stiffness	NOUN
fuelectenerg-2314	153	22	using	use	VERB
fuelectenerg-2314	153	23	antagonistic	antagonistic	ADJ
fuelectenerg-2314	153	24	driven	drive	VERB
fuelectenerg-2314	153	25	joints	joint	NOUN
fuelectenerg-2314	153	26	"	"	PUNCT
fuelectenerg-2314	153	27	,	,	PUNCT
fuelectenerg-2314	153	28	in	in	ADP
fuelectenerg-2314	153	29	proceedings	proceeding	NOUN
fuelectenerg-2314	153	30	of	of	ADP
fuelectenerg-2314	153	31	ieee	ieee	PROPN
fuelectenerg-2314	153	32	international	international	ADJ
fuelectenerg-2314	153	33	conference	conference	NOUN
fuelectenerg-2314	153	34	on	on	ADP
fuelectenerg-2314	153	35	robotics	robotic	NOUN
fuelectenerg-2314	153	36	and	and	CCONJ
fuelectenerg-2314	153	37	automation	automation	NOUN
fuelectenerg-2314	153	38	(	(	PUNCT
fuelectenerg-2314	153	39	icra	icra	PROPN
fuelectenerg-2314	153	40	1998	1998	NUM
fuelectenerg-2314	153	41	)	)	PUNCT
fuelectenerg-2314	153	42	,	,	PUNCT
fuelectenerg-2314	153	43	leuven	leuven	PROPN
fuelectenerg-2314	153	44	,	,	PUNCT
fuelectenerg-2314	153	45	belgium	belgium	NOUN
fuelectenerg-2314	153	46	,	,	PUNCT
fuelectenerg-2314	153	47	16	16	NUM
fuelectenerg-2314	153	48	-	-	SYM
fuelectenerg-2314	153	49	20	20	NUM
fuelectenerg-2314	153	50	may	may	PROPN
fuelectenerg-2314	153	51	1998	1998	NUM
fuelectenerg-2314	153	52	,	,	PUNCT
fuelectenerg-2314	153	53	pp	pp	ADV
fuelectenerg-2314	153	54	.	.	PUNCT
fuelectenerg-2314	154	1	2022	2022	NUM
fuelectenerg-2314	154	2	-	-	SYM
fuelectenerg-2314	154	3	2029	2029	NUM
fuelectenerg-2314	154	4	.	.	PUNCT
fuelectenerg-2314	155	1	[	[	X
fuelectenerg-2314	155	2	12	12	NUM
fuelectenerg-2314	155	3	]	]	PUNCT
fuelectenerg-2314	155	4	b.	b.	PROPN
fuelectenerg-2314	155	5	verrelst	verrelst	PROPN
fuelectenerg-2314	155	6	,	,	PUNCT
fuelectenerg-2314	155	7	r.	r.	PROPN
fuelectenerg-2314	155	8	van	van	PROPN
fuelectenerg-2314	155	9	ham	ham	PROPN
fuelectenerg-2314	155	10	,	,	PUNCT
fuelectenerg-2314	155	11	b.	b.	PROPN
fuelectenerg-2314	155	12	vanderborght	vanderborght	PROPN
fuelectenerg-2314	155	13	,	,	PUNCT
fuelectenerg-2314	155	14	f.	f.	PROPN
fuelectenerg-2314	155	15	daerden	daerden	PROPN
fuelectenerg-2314	155	16	,	,	PUNCT
fuelectenerg-2314	155	17	d.	d.	PROPN
fuelectenerg-2314	155	18	lefeber	lefeber	PROPN
fuelectenerg-2314	155	19	,	,	PUNCT
fuelectenerg-2314	155	20	"	"	PUNCT
fuelectenerg-2314	155	21	the	the	DET
fuelectenerg-2314	155	22	pneumatic	pneumatic	ADJ
fuelectenerg-2314	155	23	biped	biped	NOUN
fuelectenerg-2314	155	24	"	"	PUNCT
fuelectenerg-2314	155	25	lucy	lucy	PROPN
fuelectenerg-2314	155	26	"	"	PUNCT
fuelectenerg-2314	155	27	actuated	actuate	VERB
fuelectenerg-2314	155	28	with	with	ADP
fuelectenerg-2314	155	29	pleated	pleated	ADJ
fuelectenerg-2314	155	30	pneumatic	pneumatic	ADJ
fuelectenerg-2314	155	31	artificial	artificial	ADJ
fuelectenerg-2314	155	32	muscles	muscle	NOUN
fuelectenerg-2314	155	33	"	"	PUNCT
fuelectenerg-2314	155	34	,	,	PUNCT
fuelectenerg-2314	155	35	autonomous	autonomous	ADJ
fuelectenerg-2314	155	36	robots	robot	NOUN
fuelectenerg-2314	155	37	,	,	PUNCT
fuelectenerg-2314	155	38	vol	vol	NOUN
fuelectenerg-2314	155	39	.	.	PROPN
fuelectenerg-2314	155	40	18	18	NUM
fuelectenerg-2314	155	41	,	,	PUNCT
fuelectenerg-2314	155	42	no	no	INTJ
fuelectenerg-2314	155	43	.	.	NOUN
fuelectenerg-2314	155	44	2	2	NUM
fuelectenerg-2314	155	45	,	,	PUNCT
fuelectenerg-2314	155	46	pp	pp	ADJ
fuelectenerg-2314	155	47	.	.	PUNCT
fuelectenerg-2314	156	1	201	201	NUM
fuelectenerg-2314	156	2	-	-	SYM
fuelectenerg-2314	156	3	213	213	NUM
fuelectenerg-2314	156	4	,	,	PUNCT
fuelectenerg-2314	156	5	2005	2005	NUM
fuelectenerg-2314	156	6	.	.	PUNCT
fuelectenerg-2314	157	1	[	[	X
fuelectenerg-2314	157	2	13	13	NUM
fuelectenerg-2314	157	3	]	]	PUNCT
fuelectenerg-2314	157	4	s.	s.	PROPN
fuelectenerg-2314	157	5	ĉajetinac	ĉajetinac	PROPN
fuelectenerg-2314	157	6	,	,	PUNCT
fuelectenerg-2314	157	7	d.	d.	PROPN
fuelectenerg-2314	157	8	šešlija	šešlija	PROPN
fuelectenerg-2314	157	9	,	,	PUNCT
fuelectenerg-2314	157	10	v.	v.	ADP
fuelectenerg-2314	157	11	nikolić	nikolić	NOUN
fuelectenerg-2314	157	12	,	,	PUNCT
fuelectenerg-2314	157	13	m.	m.	NOUN
fuelectenerg-2314	157	14	todorović	todorović	PROPN
fuelectenerg-2314	157	15	,	,	PUNCT
fuelectenerg-2314	157	16	"	"	PUNCT
fuelectenerg-2314	157	17	comparison	comparison	NOUN
fuelectenerg-2314	157	18	of	of	ADP
fuelectenerg-2314	157	19	pwm	pwm	NOUN
fuelectenerg-2314	157	20	control	control	NOUN
fuelectenerg-2314	157	21	of	of	ADP
fuelectenerg-2314	157	22	pneumatic	pneumatic	ADJ
fuelectenerg-2314	157	23	actuator	actuator	NOUN
fuelectenerg-2314	157	24	based	base	VERB
fuelectenerg-2314	157	25	on	on	ADP
fuelectenerg-2314	157	26	energy	energy	NOUN
fuelectenerg-2314	157	27	efficiency	efficiency	NOUN
fuelectenerg-2314	157	28	"	"	PUNCT
fuelectenerg-2314	157	29	,	,	PUNCT
fuelectenerg-2314	157	30	facta	facta	PROPN
fuelectenerg-2314	157	31	universitatis	universitatis	PROPN
fuelectenerg-2314	157	32	,	,	PUNCT
fuelectenerg-2314	157	33	series	series	NOUN
fuelectenerg-2314	157	34	:	:	PUNCT
fuelectenerg-2314	157	35	electronics	electronic	NOUN
fuelectenerg-2314	157	36	and	and	CCONJ
fuelectenerg-2314	157	37	energetics	energetic	NOUN
fuelectenerg-2314	157	38	,	,	PUNCT
fuelectenerg-2314	157	39	vol	vol	NOUN
fuelectenerg-2314	157	40	.	.	PROPN
fuelectenerg-2314	157	41	25	25	NUM
fuelectenerg-2314	157	42	,	,	PUNCT
fuelectenerg-2314	157	43	no	no	INTJ
fuelectenerg-2314	157	44	.	.	NOUN
fuelectenerg-2314	157	45	2	2	NUM
fuelectenerg-2314	157	46	,	,	PUNCT
fuelectenerg-2314	157	47	pp	pp	ADJ
fuelectenerg-2314	157	48	.	.	PUNCT
fuelectenerg-2314	158	1	93	93	NUM
fuelectenerg-2314	158	2	-	-	SYM
fuelectenerg-2314	158	3	101	101	NUM
fuelectenerg-2314	158	4	,	,	PUNCT
fuelectenerg-2314	158	5	2012	2012	NUM
fuelectenerg-2314	158	6	.	.	PUNCT
fuelectenerg-2314	159	1	[	[	X
fuelectenerg-2314	159	2	14	14	NUM
fuelectenerg-2314	159	3	]	]	X
fuelectenerg-2314	159	4	r.	r.	PROPN
fuelectenerg-2314	159	5	van	van	PROPN
fuelectenerg-2314	159	6	ham	ham	PROPN
fuelectenerg-2314	159	7	,	,	PUNCT
fuelectenerg-2314	159	8	t.	t.	PROPN
fuelectenerg-2314	159	9	sugar	sugar	PROPN
fuelectenerg-2314	159	10	,	,	PUNCT
fuelectenerg-2314	159	11	b.	b.	PROPN
fuelectenerg-2314	159	12	vanderborght	vanderborght	PROPN
fuelectenerg-2314	159	13	,	,	PUNCT
fuelectenerg-2314	159	14	k.	k.	PROPN
fuelectenerg-2314	159	15	hollander	hollander	PROPN
fuelectenerg-2314	159	16	,	,	PUNCT
fuelectenerg-2314	159	17	d.	d.	PROPN
fuelectenerg-2314	159	18	lefeber	lefeber	PROPN
fuelectenerg-2314	159	19	,	,	PUNCT
fuelectenerg-2314	159	20	"	"	PUNCT
fuelectenerg-2314	159	21	compliant	compliant	ADJ
fuelectenerg-2314	159	22	actuator	actuator	NOUN
fuelectenerg-2314	159	23	design	design	NOUN
fuelectenerg-2314	159	24	:	:	PUNCT
fuelectenerg-2314	159	25	review	review	NOUN
fuelectenerg-2314	159	26	of	of	ADP
fuelectenerg-2314	159	27	actuator	actuator	NOUN
fuelectenerg-2314	159	28	with	with	ADP
fuelectenerg-2314	159	29	passive	passive	ADJ
fuelectenerg-2314	159	30	adjustable	adjustable	ADJ
fuelectenerg-2314	159	31	compliance	compliance	NOUN
fuelectenerg-2314	159	32	/	/	SYM
fuelectenerg-2314	159	33	controllable	controllable	ADJ
fuelectenerg-2314	159	34	stiffness	stiffness	NOUN
fuelectenerg-2314	159	35	for	for	ADP
fuelectenerg-2314	159	36	robotic	robotic	ADJ
fuelectenerg-2314	159	37	applications	application	NOUN
fuelectenerg-2314	159	38	"	"	PUNCT
fuelectenerg-2314	159	39	,	,	PUNCT
fuelectenerg-2314	159	40	ieee	ieee	NOUN
fuelectenerg-2314	159	41	robotics	robotic	NOUN
fuelectenerg-2314	159	42	&	&	CCONJ
fuelectenerg-2314	159	43	automation	automation	PROPN
fuelectenerg-2314	159	44	magazine	magazine	PROPN
fuelectenerg-2314	159	45	,	,	PUNCT
fuelectenerg-2314	159	46	vol	vol	NOUN
fuelectenerg-2314	159	47	.	.	PROPN
fuelectenerg-2314	159	48	13	13	NUM
fuelectenerg-2314	159	49	,	,	PUNCT
fuelectenerg-2314	159	50	no	no	INTJ
fuelectenerg-2314	159	51	.	.	NOUN
fuelectenerg-2314	159	52	3	3	NUM
fuelectenerg-2314	159	53	,	,	PUNCT
fuelectenerg-2314	159	54	pp	pp	ADJ
fuelectenerg-2314	159	55	.	.	PUNCT
fuelectenerg-2314	160	1	771	771	NUM
fuelectenerg-2314	160	2	-	-	SYM
fuelectenerg-2314	160	3	789	789	NUM
fuelectenerg-2314	160	4	,	,	PUNCT
fuelectenerg-2314	160	5	2009	2009	NUM
fuelectenerg-2314	160	6	.	.	PUNCT
fuelectenerg-2314	161	1	[	[	X
fuelectenerg-2314	161	2	15	15	NUM
fuelectenerg-2314	161	3	]	]	PUNCT
fuelectenerg-2314	161	4	k.	k.	PROPN
fuelectenerg-2314	161	5	koganezawa	koganezawa	PROPN
fuelectenerg-2314	161	6	,	,	PUNCT
fuelectenerg-2314	161	7	y.	y.	PROPN
fuelectenerg-2314	161	8	watanabe	watanabe	PROPN
fuelectenerg-2314	161	9	,	,	PUNCT
fuelectenerg-2314	161	10	n.	n.	PROPN
fuelectenerg-2314	161	11	shimizu	shimizu	PROPN
fuelectenerg-2314	161	12	,	,	PUNCT
fuelectenerg-2314	161	13	"	"	PUNCT
fuelectenerg-2314	161	14	stiffness	stiffness	NOUN
fuelectenerg-2314	161	15	and	and	CCONJ
fuelectenerg-2314	161	16	angle	angle	NOUN
fuelectenerg-2314	161	17	control	control	NOUN
fuelectenerg-2314	161	18	of	of	ADP
fuelectenerg-2314	161	19	antagonistically	antagonistically	ADV
fuelectenerg-2314	161	20	driven	drive	VERB
fuelectenerg-2314	161	21	joint	joint	NOUN
fuelectenerg-2314	161	22	"	"	PUNCT
fuelectenerg-2314	161	23	,	,	PUNCT
fuelectenerg-2314	161	24	advanced	advanced	ADJ
fuelectenerg-2314	161	25	robotics	robotic	NOUN
fuelectenerg-2314	161	26	,	,	PUNCT
fuelectenerg-2314	161	27	vol	vol	NOUN
fuelectenerg-2314	161	28	.	.	PROPN
fuelectenerg-2314	161	29	12	12	NUM
fuelectenerg-2314	161	30	,	,	PUNCT
fuelectenerg-2314	161	31	no	no	INTJ
fuelectenerg-2314	161	32	.	.	NOUN
fuelectenerg-2314	161	33	7	7	NUM
fuelectenerg-2314	161	34	-	-	SYM
fuelectenerg-2314	161	35	8	8	NUM
fuelectenerg-2314	161	36	,	,	PUNCT
fuelectenerg-2314	161	37	pp	pp	ADJ
fuelectenerg-2314	161	38	.	.	PUNCT
fuelectenerg-2314	162	1	81	81	NUM
fuelectenerg-2314	162	2	-	-	SYM
fuelectenerg-2314	162	3	94	94	NUM
fuelectenerg-2314	162	4	,	,	PUNCT
fuelectenerg-2314	162	5	1997	1997	NUM
fuelectenerg-2314	162	6	.	.	PUNCT
fuelectenerg-2314	163	1	[	[	X
fuelectenerg-2314	163	2	16	16	NUM
fuelectenerg-2314	163	3	]	]	X
fuelectenerg-2314	163	4	c.	c.	PROPN
fuelectenerg-2314	163	5	english	english	PROPN
fuelectenerg-2314	163	6	,	,	PUNCT
fuelectenerg-2314	163	7	d.	d.	PROPN
fuelectenerg-2314	163	8	russell	russell	PROPN
fuelectenerg-2314	163	9	,	,	PUNCT
fuelectenerg-2314	163	10	"	"	PUNCT
fuelectenerg-2314	163	11	implementation	implementation	NOUN
fuelectenerg-2314	163	12	of	of	ADP
fuelectenerg-2314	163	13	variable	variable	ADJ
fuelectenerg-2314	163	14	joint	joint	ADJ
fuelectenerg-2314	163	15	stiffness	stiffness	NOUN
fuelectenerg-2314	163	16	through	through	ADP
fuelectenerg-2314	163	17	antagonistic	antagonistic	ADJ
fuelectenerg-2314	163	18	actuation	actuation	NOUN
fuelectenerg-2314	163	19	using	use	VERB
fuelectenerg-2314	163	20	rolamite	rolamite	PROPN
fuelectenerg-2314	163	21	springs	spring	NOUN
fuelectenerg-2314	163	22	"	"	PUNCT
fuelectenerg-2314	163	23	,	,	PUNCT
fuelectenerg-2314	163	24	mechanism	mechanism	NOUN
fuelectenerg-2314	163	25	and	and	CCONJ
fuelectenerg-2314	163	26	machine	machine	NOUN
fuelectenerg-2314	163	27	theory	theory	NOUN
fuelectenerg-2314	163	28	,	,	PUNCT
fuelectenerg-2314	163	29	vol	vol	NOUN
fuelectenerg-2314	163	30	.	.	PROPN
fuelectenerg-2314	163	31	34	34	NUM
fuelectenerg-2314	163	32	,	,	PUNCT
fuelectenerg-2314	163	33	no	no	INTJ
fuelectenerg-2314	163	34	.	.	NOUN
fuelectenerg-2314	163	35	1	1	NUM
fuelectenerg-2314	163	36	,	,	PUNCT
fuelectenerg-2314	163	37	pp	pp	ADJ
fuelectenerg-2314	163	38	.	.	PUNCT
fuelectenerg-2314	164	1	27	27	NUM
fuelectenerg-2314	164	2	-	-	SYM
fuelectenerg-2314	164	3	40	40	NUM
fuelectenerg-2314	164	4	,	,	PUNCT
fuelectenerg-2314	164	5	1999	1999	NUM
fuelectenerg-2314	164	6	.	.	PUNCT
fuelectenerg-2314	165	1	[	[	X
fuelectenerg-2314	165	2	17	17	NUM
fuelectenerg-2314	165	3	]	]	X
fuelectenerg-2314	165	4	s.	s.	PROPN
fuelectenerg-2314	165	5	migliore	migliore	PROPN
fuelectenerg-2314	165	6	,	,	PUNCT
fuelectenerg-2314	165	7	e.	e.	PROPN
fuelectenerg-2314	165	8	brown	brown	PROPN
fuelectenerg-2314	165	9	,	,	PUNCT
fuelectenerg-2314	165	10	s.	s.	PROPN
fuelectenerg-2314	165	11	deweerth	deweerth	PROPN
fuelectenerg-2314	165	12	,	,	PUNCT
fuelectenerg-2314	165	13	"	"	PUNCT
fuelectenerg-2314	165	14	biologically	biologically	ADV
fuelectenerg-2314	165	15	inspired	inspire	VERB
fuelectenerg-2314	165	16	joint	joint	ADJ
fuelectenerg-2314	165	17	stiffness	stiffness	NOUN
fuelectenerg-2314	165	18	control	control	NOUN
fuelectenerg-2314	165	19	"	"	PUNCT
fuelectenerg-2314	165	20	,	,	PUNCT
fuelectenerg-2314	165	21	in	in	ADP
fuelectenerg-2314	165	22	proceedings	proceeding	NOUN
fuelectenerg-2314	165	23	of	of	ADP
fuelectenerg-2314	165	24	ieee	ieee	PROPN
fuelectenerg-2314	165	25	international	international	ADJ
fuelectenerg-2314	165	26	conference	conference	NOUN
fuelectenerg-2314	165	27	on	on	ADP
fuelectenerg-2314	165	28	robotics	robotic	NOUN
fuelectenerg-2314	165	29	and	and	CCONJ
fuelectenerg-2314	165	30	automation	automation	NOUN
fuelectenerg-2314	165	31	(	(	PUNCT
fuelectenerg-2314	165	32	icra	icra	PROPN
fuelectenerg-2314	165	33	’	'	PUNCT
fuelectenerg-2314	165	34	05	05	NUM
fuelectenerg-2314	165	35	)	)	PUNCT
fuelectenerg-2314	165	36	,	,	PUNCT
fuelectenerg-2314	165	37	18	18	NUM
fuelectenerg-2314	165	38	-	-	SYM
fuelectenerg-2314	165	39	22	22	NUM
fuelectenerg-2314	165	40	april	april	PROPN
fuelectenerg-2314	165	41	2005	2005	NUM
fuelectenerg-2314	165	42	,	,	PUNCT
fuelectenerg-2314	165	43	pp	pp	ADP
fuelectenerg-2314	165	44	.	.	PUNCT
fuelectenerg-2314	166	1	4508	4508	NUM
fuelectenerg-2314	166	2	-	-	SYM
fuelectenerg-2314	166	3	4513	4513	NUM
fuelectenerg-2314	166	4	.	.	PUNCT
fuelectenerg-2314	167	1	[	[	X
fuelectenerg-2314	167	2	18	18	NUM
fuelectenerg-2314	167	3	]	]	PUNCT
fuelectenerg-2314	167	4	j.	j.	PROPN
fuelectenerg-2314	167	5	hurst	hurst	PROPN
fuelectenerg-2314	167	6	,	,	PUNCT
fuelectenerg-2314	167	7	j.	j.	PROPN
fuelectenerg-2314	167	8	chestnutt	chestnutt	PROPN
fuelectenerg-2314	167	9	,	,	PUNCT
fuelectenerg-2314	167	10	a.	a.	PROPN
fuelectenerg-2314	167	11	rizzi	rizzi	PROPN
fuelectenerg-2314	167	12	,	,	PUNCT
fuelectenerg-2314	167	13	"	"	PUNCT
fuelectenerg-2314	167	14	an	an	DET
fuelectenerg-2314	167	15	actuator	actuator	NOUN
fuelectenerg-2314	167	16	with	with	ADP
fuelectenerg-2314	167	17	physically	physically	ADV
fuelectenerg-2314	167	18	variable	variable	ADJ
fuelectenerg-2314	167	19	stiffness	stiffness	NOUN
fuelectenerg-2314	167	20	for	for	ADP
fuelectenerg-2314	167	21	highly	highly	ADV
fuelectenerg-2314	167	22	dynamic	dynamic	ADJ
fuelectenerg-2314	167	23	legged	legged	ADJ
fuelectenerg-2314	167	24	locomotion	locomotion	NOUN
fuelectenerg-2314	167	25	"	"	PUNCT
fuelectenerg-2314	167	26	,	,	PUNCT
fuelectenerg-2314	167	27	in	in	ADP
fuelectenerg-2314	167	28	proceedings	proceeding	NOUN
fuelectenerg-2314	167	29	of	of	ADP
fuelectenerg-2314	167	30	ieee	ieee	PROPN
fuelectenerg-2314	167	31	international	international	ADJ
fuelectenerg-2314	167	32	conference	conference	NOUN
fuelectenerg-2314	167	33	on	on	ADP
fuelectenerg-2314	167	34	robotics	robotic	NOUN
fuelectenerg-2314	167	35	and	and	CCONJ
fuelectenerg-2314	167	36	automation	automation	NOUN
fuelectenerg-2314	167	37	(	(	PUNCT
fuelectenerg-2314	167	38	icra	icra	PROPN
fuelectenerg-2314	167	39	2004	2004	NUM
fuelectenerg-2314	167	40	)	)	PUNCT
fuelectenerg-2314	167	41	,	,	PUNCT
fuelectenerg-2314	167	42	new	new	PROPN
fuelectenerg-2314	167	43	orleans	orleans	PROPN
fuelectenerg-2314	167	44	,	,	PUNCT
fuelectenerg-2314	167	45	la	la	PROPN
fuelectenerg-2314	167	46	,	,	PUNCT
fuelectenerg-2314	167	47	usa	usa	PROPN
fuelectenerg-2314	167	48	,	,	PUNCT
fuelectenerg-2314	167	49	26	26	NUM
fuelectenerg-2314	167	50	april-1	april-1	NUM
fuelectenerg-2314	167	51	may	may	PROPN
fuelectenerg-2314	167	52	2004	2004	NUM
fuelectenerg-2314	167	53	,	,	PUNCT
fuelectenerg-2314	167	54	pp	pp	ADP
fuelectenerg-2314	167	55	.	.	PUNCT
fuelectenerg-2314	167	56	4662	4662	NUM
fuelectenerg-2314	167	57	-	-	SYM
fuelectenerg-2314	167	58	4667	4667	NUM
fuelectenerg-2314	167	59	.	.	PUNCT
fuelectenerg-2314	168	1	[	[	X
fuelectenerg-2314	168	2	19	19	NUM
fuelectenerg-2314	168	3	]	]	X
fuelectenerg-2314	168	4	g.	g.	PROPN
fuelectenerg-2314	168	5	tonietti	tonietti	PROPN
fuelectenerg-2314	168	6	,	,	PUNCT
fuelectenerg-2314	168	7	r.	r.	PROPN
fuelectenerg-2314	168	8	schiavi	schiavi	PROPN
fuelectenerg-2314	168	9	,	,	PUNCT
fuelectenerg-2314	168	10	a.	a.	PROPN
fuelectenerg-2314	168	11	bicchi	bicchi	ADV
fuelectenerg-2314	168	12	,	,	PUNCT
fuelectenerg-2314	168	13	"	"	PUNCT
fuelectenerg-2314	168	14	design	design	NOUN
fuelectenerg-2314	168	15	and	and	CCONJ
fuelectenerg-2314	168	16	control	control	NOUN
fuelectenerg-2314	168	17	of	of	ADP
fuelectenerg-2314	168	18	a	a	DET
fuelectenerg-2314	168	19	variable	variable	ADJ
fuelectenerg-2314	168	20	stiffness	stiffness	NOUN
fuelectenerg-2314	168	21	actuator	actuator	NOUN
fuelectenerg-2314	168	22	for	for	ADP
fuelectenerg-2314	168	23	safe	safe	ADJ
fuelectenerg-2314	168	24	and	and	CCONJ
fuelectenerg-2314	168	25	fast	fast	ADJ
fuelectenerg-2314	168	26	physical	physical	ADJ
fuelectenerg-2314	168	27	human	human	ADJ
fuelectenerg-2314	168	28	/	/	SYM
fuelectenerg-2314	168	29	robot	robot	NOUN
fuelectenerg-2314	168	30	interaction	interaction	NOUN
fuelectenerg-2314	168	31	"	"	PUNCT
fuelectenerg-2314	168	32	,	,	PUNCT
fuelectenerg-2314	168	33	in	in	ADP
fuelectenerg-2314	168	34	proceedings	proceeding	NOUN
fuelectenerg-2314	168	35	of	of	ADP
fuelectenerg-2314	168	36	ieee	ieee	PROPN
fuelectenerg-2314	168	37	international	international	ADJ
fuelectenerg-2314	168	38	conference	conference	NOUN
fuelectenerg-2314	168	39	on	on	ADP
fuelectenerg-2314	168	40	robotics	robotic	NOUN
fuelectenerg-2314	168	41	and	and	CCONJ
fuelectenerg-2314	168	42	automation	automation	NOUN
fuelectenerg-2314	168	43	(	(	PUNCT
fuelectenerg-2314	168	44	icra	icra	PROPN
fuelectenerg-2314	168	45	2005	2005	NUM
fuelectenerg-2314	168	46	)	)	PUNCT
fuelectenerg-2314	168	47	,	,	PUNCT
fuelectenerg-2314	168	48	barcelona	barcelona	PROPN
fuelectenerg-2314	168	49	,	,	PUNCT
fuelectenerg-2314	168	50	spain	spain	PROPN
fuelectenerg-2314	168	51	,	,	PUNCT
fuelectenerg-2314	168	52	18	18	NUM
fuelectenerg-2314	168	53	-	-	SYM
fuelectenerg-2314	168	54	22	22	NUM
fuelectenerg-2314	168	55	april	april	PROPN
fuelectenerg-2314	168	56	2005	2005	NUM
fuelectenerg-2314	168	57	.	.	PUNCT
fuelectenerg-2314	169	1	pp	pp	ADV
fuelectenerg-2314	169	2	.	.	PUNCT
fuelectenerg-2314	170	1	526	526	NUM
fuelectenerg-2314	170	2	-	-	SYM
fuelectenerg-2314	170	3	531	531	NUM
fuelectenerg-2314	170	4	.	.	PUNCT
fuelectenerg-2314	171	1	[	[	X
fuelectenerg-2314	171	2	20	20	NUM
fuelectenerg-2314	171	3	]	]	PUNCT
fuelectenerg-2314	171	4	m.	m.	PROPN
fuelectenerg-2314	171	5	catalano	catalano	PROPN
fuelectenerg-2314	171	6	,	,	PUNCT
fuelectenerg-2314	171	7	g.	g.	PROPN
fuelectenerg-2314	171	8	grioli	grioli	PROPN
fuelectenerg-2314	171	9	,	,	PUNCT
fuelectenerg-2314	171	10	m.	m.	PROPN
fuelectenerg-2314	171	11	garabini	garabini	PROPN
fuelectenerg-2314	171	12	,	,	PUNCT
fuelectenerg-2314	171	13	f.	f.	PROPN
fuelectenerg-2314	171	14	bonomo	bonomo	PROPN
fuelectenerg-2314	171	15	,	,	PUNCT
fuelectenerg-2314	171	16	m.	m.	NOUN
fuelectenerg-2314	171	17	mancini	mancini	PROPN
fuelectenerg-2314	171	18	,	,	PUNCT
fuelectenerg-2314	171	19	n.	n.	PROPN
fuelectenerg-2314	171	20	tsagarakis	tsagaraki	NOUN
fuelectenerg-2314	171	21	and	and	CCONJ
fuelectenerg-2314	171	22	a.	a.	NOUN
fuelectenerg-2314	171	23	bicchi	bicchi	ADV
fuelectenerg-2314	171	24	,	,	PUNCT
fuelectenerg-2314	171	25	“	"	PUNCT
fuelectenerg-2314	171	26	vsa	vsa	NOUN
fuelectenerg-2314	171	27	-	-	PUNCT
fuelectenerg-2314	171	28	cubebot	cubebot	NOUN
fuelectenerg-2314	171	29	:	:	PUNCT
fuelectenerg-2314	171	30	a	a	DET
fuelectenerg-2314	171	31	modular	modular	ADJ
fuelectenerg-2314	171	32	variable	variable	ADJ
fuelectenerg-2314	171	33	stiffness	stiffness	NOUN
fuelectenerg-2314	171	34	platform	platform	NOUN
fuelectenerg-2314	171	35	for	for	ADP
fuelectenerg-2314	171	36	multiple	multiple	ADJ
fuelectenerg-2314	171	37	degrees	degree	NOUN
fuelectenerg-2314	171	38	of	of	ADP
fuelectenerg-2314	171	39	freedom	freedom	NOUN
fuelectenerg-2314	171	40	robots	robot	NOUN
fuelectenerg-2314	171	41	”	"	PUNCT
fuelectenerg-2314	171	42	,	,	PUNCT
fuelectenerg-2314	171	43	in	in	ADP
fuelectenerg-2314	171	44	proceedings	proceeding	NOUN
fuelectenerg-2314	171	45	of	of	ADP
fuelectenerg-2314	171	46	ieee	ieee	PROPN
fuelectenerg-2314	171	47	international	international	ADJ
fuelectenerg-2314	171	48	conference	conference	NOUN
fuelectenerg-2314	171	49	on	on	ADP
fuelectenerg-2314	171	50	robotics	robotic	NOUN
fuelectenerg-2314	171	51	and	and	CCONJ
fuelectenerg-2314	171	52	automation	automation	NOUN
fuelectenerg-2314	171	53	(	(	PUNCT
fuelectenerg-2314	171	54	icra	icra	PROPN
fuelectenerg-2314	171	55	’	'	PUNCT
fuelectenerg-2314	171	56	11	11	NUM
fuelectenerg-2314	171	57	)	)	PUNCT
fuelectenerg-2314	171	58	,	,	PUNCT
fuelectenerg-2314	171	59	9	9	NUM
fuelectenerg-2314	171	60	-	-	SYM
fuelectenerg-2314	171	61	13	13	NUM
fuelectenerg-2314	171	62	may	may	PROPN
fuelectenerg-2314	171	63	2011	2011	NUM
fuelectenerg-2314	171	64	.	.	PUNCT
fuelectenerg-2314	172	1	pp	pp	X
fuelectenerg-2314	172	2	.	.	PUNCT
fuelectenerg-2314	173	1	5090	5090	NUM
fuelectenerg-2314	173	2	5095	5095	NUM
fuelectenerg-2314	173	3	.	.	PUNCT
fuelectenerg-2314	174	1	[	[	X
fuelectenerg-2314	174	2	21	21	NUM
fuelectenerg-2314	174	3	]	]	X
fuelectenerg-2314	174	4	natural	natural	ADJ
fuelectenerg-2314	174	5	motion	motion	NOUN
fuelectenerg-2314	174	6	machine	machine	NOUN
fuelectenerg-2314	174	7	initiative	initiative	NOUN
fuelectenerg-2314	174	8	(	(	PUNCT
fuelectenerg-2314	174	9	nmmi	nmmi	PROPN
fuelectenerg-2314	174	10	)	)	PUNCT
fuelectenerg-2314	175	1	[	[	X
fuelectenerg-2314	175	2	qbmove	qbmove	NOUN
fuelectenerg-2314	175	3	maker	maker	NOUN
fuelectenerg-2314	175	4	pro	pro	ADJ
fuelectenerg-2314	175	5	assembly	assembly	NOUN
fuelectenerg-2314	175	6	guide	guide	NOUN
fuelectenerg-2314	175	7	]	]	PUNCT
fuelectenerg-2314	175	8	,	,	PUNCT
fuelectenerg-2314	175	9	last	last	ADV
fuelectenerg-2314	175	10	accessed	access	VERB
fuelectenerg-2314	175	11	november	november	PROPN
fuelectenerg-2314	175	12	13th	13th	NOUN
fuelectenerg-2314	175	13	,	,	PUNCT
fuelectenerg-2314	175	14	2016	2016	NUM
fuelectenerg-2314	175	15	–	–	PUNCT
fuelectenerg-2314	175	16	https://sourceforge.net/projects/nmmiwebsite/files/qbmovev01/assembly%20guide%20v01.pdf/	https://sourceforge.net/projects/nmmiwebsite/files/qbmovev01/assembly%20guide%20v01.pdf/	NOUN
fuelectenerg-2314	175	17	download	download	NOUN
fuelectenerg-2314	176	1	[	[	X
fuelectenerg-2314	176	2	22	22	NUM
fuelectenerg-2314	176	3	]	]	PUNCT
fuelectenerg-2314	176	4	k.	k.	PROPN
fuelectenerg-2314	176	5	melo	melo	PROPN
fuelectenerg-2314	176	6	,	,	PUNCT
fuelectenerg-2314	176	7	m.	m.	PROPN
fuelectenerg-2314	176	8	garabini	garabini	PROPN
fuelectenerg-2314	176	9	,	,	PUNCT
fuelectenerg-2314	176	10	g.	g.	PROPN
fuelectenerg-2314	176	11	grioli	grioli	PROPN
fuelectenerg-2314	176	12	,	,	PUNCT
fuelectenerg-2314	176	13	m.	m.	PROPN
fuelectenerg-2314	176	14	catalano	catalano	PROPN
fuelectenerg-2314	176	15	,	,	PUNCT
fuelectenerg-2314	176	16	l.	l.	PROPN
fuelectenerg-2314	176	17	malagia	malagia	PROPN
fuelectenerg-2314	176	18	,	,	PUNCT
fuelectenerg-2314	176	19	a.	a.	PROPN
fuelectenerg-2314	176	20	bicchi	bicchi	ADV
fuelectenerg-2314	176	21	,	,	PUNCT
fuelectenerg-2314	176	22	“	"	PUNCT
fuelectenerg-2314	176	23	open	open	ADJ
fuelectenerg-2314	176	24	source	source	NOUN
fuelectenerg-2314	176	25	vsa	vsa	NOUN
fuelectenerg-2314	176	26	-	-	PUNCT
fuelectenerg-2314	176	27	cubebots	cubebot	NOUN
fuelectenerg-2314	176	28	for	for	ADP
fuelectenerg-2314	176	29	rapid	rapid	ADJ
fuelectenerg-2314	176	30	soft	soft	ADJ
fuelectenerg-2314	176	31	robot	robot	NOUN
fuelectenerg-2314	176	32	prototyping	prototyping	NOUN
fuelectenerg-2314	176	33	”	"	PUNCT
fuelectenerg-2314	176	34	,	,	PUNCT
fuelectenerg-2314	176	35	robot	robot	NOUN
fuelectenerg-2314	176	36	makers	maker	NOUN
fuelectenerg-2314	176	37	workshop	workshop	VERB
fuelectenerg-2314	176	38	in	in	ADP
fuelectenerg-2314	176	39	conjunction	conjunction	NOUN
fuelectenerg-2314	176	40	with	with	ADP
fuelectenerg-2314	176	41	2014	2014	NUM
fuelectenerg-2314	176	42	robotics	robotic	NOUN
fuelectenerg-2314	176	43	science	science	NOUN
fuelectenerg-2314	176	44	and	and	CCONJ
fuelectenerg-2314	176	45	systems	system	NOUN
fuelectenerg-2314	176	46	conference	conference	NOUN
fuelectenerg-2314	176	47	,	,	PUNCT
fuelectenerg-2314	176	48	berkeley	berkeley	PROPN
fuelectenerg-2314	176	49	,	,	PUNCT
fuelectenerg-2314	176	50	california	california	PROPN
fuelectenerg-2314	176	51	,	,	PUNCT
fuelectenerg-2314	176	52	usa	usa	PROPN
fuelectenerg-2314	176	53	,	,	PUNCT
fuelectenerg-2314	176	54	july	july	PROPN
fuelectenerg-2314	176	55	12	12	NUM
fuelectenerg-2314	176	56	,	,	PUNCT
fuelectenerg-2314	176	57	2014	2014	NUM
fuelectenerg-2314	176	58	.	.	PUNCT
fuelectenerg-2314	177	1	[	[	X
fuelectenerg-2314	177	2	23	23	NUM
fuelectenerg-2314	177	3	]	]	PUNCT
fuelectenerg-2314	177	4	h.	h.	PROPN
fuelectenerg-2314	177	5	k	k	PROPN
fuelectenerg-2314	177	6	khalil	khalil	PROPN
fuelectenerg-2314	177	7	,	,	PUNCT
fuelectenerg-2314	177	8	"	"	PUNCT
fuelectenerg-2314	177	9	chapter	chapter	NOUN
fuelectenerg-2314	177	10	13	13	NUM
fuelectenerg-2314	177	11	:	:	PUNCT
fuelectenerg-2314	177	12	state	state	NOUN
fuelectenerg-2314	177	13	feedback	feedback	NOUN
fuelectenerg-2314	177	14	stabilization	stabilization	NOUN
fuelectenerg-2314	177	15	,	,	PUNCT
fuelectenerg-2314	177	16	"	"	PUNCT
fuelectenerg-2314	177	17	in	in	ADP
fuelectenerg-2314	177	18	nonlinear	nonlinear	ADJ
fuelectenerg-2314	177	19	systems	system	NOUN
fuelectenerg-2314	177	20	,	,	PUNCT
fuelectenerg-2314	177	21	3rd	3rd	ADJ
fuelectenerg-2314	177	22	edition	edition	NOUN
fuelectenerg-2314	177	23	,	,	PUNCT
fuelectenerg-2314	177	24	upper	upper	ADJ
fuelectenerg-2314	177	25	saddle	saddle	NOUN
fuelectenerg-2314	177	26	river	river	NOUN
fuelectenerg-2314	177	27	,	,	PUNCT
fuelectenerg-2314	177	28	new	new	PROPN
fuelectenerg-2314	177	29	jersey	jersey	PROPN
fuelectenerg-2314	177	30	,	,	PUNCT
fuelectenerg-2314	177	31	usa	usa	PROPN
fuelectenerg-2314	177	32	,	,	PUNCT
fuelectenerg-2314	177	33	prentice	prentice	NOUN
fuelectenerg-2314	177	34	hall	hall	PROPN
fuelectenerg-2314	177	35	,	,	PUNCT
fuelectenerg-2314	177	36	2002	2002	NUM
fuelectenerg-2314	177	37	,	,	PUNCT
fuelectenerg-2314	177	38	pp	pp	ADJ
fuelectenerg-2314	177	39	.	.	PUNCT
fuelectenerg-2314	177	40	197	197	NUM
fuelectenerg-2314	177	41	-	-	SYM
fuelectenerg-2314	177	42	227	227	NUM
fuelectenerg-2314	177	43	.	.	PUNCT
fuelectenerg-2314	178	1	[	[	X
fuelectenerg-2314	178	2	24	24	NUM
fuelectenerg-2314	178	3	]	]	X
fuelectenerg-2314	178	4	g.	g.	PROPN
fuelectenerg-2314	178	5	palli	palli	PROPN
fuelectenerg-2314	178	6	,	,	PUNCT
fuelectenerg-2314	178	7	c.	c.	PROPN
fuelectenerg-2314	178	8	melchiorri	melchiorri	PROPN
fuelectenerg-2314	178	9	,	,	PUNCT
fuelectenerg-2314	178	10	a.	a.	PROPN
fuelectenerg-2314	178	11	de	de	X
fuelectenerg-2314	178	12	luca	luca	PROPN
fuelectenerg-2314	178	13	,	,	PUNCT
fuelectenerg-2314	178	14	"	"	PUNCT
fuelectenerg-2314	178	15	on	on	ADP
fuelectenerg-2314	178	16	the	the	DET
fuelectenerg-2314	178	17	feedback	feedback	NOUN
fuelectenerg-2314	178	18	linearization	linearization	NOUN
fuelectenerg-2314	178	19	of	of	ADP
fuelectenerg-2314	178	20	robots	robot	NOUN
fuelectenerg-2314	178	21	with	with	ADP
fuelectenerg-2314	178	22	variable	variable	ADJ
fuelectenerg-2314	178	23	joint	joint	ADJ
fuelectenerg-2314	178	24	stiffness	stiffness	NOUN
fuelectenerg-2314	178	25	"	"	PUNCT
fuelectenerg-2314	178	26	,	,	PUNCT
fuelectenerg-2314	178	27	in	in	ADP
fuelectenerg-2314	178	28	proceedings	proceeding	NOUN
fuelectenerg-2314	178	29	of	of	ADP
fuelectenerg-2314	178	30	ieee	ieee	PROPN
fuelectenerg-2314	178	31	international	international	ADJ
fuelectenerg-2314	178	32	conference	conference	NOUN
fuelectenerg-2314	178	33	on	on	ADP
fuelectenerg-2314	178	34	robotics	robotic	NOUN
fuelectenerg-2314	178	35	and	and	CCONJ
fuelectenerg-2314	178	36	automation	automation	NOUN
fuelectenerg-2314	178	37	(	(	PUNCT
fuelectenerg-2314	178	38	icra	icra	PROPN
fuelectenerg-2314	178	39	2008	2008	NUM
fuelectenerg-2314	178	40	)	)	PUNCT
fuelectenerg-2314	178	41	,	,	PUNCT
fuelectenerg-2314	178	42	pasadena	pasadena	PROPN
fuelectenerg-2314	178	43	,	,	PUNCT
fuelectenerg-2314	178	44	ca	ca	PROPN
fuelectenerg-2314	178	45	,	,	PUNCT
fuelectenerg-2314	178	46	usa	usa	PROPN
fuelectenerg-2314	178	47	,	,	PUNCT
fuelectenerg-2314	178	48	19	19	NUM
fuelectenerg-2314	178	49	-	-	SYM
fuelectenerg-2314	178	50	23	23	NUM
fuelectenerg-2314	178	51	may	may	PROPN
fuelectenerg-2314	178	52	2008	2008	NUM
fuelectenerg-2314	178	53	.	.	PUNCT
fuelectenerg-2314	179	1	pp	pp	ADJ
fuelectenerg-2314	179	2	.	.	PUNCT
fuelectenerg-2314	180	1	1753	1753	NUM
fuelectenerg-2314	180	2	-	-	SYM
fuelectenerg-2314	180	3	1759	1759	NUM
fuelectenerg-2314	180	4	.	.	PUNCT
fuelectenerg-2314	181	1	[	[	X
fuelectenerg-2314	181	2	25	25	NUM
fuelectenerg-2314	181	3	]	]	X
fuelectenerg-2314	181	4	g.	g.	PROPN
fuelectenerg-2314	181	5	palli	palli	PROPN
fuelectenerg-2314	181	6	,	,	PUNCT
fuelectenerg-2314	181	7	c.	c.	PROPN
fuelectenerg-2314	181	8	melchiorri	melchiorri	PROPN
fuelectenerg-2314	181	9	,	,	PUNCT
fuelectenerg-2314	181	10	t.	t.	PROPN
fuelectenerg-2314	181	11	wimböck	wimböck	NOUN
fuelectenerg-2314	181	12	,	,	PUNCT
fuelectenerg-2314	181	13	m.	m.	NOUN
fuelectenerg-2314	181	14	grebenstein	grebenstein	PROPN
fuelectenerg-2314	181	15	,	,	PUNCT
fuelectenerg-2314	181	16	g.	g.	PROPN
fuelectenerg-2314	181	17	hirzinger	hirzinger	PROPN
fuelectenerg-2314	181	18	,	,	PUNCT
fuelectenerg-2314	181	19	"	"	PUNCT
fuelectenerg-2314	181	20	feedback	feedback	NOUN
fuelectenerg-2314	181	21	linearization	linearization	NOUN
fuelectenerg-2314	181	22	and	and	CCONJ
fuelectenerg-2314	181	23	simultaneous	simultaneous	ADJ
fuelectenerg-2314	181	24	stiffness	stiffness	NOUN
fuelectenerg-2314	181	25	-	-	PUNCT
fuelectenerg-2314	181	26	position	position	NOUN
fuelectenerg-2314	181	27	control	control	NOUN
fuelectenerg-2314	181	28	of	of	ADP
fuelectenerg-2314	181	29	robots	robot	NOUN
fuelectenerg-2314	181	30	with	with	ADP
fuelectenerg-2314	181	31	antagonistic	antagonistic	ADJ
fuelectenerg-2314	181	32	actuated	actuate	VERB
fuelectenerg-2314	181	33	joints	joint	NOUN
fuelectenerg-2314	181	34	"	"	PUNCT
fuelectenerg-2314	181	35	,	,	PUNCT
fuelectenerg-2314	181	36	in	in	ADP
fuelectenerg-2314	181	37	proceedings	proceeding	NOUN
fuelectenerg-2314	181	38	of	of	ADP
fuelectenerg-2314	181	39	ieee	ieee	PROPN
fuelectenerg-2314	181	40	international	international	ADJ
fuelectenerg-2314	181	41	conference	conference	NOUN
fuelectenerg-2314	181	42	on	on	ADP
fuelectenerg-2314	181	43	robotics	robotic	NOUN
fuelectenerg-2314	181	44	and	and	CCONJ
fuelectenerg-2314	181	45	automation	automation	NOUN
fuelectenerg-2314	181	46	(	(	PUNCT
fuelectenerg-2314	181	47	icra	icra	PROPN
fuelectenerg-2314	181	48	'	'	NUM
fuelectenerg-2314	181	49	07	07	NUM
fuelectenerg-2314	181	50	)	)	PUNCT
fuelectenerg-2314	181	51	,	,	PUNCT
fuelectenerg-2314	181	52	rome	rome	PROPN
fuelectenerg-2314	181	53	,	,	PUNCT
fuelectenerg-2314	181	54	italy	italy	PROPN
fuelectenerg-2314	181	55	,	,	PUNCT
fuelectenerg-2314	181	56	10	10	NUM
fuelectenerg-2314	181	57	-	-	SYM
fuelectenerg-2314	181	58	14	14	NUM
fuelectenerg-2314	181	59	april	april	PROPN
fuelectenerg-2314	181	60	2007	2007	NUM
fuelectenerg-2314	181	61	.	.	PUNCT
fuelectenerg-2314	182	1	pp	pp	ADJ
fuelectenerg-2314	182	2	.	.	PUNCT
fuelectenerg-2314	183	1	4367	4367	NUM
fuelectenerg-2314	183	2	-	-	SYM
fuelectenerg-2314	183	3	4372	4372	NUM
fuelectenerg-2314	183	4	.	.	PUNCT
fuelectenerg-2314	184	1	[	[	X
fuelectenerg-2314	184	2	26	26	NUM
fuelectenerg-2314	184	3	]	]	X
fuelectenerg-2314	184	4	b.	b.	PROPN
fuelectenerg-2314	184	5	lukić	lukić	PROPN
fuelectenerg-2314	184	6	,	,	PUNCT
fuelectenerg-2314	184	7	k.	k.	PROPN
fuelectenerg-2314	184	8	jovanović	jovanović	PROPN
fuelectenerg-2314	184	9	,	,	PUNCT
fuelectenerg-2314	184	10	a	a	PRON
fuelectenerg-2314	184	11	,	,	PUNCT
fuelectenerg-2314	184	12	rakić	rakić	ADJ
fuelectenerg-2314	184	13	,	,	PUNCT
fuelectenerg-2314	184	14	“	"	PUNCT
fuelectenerg-2314	184	15	realization	realization	NOUN
fuelectenerg-2314	184	16	and	and	CCONJ
fuelectenerg-2314	184	17	comparative	comparative	ADJ
fuelectenerg-2314	184	18	analysis	analysis	NOUN
fuelectenerg-2314	184	19	of	of	ADP
fuelectenerg-2314	184	20	coupled	couple	VERB
fuelectenerg-2314	184	21	and	and	CCONJ
fuelectenerg-2314	184	22	decoupled	decouple	VERB
fuelectenerg-2314	184	23	control	control	NOUN
fuelectenerg-2314	184	24	methods	method	NOUN
fuelectenerg-2314	184	25	for	for	ADP
fuelectenerg-2314	184	26	bidirectional	bidirectional	ADJ
fuelectenerg-2314	184	27	antagonistic	antagonistic	ADJ
fuelectenerg-2314	184	28	drives	drive	NOUN
fuelectenerg-2314	184	29	:	:	PUNCT
fuelectenerg-2314	184	30	qbmove	qbmove	NOUN
fuelectenerg-2314	184	31	maker	maker	NOUN
fuelectenerg-2314	184	32	pro	pro	ADJ
fuelectenerg-2314	184	33	,	,	PUNCT
fuelectenerg-2314	184	34	”	"	PUNCT
fuelectenerg-2314	184	35	presentedat	presentedat	VERB
fuelectenerg-2314	184	36	the	the	DET
fuelectenerg-2314	184	37	3rd	3rd	ADJ
fuelectenerg-2314	184	38	international	international	ADJ
fuelectenerg-2314	184	39	conference	conference	NOUN
fuelectenerg-2314	184	40	on	on	ADP
fuelectenerg-2314	184	41	electrical	electrical	ADJ
fuelectenerg-2314	184	42	,	,	PUNCT
fuelectenerg-2314	184	43	electronic	electronic	ADJ
fuelectenerg-2314	184	44	and	and	CCONJ
fuelectenerg-2314	184	45	computing	compute	VERB
fuelectenerg-2314	184	46	engineering	engineering	NOUN
fuelectenerg-2314	184	47	(	(	PUNCT
fuelectenerg-2314	184	48	icetran	icetran	NOUN
fuelectenerg-2314	184	49	2016	2016	NUM
fuelectenerg-2314	184	50	)	)	PUNCT
fuelectenerg-2314	184	51	,	,	PUNCT
fuelectenerg-2314	184	52	zlatibor	zlatibor	NOUN
fuelectenerg-2314	184	53	,	,	PUNCT
fuelectenerg-2314	184	54	serbia	serbia	PROPN
fuelectenerg-2314	184	55	,	,	PUNCT
fuelectenerg-2314	184	56	jun	jun	PROPN
fuelectenerg-2314	184	57	13	13	NUM
fuelectenerg-2314	184	58	-	-	SYM
fuelectenerg-2314	184	59	16	16	NUM
fuelectenerg-2314	184	60	,	,	PUNCT
fuelectenerg-2314	184	61	2016	2016	NUM
fuelectenerg-2314	184	62	.	.	PUNCT
fuelectenerg-2314	185	1	[	[	X
fuelectenerg-2314	185	2	27	27	NUM
fuelectenerg-2314	185	3	]	]	X
fuelectenerg-2314	185	4	b.	b.	PROPN
fuelectenerg-2314	185	5	lukić	lukić	PROPN
fuelectenerg-2314	185	6	,	,	PUNCT
fuelectenerg-2314	185	7	k.	k.	PROPN
fuelectenerg-2314	185	8	jovanović	jovanović	PROPN
fuelectenerg-2314	185	9	,	,	PUNCT
fuelectenerg-2314	185	10	“	"	PUNCT
fuelectenerg-2314	185	11	minimal	minimal	ADJ
fuelectenerg-2314	185	12	energy	energy	NOUN
fuelectenerg-2314	185	13	cartesian	cartesian	ADJ
fuelectenerg-2314	185	14	impedance	impedance	NOUN
fuelectenerg-2314	185	15	control	control	NOUN
fuelectenerg-2314	185	16	of	of	ADP
fuelectenerg-2314	185	17	robot	robot	NOUN
fuelectenerg-2314	185	18	with	with	ADP
fuelectenerg-2314	185	19	bidirectional	bidirectional	ADJ
fuelectenerg-2314	185	20	antagonistic	antagonistic	ADJ
fuelectenerg-2314	185	21	drives	drive	NOUN
fuelectenerg-2314	185	22	,	,	PUNCT
fuelectenerg-2314	185	23	”	"	PUNCT
fuelectenerg-2314	185	24	in	in	ADP
fuelectenerg-2314	185	25	proceedings	proceeding	NOUN
fuelectenerg-2314	185	26	of	of	ADP
fuelectenerg-2314	185	27	the	the	DET
fuelectenerg-2314	185	28	iftomm	iftomm	NOUN
fuelectenerg-2314	185	29	/	/	SYM
fuelectenerg-2314	185	30	ieee	ieee	PROPN
fuelectenerg-2314	185	31	/	/	SYM
fuelectenerg-2314	185	32	eurobotics	eurobotic	NOUN
fuelectenerg-2314	185	33	25th	25th	NOUN
fuelectenerg-2314	185	34	international	international	ADJ
fuelectenerg-2314	185	35	conference	conference	NOUN
fuelectenerg-2314	185	36	on	on	ADP
fuelectenerg-2314	185	37	robotics	robotic	NOUN
fuelectenerg-2314	185	38	inalpe	inalpe	PROPN
fuelectenerg-2314	185	39	-	-	PUNCT
fuelectenerg-2314	185	40	adria	adria	PROPN
fuelectenerg-2314	185	41	-	-	PUNCT
fuelectenerg-2314	185	42	danube	danube	PROPN
fuelectenerg-2314	185	43	region	region	NOUN
fuelectenerg-2314	185	44	–	–	PUNCT
fuelectenerg-2314	185	45	raad	raad	PROPN
fuelectenerg-2314	185	46	2016	2016	NUM
fuelectenerg-2314	185	47	,	,	PUNCT
fuelectenerg-2314	185	48	belgrade	belgrade	PROPN
fuelectenerg-2314	185	49	,	,	PUNCT
fuelectenerg-2314	185	50	june	june	PROPN
fuelectenerg-2314	185	51	30th	30th	NOUN
fuelectenerg-2314	185	52	july	july	PROPN
fuelectenerg-2314	185	53	2nd	2nd	NOUN
fuelectenerg-2314	185	54	2016	2016	NUM
fuelectenerg-2314	185	55	.	.	PUNCT
fuelectenerg-2314	186	1	[	[	X
fuelectenerg-2314	186	2	28	28	NUM
fuelectenerg-2314	186	3	]	]	X
fuelectenerg-2314	186	4	b.	b.	PROPN
fuelectenerg-2314	186	5	lukić	lukić	PROPN
fuelectenerg-2314	186	6	,	,	PUNCT
fuelectenerg-2314	186	7	k.	k.	PROPN
fuelectenerg-2314	186	8	jovanović	jovanović	PROPN
fuelectenerg-2314	186	9	,	,	PUNCT
fuelectenerg-2314	186	10	g.	g.	PROPN
fuelectenerg-2314	186	11	kvašĉev	kvašĉev	PROPN
fuelectenerg-2314	186	12	,	,	PUNCT
fuelectenerg-2314	186	13	“	"	PUNCT
fuelectenerg-2314	186	14	feedforward	feedforward	ADJ
fuelectenerg-2314	186	15	neural	neural	ADJ
fuelectenerg-2314	186	16	network	network	NOUN
fuelectenerg-2314	186	17	for	for	ADP
fuelectenerg-2314	186	18	controlling	control	VERB
fuelectenerg-2314	186	19	qbmove	qbmove	NOUN
fuelectenerg-2314	186	20	maker	maker	NOUN
fuelectenerg-2314	186	21	pro	pro	ADJ
fuelectenerg-2314	186	22	variable	variable	ADJ
fuelectenerg-2314	186	23	stiffness	stiffness	NOUN
fuelectenerg-2314	186	24	actuator	actuator	NOUN
fuelectenerg-2314	186	25	”	"	PUNCT
fuelectenerg-2314	186	26	,	,	PUNCT
fuelectenerg-2314	186	27	in	in	ADP
fuelectenerg-2314	186	28	proceedings	proceeding	NOUN
fuelectenerg-2314	186	29	of	of	ADP
fuelectenerg-2314	186	30	the	the	DET
fuelectenerg-2314	186	31	13th	13th	ADJ
fuelectenerg-2314	186	32	symposium	symposium	NOUN
fuelectenerg-2314	186	33	on	on	ADP
fuelectenerg-2314	186	34	neural	neural	ADJ
fuelectenerg-2314	186	35	networks	network	NOUN
fuelectenerg-2314	186	36	applications	application	NOUN
fuelectenerg-2314	186	37	in	in	ADP
fuelectenerg-2314	186	38	electrical	electrical	ADJ
fuelectenerg-2314	186	39	engineering	engineering	NOUN
fuelectenerg-2314	186	40	(	(	PUNCT
fuelectenerg-2314	186	41	neurel	neurel	NOUN
fuelectenerg-2314	186	42	2016	2016	NUM
fuelectenerg-2314	186	43	)	)	PUNCT
fuelectenerg-2314	186	44	,	,	PUNCT
fuelectenerg-2314	186	45	belgrade	belgrade	PROPN
fuelectenerg-2314	186	46	,	,	PUNCT
fuelectenerg-2314	186	47	serbia	serbia	PROPN
fuelectenerg-2314	186	48	,	,	PUNCT
fuelectenerg-2314	186	49	november	november	PROPN
fuelectenerg-2314	186	50	,	,	PUNCT
fuelectenerg-2314	186	51	2016	2016	NUM
fuelectenerg-2314	186	52	.	.	PUNCT