id	sid	tid	token	lemma	pos
fumecheng-547	1	1	plane	plane	NOUN
fumecheng-547	1	2	thermoelastic	thermoelastic	ADJ
fumecheng-547	1	3	waves	wave	NOUN
fumecheng-547	1	4	in	in	ADP
fumecheng-547	1	5	infinite	infinite	ADJ
fumecheng-547	1	6	half	half	ADJ
fumecheng-547	1	7	-	-	PUNCT
fumecheng-547	1	8	space	space	NOUN
fumecheng-547	1	9	caused	cause	VERB
fumecheng-547	1	10	facta	facta	PROPN
fumecheng-547	1	11	universitatis	universitatis	PROPN
fumecheng-547	1	12	series	series	NOUN
fumecheng-547	1	13	:	:	PUNCT
fumecheng-547	1	14	mechanical	mechanical	ADJ
fumecheng-547	1	15	engineering	engineering	NOUN
fumecheng-547	1	16	vol	vol	NOUN
fumecheng-547	1	17	.	.	PROPN
fumecheng-547	2	1	12	12	NUM
fumecheng-547	2	2	,	,	PUNCT
fumecheng-547	2	3	no	no	DET
fumecheng-547	2	4	3	3	NUM
fumecheng-547	2	5	,	,	PUNCT
fumecheng-547	2	6	2014	2014	NUM
fumecheng-547	2	7	,	,	PUNCT
fumecheng-547	2	8	pp	pp	ADV
fumecheng-547	2	9	.	.	PUNCT
fumecheng-547	3	1	223	223	NUM
fumecheng-547	3	2	234	234	NUM
fumecheng-547	3	3	1	1	NUM
fumecheng-547	3	4	fuzzy	fuzzy	ADJ
fumecheng-547	3	5	controller	controller	NOUN
fumecheng-547	3	6	for	for	ADP
fumecheng-547	3	7	the	the	DET
fumecheng-547	3	8	control	control	NOUN
fumecheng-547	3	9	of	of	ADP
fumecheng-547	3	10	the	the	DET
fumecheng-547	3	11	mobile	mobile	ADJ
fumecheng-547	3	12	platform	platform	NOUN
fumecheng-547	3	13	of	of	ADP
fumecheng-547	3	14	the	the	DET
fumecheng-547	3	15	corbys	corbys	NOUN
fumecheng-547	3	16	robotic	robotic	PROPN
fumecheng-547	3	17	gait	gait	PROPN
fumecheng-547	3	18	rehabilitation	rehabilitation	NOUN
fumecheng-547	3	19	system	system	NOUN
fumecheng-547	3	20	udc	udc	NOUN
fumecheng-547	3	21	681.5	681.5	NUM
fumecheng-547	3	22	maria	maria	PROPN
fumecheng-547	3	23	kyrarini	kyrarini	PROPN
fumecheng-547	3	24	,	,	PUNCT
fumecheng-547	3	25	siniša	siniša	PROPN
fumecheng-547	3	26	slavnić	slavnić	PROPN
fumecheng-547	3	27	,	,	PUNCT
fumecheng-547	3	28	danijela	danijela	NOUN
fumecheng-547	3	29	ristić	ristić	NOUN
fumecheng-547	3	30	-	-	PUNCT
fumecheng-547	3	31	durrant	durrant	PROPN
fumecheng-547	3	32	institute	institute	PROPN
fumecheng-547	3	33	of	of	ADP
fumecheng-547	3	34	automation	automation	NOUN
fumecheng-547	3	35	,	,	PUNCT
fumecheng-547	3	36	university	university	PROPN
fumecheng-547	3	37	of	of	ADP
fumecheng-547	3	38	bremen	bremen	PROPN
fumecheng-547	3	39	,	,	PUNCT
fumecheng-547	3	40	germany	germany	PROPN
fumecheng-547	3	41	abstract	abstract	NOUN
fumecheng-547	3	42	.	.	PUNCT
fumecheng-547	4	1	in	in	ADP
fumecheng-547	4	2	this	this	DET
fumecheng-547	4	3	paper	paper	NOUN
fumecheng-547	4	4	,	,	PUNCT
fumecheng-547	4	5	an	an	DET
fumecheng-547	4	6	inverse	inverse	NOUN
fumecheng-547	4	7	kinematics	kinematic	NOUN
fumecheng-547	4	8	based	base	VERB
fumecheng-547	4	9	control	control	NOUN
fumecheng-547	4	10	algorithm	algorithm	NOUN
fumecheng-547	4	11	for	for	ADP
fumecheng-547	4	12	the	the	DET
fumecheng-547	4	13	joystick	joystick	PROPN
fumecheng-547	4	14	control	control	NOUN
fumecheng-547	4	15	of	of	ADP
fumecheng-547	4	16	the	the	DET
fumecheng-547	4	17	mobile	mobile	ADJ
fumecheng-547	4	18	platform	platform	NOUN
fumecheng-547	4	19	of	of	ADP
fumecheng-547	4	20	the	the	DET
fumecheng-547	4	21	novel	novel	ADJ
fumecheng-547	4	22	mobile	mobile	NOUN
fumecheng-547	4	23	robot	robot	NOUN
fumecheng-547	4	24	-	-	PUNCT
fumecheng-547	4	25	assisted	assist	VERB
fumecheng-547	4	26	gait	gait	NOUN
fumecheng-547	4	27	rehabilitation	rehabilitation	NOUN
fumecheng-547	4	28	system	system	NOUN
fumecheng-547	4	29	corbys	corbys	NOUN
fumecheng-547	4	30	is	be	AUX
fumecheng-547	4	31	presented	present	VERB
fumecheng-547	4	32	.	.	PUNCT
fumecheng-547	5	1	the	the	DET
fumecheng-547	5	2	mobile	mobile	ADJ
fumecheng-547	5	3	platform	platform	NOUN
fumecheng-547	5	4	has	have	VERB
fumecheng-547	5	5	four	four	NUM
fumecheng-547	5	6	independently	independently	ADV
fumecheng-547	5	7	steered	steered	ADJ
fumecheng-547	5	8	and	and	CCONJ
fumecheng-547	5	9	driven	drive	VERB
fumecheng-547	5	10	wheels	wheel	NOUN
fumecheng-547	5	11	.	.	PUNCT
fumecheng-547	6	1	given	give	VERB
fumecheng-547	6	2	the	the	DET
fumecheng-547	6	3	linear	linear	ADJ
fumecheng-547	6	4	and	and	CCONJ
fumecheng-547	6	5	angular	angular	ADJ
fumecheng-547	6	6	velocities	velocity	NOUN
fumecheng-547	6	7	of	of	ADP
fumecheng-547	6	8	the	the	DET
fumecheng-547	6	9	mobile	mobile	ADJ
fumecheng-547	6	10	platform	platform	NOUN
fumecheng-547	6	11	,	,	PUNCT
fumecheng-547	6	12	the	the	DET
fumecheng-547	6	13	inverse	inverse	NOUN
fumecheng-547	6	14	kinematics	kinematic	NOUN
fumecheng-547	6	15	algorithm	algorithm	NOUN
fumecheng-547	6	16	gives	give	VERB
fumecheng-547	6	17	as	as	ADP
fumecheng-547	6	18	its	its	PRON
fumecheng-547	6	19	output	output	NOUN
fumecheng-547	6	20	the	the	DET
fumecheng-547	6	21	steering	steering	NOUN
fumecheng-547	6	22	angle	angle	NOUN
fumecheng-547	6	23	and	and	CCONJ
fumecheng-547	6	24	the	the	DET
fumecheng-547	6	25	driving	drive	VERB
fumecheng-547	6	26	angular	angular	ADJ
fumecheng-547	6	27	velocity	velocity	NOUN
fumecheng-547	6	28	of	of	ADP
fumecheng-547	6	29	each	each	PRON
fumecheng-547	6	30	of	of	ADP
fumecheng-547	6	31	the	the	DET
fumecheng-547	6	32	four	four	NUM
fumecheng-547	6	33	wheels	wheel	NOUN
fumecheng-547	6	34	.	.	PUNCT
fumecheng-547	7	1	the	the	DET
fumecheng-547	7	2	paper	paper	NOUN
fumecheng-547	7	3	is	be	AUX
fumecheng-547	7	4	focused	focus	VERB
fumecheng-547	7	5	on	on	ADP
fumecheng-547	7	6	the	the	DET
fumecheng-547	7	7	steering	steering	NOUN
fumecheng-547	7	8	control	control	NOUN
fumecheng-547	7	9	of	of	ADP
fumecheng-547	7	10	the	the	DET
fumecheng-547	7	11	platform	platform	NOUN
fumecheng-547	7	12	for	for	ADP
fumecheng-547	7	13	which	which	PRON
fumecheng-547	7	14	a	a	DET
fumecheng-547	7	15	fuzzy	fuzzy	ADJ
fumecheng-547	7	16	logic	logic	NOUN
fumecheng-547	7	17	controller	controller	NOUN
fumecheng-547	7	18	is	be	AUX
fumecheng-547	7	19	developed	develop	VERB
fumecheng-547	7	20	and	and	CCONJ
fumecheng-547	7	21	implemented	implement	VERB
fumecheng-547	7	22	.	.	PUNCT
fumecheng-547	8	1	the	the	DET
fumecheng-547	8	2	experimental	experimental	ADJ
fumecheng-547	8	3	results	result	NOUN
fumecheng-547	8	4	of	of	ADP
fumecheng-547	8	5	the	the	DET
fumecheng-547	8	6	real	real	ADJ
fumecheng-547	8	7	-	-	PUNCT
fumecheng-547	8	8	world	world	NOUN
fumecheng-547	8	9	steering	steering	NOUN
fumecheng-547	8	10	of	of	ADP
fumecheng-547	8	11	the	the	DET
fumecheng-547	8	12	platform	platform	NOUN
fumecheng-547	8	13	are	be	AUX
fumecheng-547	8	14	presented	present	VERB
fumecheng-547	8	15	in	in	ADP
fumecheng-547	8	16	the	the	DET
fumecheng-547	8	17	paper	paper	NOUN
fumecheng-547	8	18	.	.	PUNCT
fumecheng-547	9	1	key	key	ADJ
fumecheng-547	9	2	words	word	NOUN
fumecheng-547	9	3	:	:	PUNCT
fumecheng-547	9	4	robot	robot	NOUN
fumecheng-547	9	5	-	-	PUNCT
fumecheng-547	9	6	assisted	assist	VERB
fumecheng-547	9	7	gait	gait	PROPN
fumecheng-547	9	8	rehabilitation	rehabilitation	NOUN
fumecheng-547	9	9	,	,	PUNCT
fumecheng-547	9	10	inverse	inverse	NOUN
fumecheng-547	9	11	kinematics	kinematic	NOUN
fumecheng-547	9	12	based	base	VERB
fumecheng-547	9	13	control	control	NOUN
fumecheng-547	9	14	of	of	ADP
fumecheng-547	9	15	the	the	DET
fumecheng-547	9	16	mobile	mobile	NOUN
fumecheng-547	9	17	robot	robot	NOUN
fumecheng-547	9	18	,	,	PUNCT
fumecheng-547	9	19	fuzzy	fuzzy	ADJ
fumecheng-547	9	20	logic	logic	NOUN
fumecheng-547	9	21	controller	controller	NOUN
fumecheng-547	9	22	1	1	NUM
fumecheng-547	9	23	.	.	PUNCT
fumecheng-547	9	24	introduction	introduction	NOUN
fumecheng-547	9	25	the	the	DET
fumecheng-547	9	26	objective	objective	NOUN
fumecheng-547	9	27	of	of	ADP
fumecheng-547	9	28	the	the	DET
fumecheng-547	9	29	integrated	integrate	VERB
fumecheng-547	9	30	eu	eu	PROPN
fumecheng-547	9	31	fp7	fp7	PROPN
fumecheng-547	9	32	project	project	NOUN
fumecheng-547	9	33	corbys	corbys	NOUN
fumecheng-547	10	1	[	[	X
fumecheng-547	10	2	1][2	1][2	X
fumecheng-547	10	3	]	]	X
fumecheng-547	10	4	is	be	AUX
fumecheng-547	10	5	to	to	PART
fumecheng-547	10	6	design	design	VERB
fumecheng-547	10	7	and	and	CCONJ
fumecheng-547	10	8	implement	implement	VERB
fumecheng-547	10	9	a	a	DET
fumecheng-547	10	10	generic	generic	ADJ
fumecheng-547	10	11	robot	robot	NOUN
fumecheng-547	10	12	control	control	NOUN
fumecheng-547	10	13	architecture	architecture	NOUN
fumecheng-547	10	14	that	that	PRON
fumecheng-547	10	15	allows	allow	VERB
fumecheng-547	10	16	the	the	DET
fumecheng-547	10	17	integration	integration	NOUN
fumecheng-547	10	18	of	of	ADP
fumecheng-547	10	19	high	high	ADJ
fumecheng-547	10	20	-	-	PUNCT
fumecheng-547	10	21	level	level	NOUN
fumecheng-547	10	22	cognitive	cognitive	ADJ
fumecheng-547	10	23	modules	module	NOUN
fumecheng-547	10	24	to	to	PART
fumecheng-547	10	25	support	support	VERB
fumecheng-547	10	26	the	the	DET
fumecheng-547	10	27	functioning	functioning	NOUN
fumecheng-547	10	28	of	of	ADP
fumecheng-547	10	29	the	the	DET
fumecheng-547	10	30	robot	robot	NOUN
fumecheng-547	10	31	in	in	ADP
fumecheng-547	10	32	dynamic	dynamic	ADJ
fumecheng-547	10	33	environments	environment	NOUN
fumecheng-547	10	34	including	include	VERB
fumecheng-547	10	35	interaction	interaction	NOUN
fumecheng-547	10	36	with	with	ADP
fumecheng-547	10	37	humans	human	NOUN
fumecheng-547	10	38	.	.	PUNCT
fumecheng-547	11	1	as	as	ADP
fumecheng-547	11	2	a	a	DET
fumecheng-547	11	3	practical	practical	ADJ
fumecheng-547	11	4	application	application	NOUN
fumecheng-547	11	5	of	of	ADP
fumecheng-547	11	6	the	the	DET
fumecheng-547	11	7	control	control	NOUN
fumecheng-547	11	8	architecture	architecture	NOUN
fumecheng-547	11	9	,	,	PUNCT
fumecheng-547	11	10	a	a	DET
fumecheng-547	11	11	novel	novel	ADJ
fumecheng-547	11	12	cognitive	cognitive	ADJ
fumecheng-547	11	13	mobile	mobile	NOUN
fumecheng-547	11	14	gait	gait	NOUN
fumecheng-547	11	15	rehabilitation	rehabilitation	NOUN
fumecheng-547	11	16	system	system	NOUN
fumecheng-547	11	17	is	be	AUX
fumecheng-547	11	18	being	be	AUX
fumecheng-547	11	19	developed	develop	VERB
fumecheng-547	11	20	during	during	ADP
fumecheng-547	11	21	the	the	DET
fumecheng-547	11	22	project	project	NOUN
fumecheng-547	11	23	’s	’s	PART
fumecheng-547	11	24	lifetime	lifetime	NOUN
fumecheng-547	11	25	.	.	PUNCT
fumecheng-547	12	1	fig	fig	NOUN
fumecheng-547	12	2	.	.	PUNCT
fumecheng-547	13	1	1	1	NUM
fumecheng-547	13	2	shows	show	VERB
fumecheng-547	13	3	the	the	DET
fumecheng-547	13	4	final	final	ADJ
fumecheng-547	13	5	cad	cad	NOUN
fumecheng-547	13	6	model	model	NOUN
fumecheng-547	13	7	image	image	NOUN
fumecheng-547	13	8	of	of	ADP
fumecheng-547	13	9	the	the	DET
fumecheng-547	13	10	corbys	corbys	PROPN
fumecheng-547	13	11	robot	robot	NOUN
fumecheng-547	13	12	-	-	PUNCT
fumecheng-547	13	13	assisted	assist	VERB
fumecheng-547	13	14	mobile	mobile	ADJ
fumecheng-547	13	15	gait	gait	NOUN
fumecheng-547	13	16	rehabilitation	rehabilitation	NOUN
fumecheng-547	13	17	system	system	NOUN
fumecheng-547	13	18	with	with	ADP
fumecheng-547	13	19	an	an	DET
fumecheng-547	13	20	associated	associated	ADJ
fumecheng-547	13	21	global	global	ADJ
fumecheng-547	13	22	coordinate	coordinate	NOUN
fumecheng-547	13	23	system	system	NOUN
fumecheng-547	13	24	.	.	PUNCT
fumecheng-547	14	1	it	it	PRON
fumecheng-547	14	2	consists	consist	VERB
fumecheng-547	14	3	of	of	ADP
fumecheng-547	14	4	an	an	DET
fumecheng-547	14	5	omnidirectional	omnidirectional	ADJ
fumecheng-547	14	6	mobile	mobile	ADJ
fumecheng-547	14	7	platform	platform	NOUN
fumecheng-547	14	8	,	,	PUNCT
fumecheng-547	14	9	a	a	DET
fumecheng-547	14	10	powered	powered	ADJ
fumecheng-547	14	11	robotic	robotic	ADJ
fumecheng-547	14	12	orthosis	orthosis	NOUN
fumecheng-547	14	13	attached	attach	VERB
fumecheng-547	14	14	to	to	ADP
fumecheng-547	14	15	the	the	DET
fumecheng-547	14	16	platform	platform	NOUN
fumecheng-547	14	17	via	via	ADP
fumecheng-547	14	18	a	a	DET
fumecheng-547	14	19	pelvis	pelvis	NOUN
fumecheng-547	14	20	link	link	NOUN
fumecheng-547	14	21	,	,	PUNCT
fumecheng-547	14	22	and	and	CCONJ
fumecheng-547	14	23	a	a	DET
fumecheng-547	14	24	linear	linear	ADJ
fumecheng-547	14	25	unit	unit	NOUN
fumecheng-547	14	26	.	.	PUNCT
fumecheng-547	15	1	the	the	DET
fumecheng-547	15	2	mobile	mobile	ADJ
fumecheng-547	15	3	platform	platform	NOUN
fumecheng-547	15	4	provides	provide	VERB
fumecheng-547	15	5	mobility	mobility	NOUN
fumecheng-547	15	6	for	for	ADP
fumecheng-547	15	7	a	a	DET
fumecheng-547	15	8	patient	patient	NOUN
fumecheng-547	15	9	and	and	CCONJ
fumecheng-547	15	10	enables	enable	VERB
fumecheng-547	15	11	overground	overground	NOUN
fumecheng-547	15	12	walking	walking	NOUN
fumecheng-547	15	13	training	training	NOUN
fumecheng-547	15	14	,	,	PUNCT
fumecheng-547	15	15	whilst	whilst	SCONJ
fumecheng-547	15	16	the	the	DET
fumecheng-547	15	17	powered	powered	ADJ
fumecheng-547	15	18	robotic	robotic	ADJ
fumecheng-547	15	19	orthosis	orthosis	NOUN
fumecheng-547	15	20	helps	help	VERB
fumecheng-547	15	21	the	the	DET
fumecheng-547	15	22	patient	patient	NOUN
fumecheng-547	15	23	to	to	PART
fumecheng-547	15	24	complete	complete	VERB
fumecheng-547	15	25	his	his	PRON
fumecheng-547	15	26	/	/	SYM
fumecheng-547	15	27	her	her	PRON
fumecheng-547	15	28	leg	leg	NOUN
fumecheng-547	15	29	movements	movement	NOUN
fumecheng-547	15	30	.	.	PUNCT
fumecheng-547	16	1	received	receive	VERB
fumecheng-547	16	2	october	october	PROPN
fumecheng-547	16	3	17	17	NUM
fumecheng-547	16	4	,	,	PUNCT
fumecheng-547	16	5	2014	2014	NUM
fumecheng-547	16	6	/	/	SYM
fumecheng-547	16	7	accepted	accept	VERB
fumecheng-547	16	8	november	november	PROPN
fumecheng-547	16	9	22	22	NUM
fumecheng-547	16	10	,	,	PUNCT
fumecheng-547	16	11	2014	2014	NUM
fumecheng-547	16	12	corresponding	correspond	VERB
fumecheng-547	16	13	author	author	NOUN
fumecheng-547	16	14	:	:	PUNCT
fumecheng-547	16	15	danijela	danijela	NOUN
fumecheng-547	16	16	ristić	ristić	PROPN
fumecheng-547	16	17	-	-	PUNCT
fumecheng-547	16	18	durrant	durrant	PROPN
fumecheng-547	16	19	university	university	PROPN
fumecheng-547	16	20	of	of	ADP
fumecheng-547	16	21	bremen	bremen	PROPN
fumecheng-547	16	22	,	,	PUNCT
fumecheng-547	16	23	institute	institute	PROPN
fumecheng-547	16	24	of	of	ADP
fumecheng-547	16	25	automation	automation	NOUN
fumecheng-547	16	26	,	,	PUNCT
fumecheng-547	16	27	otto	otto	PROPN
fumecheng-547	16	28	-	-	PUNCT
fumecheng-547	16	29	hahn	hahn	NOUN
fumecheng-547	16	30	-	-	PUNCT
fumecheng-547	16	31	allee	allee	NOUN
fumecheng-547	16	32	,	,	PUNCT
fumecheng-547	16	33	nw1	nw1	PROPN
fumecheng-547	16	34	,	,	PUNCT
fumecheng-547	16	35	28359	28359	NUM
fumecheng-547	16	36	bremen	breman	NOUN
fumecheng-547	16	37	,	,	PUNCT
fumecheng-547	16	38	germany	germany	PROPN
fumecheng-547	16	39	e	e	PROPN
fumecheng-547	16	40	-	-	NOUN
fumecheng-547	16	41	mail	mail	NOUN
fumecheng-547	16	42	:	:	PUNCT
fumecheng-547	16	43	ristic@iat.uni-bremen.de	ristic@iat.uni-bremen.de	NUM
fumecheng-547	16	44	original	original	ADJ
fumecheng-547	16	45	scientific	scientific	ADJ
fumecheng-547	16	46	paper	paper	NOUN
fumecheng-547	16	47	224	224	NUM
fumecheng-547	16	48	m.	m.	NOUN
fumecheng-547	16	49	kyrarini	kyrarini	PROPN
fumecheng-547	16	50	,	,	PUNCT
fumecheng-547	16	51	s.	s.	PROPN
fumecheng-547	16	52	slavnić	slavnić	PROPN
fumecheng-547	16	53	,	,	PUNCT
fumecheng-547	16	54	d.	d.	PROPN
fumecheng-547	16	55	ristić	ristić	PROPN
fumecheng-547	16	56	-	-	PUNCT
fumecheng-547	16	57	durrant	durrant	PROPN
fumecheng-547	16	58	1.1	1.1	NUM
fumecheng-547	16	59	.	.	PUNCT
fumecheng-547	17	1	the	the	DET
fumecheng-547	17	2	main	main	ADJ
fumecheng-547	17	3	components	component	NOUN
fumecheng-547	17	4	of	of	ADP
fumecheng-547	17	5	the	the	DET
fumecheng-547	17	6	corbys	corbys	NOUN
fumecheng-547	17	7	system	system	NOUN
fumecheng-547	17	8	the	the	DET
fumecheng-547	17	9	mobile	mobile	ADJ
fumecheng-547	17	10	platform	platform	NOUN
fumecheng-547	17	11	constitutes	constitute	VERB
fumecheng-547	17	12	the	the	DET
fumecheng-547	17	13	central	central	ADJ
fumecheng-547	17	14	housing	housing	NOUN
fumecheng-547	17	15	structure	structure	NOUN
fumecheng-547	17	16	of	of	ADP
fumecheng-547	17	17	the	the	DET
fumecheng-547	17	18	corbys	corbys	PROPN
fumecheng-547	17	19	mobile	mobile	PROPN
fumecheng-547	17	20	gait	gait	PROPN
fumecheng-547	17	21	rehabilitation	rehabilitation	NOUN
fumecheng-547	17	22	system	system	NOUN
fumecheng-547	17	23	.	.	PUNCT
fumecheng-547	18	1	it	it	PRON
fumecheng-547	18	2	serves	serve	VERB
fumecheng-547	18	3	as	as	ADP
fumecheng-547	18	4	a	a	DET
fumecheng-547	18	5	component	component	NOUN
fumecheng-547	18	6	carrier	carrier	NOUN
fumecheng-547	18	7	for	for	ADP
fumecheng-547	18	8	the	the	DET
fumecheng-547	18	9	linear	linear	ADJ
fumecheng-547	18	10	unit	unit	NOUN
fumecheng-547	18	11	and	and	CCONJ
fumecheng-547	18	12	motors	motor	NOUN
fumecheng-547	18	13	for	for	ADP
fumecheng-547	18	14	the	the	DET
fumecheng-547	18	15	orthosis	orthosis	NOUN
fumecheng-547	18	16	,	,	PUNCT
fumecheng-547	18	17	as	as	ADV
fumecheng-547	18	18	well	well	ADV
fumecheng-547	18	19	as	as	ADP
fumecheng-547	18	20	for	for	ADP
fumecheng-547	18	21	the	the	DET
fumecheng-547	18	22	central	central	ADJ
fumecheng-547	18	23	power	power	NOUN
fumecheng-547	18	24	supply	supply	NOUN
fumecheng-547	18	25	system	system	NOUN
fumecheng-547	18	26	.	.	PUNCT
fumecheng-547	19	1	the	the	DET
fumecheng-547	19	2	mobile	mobile	ADJ
fumecheng-547	19	3	platform	platform	NOUN
fumecheng-547	19	4	also	also	ADV
fumecheng-547	19	5	houses	house	VERB
fumecheng-547	19	6	a	a	DET
fumecheng-547	19	7	network	network	NOUN
fumecheng-547	19	8	module	module	NOUN
fumecheng-547	19	9	,	,	PUNCT
fumecheng-547	19	10	and	and	CCONJ
fumecheng-547	19	11	other	other	ADJ
fumecheng-547	19	12	system	system	NOUN
fumecheng-547	19	13	modules	module	NOUN
fumecheng-547	19	14	such	such	ADJ
fumecheng-547	19	15	as	as	ADP
fumecheng-547	19	16	the	the	DET
fumecheng-547	19	17	safety	safety	NOUN
fumecheng-547	19	18	module	module	NOUN
fumecheng-547	19	19	and	and	CCONJ
fumecheng-547	19	20	various	various	ADJ
fumecheng-547	19	21	computers	computer	NOUN
fumecheng-547	19	22	upon	upon	SCONJ
fumecheng-547	19	23	which	which	PRON
fumecheng-547	19	24	the	the	DET
fumecheng-547	19	25	modules	module	NOUN
fumecheng-547	19	26	of	of	ADP
fumecheng-547	19	27	the	the	DET
fumecheng-547	19	28	control	control	NOUN
fumecheng-547	19	29	architecture	architecture	NOUN
fumecheng-547	19	30	are	be	AUX
fumecheng-547	19	31	running	run	VERB
fumecheng-547	19	32	.	.	PUNCT
fumecheng-547	20	1	four	four	NUM
fumecheng-547	20	2	wheel	wheel	NOUN
fumecheng-547	20	3	hub	hub	PROPN
fumecheng-547	20	4	motors	motor	NOUN
fumecheng-547	20	5	are	be	AUX
fumecheng-547	20	6	connected	connect	VERB
fumecheng-547	20	7	to	to	ADP
fumecheng-547	20	8	the	the	DET
fumecheng-547	20	9	platform	platform	NOUN
fumecheng-547	20	10	for	for	ADP
fumecheng-547	20	11	driving	driving	NOUN
fumecheng-547	20	12	,	,	PUNCT
fumecheng-547	20	13	which	which	PRON
fumecheng-547	20	14	provide	provide	VERB
fumecheng-547	20	15	for	for	ADP
fumecheng-547	20	16	the	the	DET
fumecheng-547	20	17	system	system	NOUN
fumecheng-547	20	18	movement	movement	NOUN
fumecheng-547	20	19	in	in	ADP
fumecheng-547	20	20	the	the	DET
fumecheng-547	20	21	x	x	NOUN
fumecheng-547	20	22	-	-	NOUN
fumecheng-547	20	23	direction	direction	NOUN
fumecheng-547	20	24	.	.	PUNCT
fumecheng-547	21	1	each	each	DET
fumecheng-547	21	2	wheel	wheel	NOUN
fumecheng-547	21	3	is	be	AUX
fumecheng-547	21	4	fitted	fit	VERB
fumecheng-547	21	5	with	with	ADP
fumecheng-547	21	6	a	a	DET
fumecheng-547	21	7	steering	steering	NOUN
fumecheng-547	21	8	angle	angle	NOUN
fumecheng-547	21	9	motor	motor	NOUN
fumecheng-547	21	10	to	to	PART
fumecheng-547	21	11	change	change	VERB
fumecheng-547	21	12	its	its	PRON
fumecheng-547	21	13	direction	direction	NOUN
fumecheng-547	21	14	(	(	PUNCT
fumecheng-547	21	15	rotation	rotation	NOUN
fumecheng-547	21	16	about	about	ADP
fumecheng-547	21	17	y	y	NOUN
fumecheng-547	21	18	-	-	PUNCT
fumecheng-547	21	19	axis	axis	NOUN
fumecheng-547	21	20	)	)	PUNCT
fumecheng-547	21	21	so	so	SCONJ
fumecheng-547	21	22	that	that	SCONJ
fumecheng-547	21	23	the	the	DET
fumecheng-547	21	24	platform	platform	NOUN
fumecheng-547	21	25	can	can	AUX
fumecheng-547	21	26	drive	drive	VERB
fumecheng-547	21	27	along	along	ADP
fumecheng-547	21	28	the	the	DET
fumecheng-547	21	29	curves	curve	NOUN
fumecheng-547	21	30	.	.	PUNCT
fumecheng-547	22	1	fig	fig	NOUN
fumecheng-547	22	2	.	.	PUNCT
fumecheng-547	23	1	1	1	NUM
fumecheng-547	23	2	cad	cad	NOUN
fumecheng-547	23	3	model	model	NOUN
fumecheng-547	23	4	image	image	NOUN
fumecheng-547	23	5	of	of	ADP
fumecheng-547	23	6	the	the	DET
fumecheng-547	23	7	corbys	corbys	PROPN
fumecheng-547	23	8	mobile	mobile	PROPN
fumecheng-547	23	9	gait	gait	PROPN
fumecheng-547	23	10	rehabilitation	rehabilitation	NOUN
fumecheng-547	23	11	system	system	NOUN
fumecheng-547	23	12	the	the	DET
fumecheng-547	23	13	linear	linear	PROPN
fumecheng-547	23	14	unit	unit	NOUN
fumecheng-547	23	15	enables	enable	VERB
fumecheng-547	23	16	both	both	DET
fumecheng-547	23	17	lifting	lift	VERB
fumecheng-547	23	18	and	and	CCONJ
fumecheng-547	23	19	lowering	lowering	NOUN
fumecheng-547	23	20	of	of	ADP
fumecheng-547	23	21	the	the	DET
fumecheng-547	23	22	patient	patient	NOUN
fumecheng-547	23	23	’s	’s	PART
fumecheng-547	23	24	body	body	NOUN
fumecheng-547	23	25	(	(	PUNCT
fumecheng-547	23	26	patient	patient	NOUN
fumecheng-547	23	27	’s	’s	PART
fumecheng-547	23	28	pelvis	pelvis	ADJ
fumecheng-547	23	29	movement	movement	NOUN
fumecheng-547	23	30	in	in	ADP
fumecheng-547	23	31	the	the	DET
fumecheng-547	23	32	y	y	PROPN
fumecheng-547	23	33	–	–	PUNCT
fumecheng-547	23	34	direction	direction	NOUN
fumecheng-547	23	35	)	)	PUNCT
fumecheng-547	23	36	and	and	CCONJ
fumecheng-547	23	37	side	side	NOUN
fumecheng-547	23	38	to	to	ADP
fumecheng-547	23	39	side	side	NOUN
fumecheng-547	23	40	movement	movement	NOUN
fumecheng-547	23	41	of	of	ADP
fumecheng-547	23	42	the	the	DET
fumecheng-547	23	43	patient	patient	NOUN
fumecheng-547	23	44	’s	’s	PART
fumecheng-547	23	45	body	body	NOUN
fumecheng-547	23	46	(	(	PUNCT
fumecheng-547	23	47	patient	patient	NOUN
fumecheng-547	23	48	’s	’s	PART
fumecheng-547	23	49	pelvis	pelvis	ADJ
fumecheng-547	23	50	movement	movement	NOUN
fumecheng-547	23	51	in	in	ADP
fumecheng-547	23	52	the	the	DET
fumecheng-547	23	53	z	z	NOUN
fumecheng-547	23	54	–	–	PUNCT
fumecheng-547	23	55	direction	direction	NOUN
fumecheng-547	23	56	)	)	PUNCT
fumecheng-547	23	57	.	.	PUNCT
fumecheng-547	24	1	it	it	PRON
fumecheng-547	24	2	is	be	AUX
fumecheng-547	24	3	equipped	equip	VERB
fumecheng-547	24	4	with	with	ADP
fumecheng-547	24	5	two	two	NUM
fumecheng-547	24	6	servo	servo	NOUN
fumecheng-547	24	7	-	-	PUNCT
fumecheng-547	24	8	positioning	positioning	NOUN
fumecheng-547	24	9	motors	motor	NOUN
fumecheng-547	24	10	for	for	ADP
fumecheng-547	24	11	the	the	DET
fumecheng-547	24	12	actuation	actuation	NOUN
fumecheng-547	24	13	of	of	ADP
fumecheng-547	24	14	y	y	PROPN
fumecheng-547	24	15	–	–	PUNCT
fumecheng-547	24	16	axis	axis	NOUN
fumecheng-547	24	17	which	which	PRON
fumecheng-547	24	18	are	be	AUX
fumecheng-547	24	19	chosen	choose	VERB
fumecheng-547	24	20	to	to	PART
fumecheng-547	24	21	provide	provide	VERB
fumecheng-547	24	22	for	for	ADP
fumecheng-547	24	23	partial	partial	ADJ
fumecheng-547	24	24	body	body	NOUN
fumecheng-547	24	25	weight	weight	NOUN
fumecheng-547	24	26	support	support	NOUN
fumecheng-547	24	27	.	.	PUNCT
fumecheng-547	25	1	one	one	NUM
fumecheng-547	25	2	servo	servo	NOUN
fumecheng-547	25	3	motor	motor	NOUN
fumecheng-547	25	4	is	be	AUX
fumecheng-547	25	5	used	use	VERB
fumecheng-547	25	6	for	for	ADP
fumecheng-547	25	7	the	the	DET
fumecheng-547	25	8	z	z	NOUN
fumecheng-547	25	9	–	–	PUNCT
fumecheng-547	25	10	axis	axis	NOUN
fumecheng-547	25	11	actuation	actuation	NOUN
fumecheng-547	25	12	.	.	PUNCT
fumecheng-547	26	1	the	the	DET
fumecheng-547	26	2	pelvis	pelvis	NOUN
fumecheng-547	26	3	link	link	NOUN
fumecheng-547	26	4	is	be	AUX
fumecheng-547	26	5	the	the	DET
fumecheng-547	26	6	connection	connection	NOUN
fumecheng-547	26	7	between	between	ADP
fumecheng-547	26	8	the	the	DET
fumecheng-547	26	9	linear	linear	PROPN
fumecheng-547	26	10	unit	unit	NOUN
fumecheng-547	26	11	,	,	PUNCT
fumecheng-547	26	12	attached	attach	VERB
fumecheng-547	26	13	to	to	ADP
fumecheng-547	26	14	the	the	DET
fumecheng-547	26	15	platform	platform	NOUN
fumecheng-547	26	16	,	,	PUNCT
fumecheng-547	26	17	and	and	CCONJ
fumecheng-547	26	18	the	the	DET
fumecheng-547	26	19	powered	powered	ADJ
fumecheng-547	26	20	orthosis	orthosis	NOUN
fumecheng-547	26	21	.	.	PUNCT
fumecheng-547	27	1	the	the	DET
fumecheng-547	27	2	pelvis	pelvis	NOUN
fumecheng-547	27	3	link	link	NOUN
fumecheng-547	27	4	ensures	ensure	VERB
fumecheng-547	27	5	that	that	SCONJ
fumecheng-547	27	6	the	the	DET
fumecheng-547	27	7	patient	patient	NOUN
fumecheng-547	27	8	’s	’s	PART
fumecheng-547	27	9	pelvis	pelvi	NOUN
fumecheng-547	27	10	can	can	AUX
fumecheng-547	27	11	rotate	rotate	VERB
fumecheng-547	27	12	in	in	ADP
fumecheng-547	27	13	the	the	DET
fumecheng-547	27	14	frontal	frontal	ADJ
fumecheng-547	27	15	and	and	CCONJ
fumecheng-547	27	16	transverse	transverse	NOUN
fumecheng-547	27	17	planes	plane	NOUN
fumecheng-547	27	18	.	.	PUNCT
fumecheng-547	28	1	the	the	DET
fumecheng-547	28	2	force	force	NOUN
fumecheng-547	28	3	/	/	SYM
fumecheng-547	28	4	torque	torque	NOUN
fumecheng-547	28	5	sensor	sensor	NOUN
fumecheng-547	28	6	for	for	ADP
fumecheng-547	28	7	measurement	measurement	NOUN
fumecheng-547	28	8	of	of	ADP
fumecheng-547	28	9	the	the	DET
fumecheng-547	28	10	interaction	interaction	NOUN
fumecheng-547	28	11	force	force	NOUN
fumecheng-547	28	12	between	between	ADP
fumecheng-547	28	13	the	the	DET
fumecheng-547	28	14	patient	patient	NOUN
fumecheng-547	28	15	and	and	CCONJ
fumecheng-547	28	16	the	the	DET
fumecheng-547	28	17	corbys	corbys	NOUN
fumecheng-547	28	18	system	system	NOUN
fumecheng-547	28	19	is	be	AUX
fumecheng-547	28	20	placed	place	VERB
fumecheng-547	28	21	within	within	ADP
fumecheng-547	28	22	the	the	DET
fumecheng-547	28	23	pelvis	pelvis	NOUN
fumecheng-547	28	24	link	link	NOUN
fumecheng-547	28	25	.	.	PUNCT
fumecheng-547	29	1	this	this	DET
fumecheng-547	29	2	measurement	measurement	NOUN
fumecheng-547	29	3	will	will	AUX
fumecheng-547	29	4	be	be	AUX
fumecheng-547	29	5	used	use	VERB
fumecheng-547	29	6	for	for	ADP
fumecheng-547	29	7	control	control	NOUN
fumecheng-547	29	8	of	of	ADP
fumecheng-547	29	9	the	the	DET
fumecheng-547	29	10	mobile	mobile	ADJ
fumecheng-547	29	11	platform	platform	NOUN
fumecheng-547	29	12	enabling	enable	VERB
fumecheng-547	29	13	it	it	PRON
fumecheng-547	29	14	to	to	PART
fumecheng-547	29	15	follow	follow	VERB
fumecheng-547	29	16	walking	walking	NOUN
fumecheng-547	29	17	patients	patient	NOUN
fumecheng-547	29	18	while	while	SCONJ
fumecheng-547	29	19	they	they	PRON
fumecheng-547	29	20	are	be	AUX
fumecheng-547	29	21	wearing	wear	VERB
fumecheng-547	29	22	the	the	DET
fumecheng-547	29	23	powered	power	VERB
fumecheng-547	29	24	orthosis	orthosis	NOUN
fumecheng-547	29	25	.	.	PUNCT
fumecheng-547	30	1	the	the	DET
fumecheng-547	30	2	powered	powered	ADJ
fumecheng-547	30	3	orthosis	orthosis	NOUN
fumecheng-547	30	4	assists	assist	VERB
fumecheng-547	30	5	the	the	DET
fumecheng-547	30	6	patient	patient	NOUN
fumecheng-547	30	7	’s	’s	PART
fumecheng-547	30	8	lower	low	ADJ
fumecheng-547	30	9	limb	limb	NOUN
fumecheng-547	30	10	joint	joint	ADJ
fumecheng-547	30	11	motions	motion	NOUN
fumecheng-547	30	12	.	.	PUNCT
fumecheng-547	31	1	the	the	DET
fumecheng-547	31	2	dofs	dofs	ADJ
fumecheng-547	31	3	configuration	configuration	NOUN
fumecheng-547	31	4	of	of	ADP
fumecheng-547	31	5	the	the	DET
fumecheng-547	31	6	corbys	corbys	NOUN
fumecheng-547	31	7	orthosis	orthosis	PROPN
fumecheng-547	31	8	prototype	prototype	NOUN
fumecheng-547	31	9	follows	follow	VERB
fumecheng-547	31	10	the	the	DET
fumecheng-547	31	11	natural	natural	ADJ
fumecheng-547	31	12	human	human	ADJ
fumecheng-547	31	13	limb	limb	NOUN
fumecheng-547	31	14	kinematics	kinematic	NOUN
fumecheng-547	31	15	.	.	PUNCT
fumecheng-547	32	1	there	there	PRON
fumecheng-547	32	2	are	be	VERB
fumecheng-547	32	3	6	6	NUM
fumecheng-547	32	4	degrees	degree	NOUN
fumecheng-547	32	5	of	of	ADP
fumecheng-547	32	6	freedom	freedom	NOUN
fumecheng-547	32	7	(	(	PUNCT
fumecheng-547	32	8	dofs	dof	NOUN
fumecheng-547	32	9	)	)	PUNCT
fumecheng-547	32	10	at	at	ADP
fumecheng-547	32	11	each	each	DET
fumecheng-547	32	12	leg	leg	NOUN
fumecheng-547	32	13	:	:	PUNCT
fumecheng-547	32	14	3	3	NUM
fumecheng-547	32	15	dofs	dof	NOUN
fumecheng-547	32	16	in	in	ADP
fumecheng-547	32	17	the	the	DET
fumecheng-547	32	18	hip	hip	NOUN
fumecheng-547	32	19	,	,	PUNCT
fumecheng-547	32	20	1	1	NUM
fumecheng-547	32	21	dof	dof	NOUN
fumecheng-547	32	22	in	in	ADP
fumecheng-547	32	23	the	the	DET
fumecheng-547	32	24	knee	knee	NOUN
fumecheng-547	32	25	,	,	PUNCT
fumecheng-547	32	26	and	and	CCONJ
fumecheng-547	32	27	2	2	NUM
fumecheng-547	32	28	dofs	dof	NOUN
fumecheng-547	32	29	in	in	ADP
fumecheng-547	32	30	the	the	DET
fumecheng-547	32	31	ankle	ankle	NOUN
fumecheng-547	32	32	joints	joint	NOUN
fumecheng-547	32	33	.	.	PUNCT
fumecheng-547	33	1	the	the	DET
fumecheng-547	33	2	hip	hip	NOUN
fumecheng-547	33	3	,	,	PUNCT
fumecheng-547	33	4	knee	knee	NOUN
fumecheng-547	33	5	and	and	CCONJ
fumecheng-547	33	6	ankle	ankle	NOUN
fumecheng-547	33	7	joint	joint	ADJ
fumecheng-547	33	8	motions	motion	NOUN
fumecheng-547	33	9	on	on	ADP
fumecheng-547	33	10	the	the	DET
fumecheng-547	33	11	sagittal	sagittal	ADJ
fumecheng-547	33	12	plane	plane	NOUN
fumecheng-547	33	13	(	(	PUNCT
fumecheng-547	33	14	i.e.	i.e.	X
fumecheng-547	33	15	flexion	flexion	NOUN
fumecheng-547	33	16	and	and	CCONJ
fumecheng-547	33	17	extension	extension	NOUN
fumecheng-547	33	18	)	)	PUNCT
fumecheng-547	33	19	are	be	AUX
fumecheng-547	33	20	selected	select	VERB
fumecheng-547	33	21	as	as	ADP
fumecheng-547	33	22	active	active	ADJ
fumecheng-547	33	23	dofs	dof	NOUN
fumecheng-547	33	24	based	base	VERB
fumecheng-547	33	25	on	on	ADP
fumecheng-547	33	26	the	the	DET
fumecheng-547	33	27	biomechanical	biomechanical	ADJ
fumecheng-547	33	28	properties	property	NOUN
fumecheng-547	33	29	of	of	ADP
fumecheng-547	33	30	human	human	ADJ
fumecheng-547	33	31	walking	walking	NOUN
fumecheng-547	33	32	,	,	PUNCT
fumecheng-547	33	33	while	while	SCONJ
fumecheng-547	33	34	the	the	DET
fumecheng-547	33	35	hip	hip	NOUN
fumecheng-547	33	36	dofs	dof	NOUN
fumecheng-547	33	37	in	in	ADP
fumecheng-547	33	38	the	the	DET
fumecheng-547	33	39	transverse	transverse	NOUN
fumecheng-547	33	40	and	and	CCONJ
fumecheng-547	33	41	frontal	frontal	ADJ
fumecheng-547	33	42	planes	plane	NOUN
fumecheng-547	33	43	as	as	ADV
fumecheng-547	33	44	well	well	ADV
fumecheng-547	33	45	fuzzy	fuzzy	ADJ
fumecheng-547	33	46	controller	controller	NOUN
fumecheng-547	33	47	for	for	ADP
fumecheng-547	33	48	the	the	DET
fumecheng-547	33	49	control	control	NOUN
fumecheng-547	33	50	of	of	ADP
fumecheng-547	33	51	the	the	DET
fumecheng-547	33	52	mobile	mobile	ADJ
fumecheng-547	33	53	platform	platform	NOUN
fumecheng-547	33	54	of	of	ADP
fumecheng-547	33	55	the	the	DET
fumecheng-547	33	56	corbys	corbys	NOUN
fumecheng-547	33	57	robotic	robotic	ADJ
fumecheng-547	33	58	system	system	NOUN
fumecheng-547	33	59	225	225	NUM
fumecheng-547	33	60	as	as	SCONJ
fumecheng-547	33	61	the	the	DET
fumecheng-547	33	62	ankle	ankle	NOUN
fumecheng-547	33	63	dof	dof	NOUN
fumecheng-547	33	64	in	in	ADP
fumecheng-547	33	65	the	the	DET
fumecheng-547	33	66	transverse	transverse	NOUN
fumecheng-547	33	67	plane	plane	NOUN
fumecheng-547	33	68	are	be	AUX
fumecheng-547	33	69	passive	passive	ADJ
fumecheng-547	33	70	.	.	PUNCT
fumecheng-547	34	1	the	the	DET
fumecheng-547	34	2	movements	movement	NOUN
fumecheng-547	34	3	of	of	ADP
fumecheng-547	34	4	the	the	DET
fumecheng-547	34	5	orthosis	orthosis	NOUN
fumecheng-547	34	6	joints	joint	NOUN
fumecheng-547	34	7	in	in	ADP
fumecheng-547	34	8	the	the	DET
fumecheng-547	34	9	sagittal	sagittal	ADJ
fumecheng-547	34	10	plane	plane	NOUN
fumecheng-547	34	11	are	be	AUX
fumecheng-547	34	12	controlled	control	VERB
fumecheng-547	34	13	by	by	ADP
fumecheng-547	34	14	a	a	DET
fumecheng-547	34	15	push	push	NOUN
fumecheng-547	34	16	-	-	PUNCT
fumecheng-547	34	17	pull	pull	NOUN
fumecheng-547	34	18	control	control	NOUN
fumecheng-547	34	19	(	(	PUNCT
fumecheng-547	34	20	ppc	ppc	NOUN
fumecheng-547	34	21	)	)	PUNCT
fumecheng-547	34	22	cable	cable	NOUN
fumecheng-547	34	23	-	-	PUNCT
fumecheng-547	34	24	based	base	VERB
fumecheng-547	34	25	actuation	actuation	NOUN
fumecheng-547	34	26	system	system	NOUN
fumecheng-547	34	27	[	[	X
fumecheng-547	34	28	6	6	NUM
fumecheng-547	34	29	]	]	PUNCT
fumecheng-547	34	30	.	.	PUNCT
fumecheng-547	35	1	there	there	PRON
fumecheng-547	35	2	are	be	VERB
fumecheng-547	35	3	three	three	NUM
fumecheng-547	35	4	actuators	actuator	NOUN
fumecheng-547	35	5	per	per	ADP
fumecheng-547	35	6	orthosis	orthosis	NOUN
fumecheng-547	35	7	leg	leg	NOUN
fumecheng-547	35	8	that	that	PRON
fumecheng-547	35	9	actuate	actuate	VERB
fumecheng-547	35	10	the	the	DET
fumecheng-547	35	11	hip	hip	NOUN
fumecheng-547	35	12	,	,	PUNCT
fumecheng-547	35	13	knee	knee	NOUN
fumecheng-547	35	14	and	and	CCONJ
fumecheng-547	35	15	ankle	ankle	NOUN
fumecheng-547	35	16	joints	joint	NOUN
fumecheng-547	35	17	in	in	ADP
fumecheng-547	35	18	the	the	DET
fumecheng-547	35	19	sagittal	sagittal	ADJ
fumecheng-547	35	20	plane	plane	NOUN
fumecheng-547	35	21	.	.	PUNCT
fumecheng-547	36	1	the	the	DET
fumecheng-547	36	2	actuators	actuator	NOUN
fumecheng-547	36	3	are	be	AUX
fumecheng-547	36	4	placed	place	VERB
fumecheng-547	36	5	on	on	ADP
fumecheng-547	36	6	the	the	DET
fumecheng-547	36	7	mobile	mobile	ADJ
fumecheng-547	36	8	platform	platform	NOUN
fumecheng-547	36	9	while	while	SCONJ
fumecheng-547	36	10	the	the	DET
fumecheng-547	36	11	ppc	ppc	NOUN
fumecheng-547	36	12	cables	cable	NOUN
fumecheng-547	36	13	are	be	AUX
fumecheng-547	36	14	flexible	flexible	ADJ
fumecheng-547	36	15	links	link	NOUN
fumecheng-547	36	16	to	to	ADP
fumecheng-547	36	17	the	the	DET
fumecheng-547	36	18	joints	joint	NOUN
fumecheng-547	36	19	used	use	VERB
fumecheng-547	36	20	to	to	PART
fumecheng-547	36	21	transfer	transfer	VERB
fumecheng-547	36	22	the	the	DET
fumecheng-547	36	23	rotational	rotational	ADJ
fumecheng-547	36	24	movement	movement	NOUN
fumecheng-547	36	25	of	of	ADP
fumecheng-547	36	26	the	the	DET
fumecheng-547	36	27	motors	motor	NOUN
fumecheng-547	36	28	to	to	PART
fumecheng-547	36	29	specifically	specifically	ADV
fumecheng-547	36	30	designed	design	VERB
fumecheng-547	36	31	orthotic	orthotic	ADJ
fumecheng-547	36	32	joints	joint	NOUN
fumecheng-547	36	33	.	.	PUNCT
fumecheng-547	37	1	1.2	1.2	NUM
fumecheng-547	37	2	.	.	PUNCT
fumecheng-547	37	3	joystick	joystick	PROPN
fumecheng-547	37	4	control	control	NOUN
fumecheng-547	37	5	of	of	ADP
fumecheng-547	37	6	the	the	DET
fumecheng-547	37	7	mobile	mobile	ADJ
fumecheng-547	37	8	platform	platform	NOUN
fumecheng-547	37	9	in	in	ADP
fumecheng-547	37	10	the	the	DET
fumecheng-547	37	11	fully	fully	ADV
fumecheng-547	37	12	integrated	integrated	ADJ
fumecheng-547	37	13	and	and	CCONJ
fumecheng-547	37	14	functional	functional	ADJ
fumecheng-547	37	15	corbys	corbys	NOUN
fumecheng-547	37	16	gait	gait	PROPN
fumecheng-547	37	17	rehabilitation	rehabilitation	NOUN
fumecheng-547	37	18	system	system	NOUN
fumecheng-547	37	19	,	,	PUNCT
fumecheng-547	37	20	the	the	DET
fumecheng-547	37	21	mobile	mobile	ADJ
fumecheng-547	37	22	platform	platform	NOUN
fumecheng-547	37	23	will	will	AUX
fumecheng-547	37	24	be	be	AUX
fumecheng-547	37	25	controlled	control	VERB
fumecheng-547	37	26	in	in	ADP
fumecheng-547	37	27	order	order	NOUN
fumecheng-547	37	28	to	to	PART
fumecheng-547	37	29	follow	follow	VERB
fumecheng-547	37	30	the	the	DET
fumecheng-547	37	31	walking	walk	VERB
fumecheng-547	37	32	patients	patient	NOUN
fumecheng-547	37	33	while	while	SCONJ
fumecheng-547	37	34	they	they	PRON
fumecheng-547	37	35	are	be	AUX
fumecheng-547	37	36	wearing	wear	VERB
fumecheng-547	37	37	the	the	DET
fumecheng-547	37	38	orthosis	orthosis	NOUN
fumecheng-547	37	39	.	.	PUNCT
fumecheng-547	38	1	however	however	ADV
fumecheng-547	38	2	,	,	PUNCT
fumecheng-547	38	3	in	in	ADP
fumecheng-547	38	4	the	the	DET
fumecheng-547	38	5	early	early	ADJ
fumecheng-547	38	6	stages	stage	NOUN
fumecheng-547	38	7	of	of	ADP
fumecheng-547	38	8	system	system	NOUN
fumecheng-547	38	9	development	development	NOUN
fumecheng-547	38	10	a	a	DET
fumecheng-547	38	11	joystick	joystick	NOUN
fumecheng-547	38	12	control	control	NOUN
fumecheng-547	38	13	of	of	ADP
fumecheng-547	38	14	the	the	DET
fumecheng-547	38	15	mobile	mobile	ADJ
fumecheng-547	38	16	platform	platform	NOUN
fumecheng-547	38	17	had	have	VERB
fumecheng-547	38	18	to	to	PART
fumecheng-547	38	19	be	be	AUX
fumecheng-547	38	20	integrated	integrate	VERB
fumecheng-547	38	21	.	.	PUNCT
fumecheng-547	39	1	the	the	DET
fumecheng-547	39	2	joystick	joystick	PROPN
fumecheng-547	39	3	control	control	NOUN
fumecheng-547	39	4	should	should	AUX
fumecheng-547	39	5	enable	enable	VERB
fumecheng-547	39	6	“	"	PUNCT
fumecheng-547	39	7	manual	manual	ADJ
fumecheng-547	39	8	”	"	PUNCT
fumecheng-547	39	9	platform	platform	NOUN
fumecheng-547	39	10	control	control	NOUN
fumecheng-547	39	11	during	during	ADP
fumecheng-547	39	12	the	the	DET
fumecheng-547	39	13	system	system	NOUN
fumecheng-547	39	14	development	development	NOUN
fumecheng-547	39	15	.	.	PUNCT
fumecheng-547	40	1	also	also	ADV
fumecheng-547	40	2	,	,	PUNCT
fumecheng-547	40	3	the	the	DET
fumecheng-547	40	4	joystick	joystick	NOUN
fumecheng-547	40	5	control	control	NOUN
fumecheng-547	40	6	is	be	AUX
fumecheng-547	40	7	necessary	necessary	ADJ
fumecheng-547	40	8	to	to	PART
fumecheng-547	40	9	move	move	VERB
fumecheng-547	40	10	the	the	DET
fumecheng-547	40	11	platform	platform	NOUN
fumecheng-547	40	12	with	with	ADP
fumecheng-547	40	13	attached	attached	ADJ
fumecheng-547	40	14	orthosis	orthosis	NOUN
fumecheng-547	40	15	towards	towards	ADP
fumecheng-547	40	16	the	the	DET
fumecheng-547	40	17	patient	patient	NOUN
fumecheng-547	40	18	in	in	ADP
fumecheng-547	40	19	the	the	DET
fumecheng-547	40	20	process	process	NOUN
fumecheng-547	40	21	of	of	ADP
fumecheng-547	40	22	setting	set	VERB
fumecheng-547	40	23	up	up	ADP
fumecheng-547	40	24	the	the	DET
fumecheng-547	40	25	patient	patient	NOUN
fumecheng-547	40	26	in	in	ADP
fumecheng-547	40	27	the	the	DET
fumecheng-547	40	28	orthosis	orthosis	NOUN
fumecheng-547	40	29	.	.	PUNCT
fumecheng-547	41	1	in	in	ADP
fumecheng-547	41	2	this	this	DET
fumecheng-547	41	3	paper	paper	NOUN
fumecheng-547	41	4	,	,	PUNCT
fumecheng-547	41	5	an	an	DET
fumecheng-547	41	6	inverse	inverse	NOUN
fumecheng-547	41	7	kinematics	kinematic	NOUN
fumecheng-547	41	8	based	base	VERB
fumecheng-547	41	9	control	control	NOUN
fumecheng-547	41	10	algorithm	algorithm	PROPN
fumecheng-547	41	11	for	for	ADP
fumecheng-547	41	12	joystick	joystick	NOUN
fumecheng-547	41	13	control	control	NOUN
fumecheng-547	41	14	of	of	ADP
fumecheng-547	41	15	the	the	DET
fumecheng-547	41	16	mobile	mobile	ADJ
fumecheng-547	41	17	platform	platform	NOUN
fumecheng-547	41	18	is	be	AUX
fumecheng-547	41	19	presented	present	VERB
fumecheng-547	41	20	.	.	PUNCT
fumecheng-547	42	1	given	give	VERB
fumecheng-547	42	2	the	the	DET
fumecheng-547	42	3	linear	linear	ADJ
fumecheng-547	42	4	and	and	CCONJ
fumecheng-547	42	5	angular	angular	ADJ
fumecheng-547	42	6	velocities	velocity	NOUN
fumecheng-547	42	7	of	of	ADP
fumecheng-547	42	8	the	the	DET
fumecheng-547	42	9	mobile	mobile	ADJ
fumecheng-547	42	10	platform	platform	NOUN
fumecheng-547	42	11	using	use	VERB
fumecheng-547	42	12	the	the	DET
fumecheng-547	42	13	joystick	joystick	NOUN
fumecheng-547	42	14	,	,	PUNCT
fumecheng-547	42	15	the	the	DET
fumecheng-547	42	16	inverse	inverse	NOUN
fumecheng-547	42	17	kinematics	kinematic	NOUN
fumecheng-547	42	18	algorithm	algorithm	NOUN
fumecheng-547	42	19	gives	give	VERB
fumecheng-547	42	20	as	as	SCONJ
fumecheng-547	42	21	output	output	NOUN
fumecheng-547	42	22	the	the	DET
fumecheng-547	42	23	steering	steering	NOUN
fumecheng-547	42	24	angle	angle	NOUN
fumecheng-547	42	25	and	and	CCONJ
fumecheng-547	42	26	the	the	DET
fumecheng-547	42	27	driving	drive	VERB
fumecheng-547	42	28	angular	angular	ADJ
fumecheng-547	42	29	velocity	velocity	NOUN
fumecheng-547	42	30	of	of	ADP
fumecheng-547	42	31	each	each	PRON
fumecheng-547	42	32	of	of	ADP
fumecheng-547	42	33	the	the	DET
fumecheng-547	42	34	four	four	NUM
fumecheng-547	42	35	wheels	wheel	NOUN
fumecheng-547	42	36	of	of	ADP
fumecheng-547	42	37	the	the	DET
fumecheng-547	42	38	platform	platform	NOUN
fumecheng-547	42	39	.	.	PUNCT
fumecheng-547	43	1	the	the	DET
fumecheng-547	43	2	paper	paper	NOUN
fumecheng-547	43	3	is	be	AUX
fumecheng-547	43	4	focused	focus	VERB
fumecheng-547	43	5	on	on	ADP
fumecheng-547	43	6	the	the	DET
fumecheng-547	43	7	steering	steering	NOUN
fumecheng-547	43	8	control	control	NOUN
fumecheng-547	43	9	of	of	ADP
fumecheng-547	43	10	the	the	DET
fumecheng-547	43	11	platform	platform	NOUN
fumecheng-547	43	12	for	for	ADP
fumecheng-547	43	13	which	which	PRON
fumecheng-547	43	14	a	a	DET
fumecheng-547	43	15	fuzzy	fuzzy	ADJ
fumecheng-547	43	16	logic	logic	NOUN
fumecheng-547	43	17	controller	controller	NOUN
fumecheng-547	43	18	is	be	AUX
fumecheng-547	43	19	developed	develop	VERB
fumecheng-547	43	20	and	and	CCONJ
fumecheng-547	43	21	implemented	implement	VERB
fumecheng-547	43	22	.	.	PUNCT
fumecheng-547	44	1	the	the	DET
fumecheng-547	44	2	rest	rest	NOUN
fumecheng-547	44	3	of	of	ADP
fumecheng-547	44	4	the	the	DET
fumecheng-547	44	5	paper	paper	NOUN
fumecheng-547	44	6	is	be	AUX
fumecheng-547	44	7	organized	organize	VERB
fumecheng-547	44	8	as	as	SCONJ
fumecheng-547	44	9	follows	follow	VERB
fumecheng-547	44	10	.	.	PUNCT
fumecheng-547	45	1	in	in	ADP
fumecheng-547	45	2	section	section	NOUN
fumecheng-547	45	3	2	2	NUM
fumecheng-547	45	4	the	the	DET
fumecheng-547	45	5	inverse	inverse	NOUN
fumecheng-547	45	6	kinematics	kinematic	NOUN
fumecheng-547	45	7	model	model	NOUN
fumecheng-547	45	8	of	of	ADP
fumecheng-547	45	9	the	the	DET
fumecheng-547	45	10	mobile	mobile	ADJ
fumecheng-547	45	11	platform	platform	NOUN
fumecheng-547	45	12	used	use	VERB
fumecheng-547	45	13	for	for	ADP
fumecheng-547	45	14	the	the	DET
fumecheng-547	45	15	design	design	NOUN
fumecheng-547	45	16	of	of	ADP
fumecheng-547	45	17	the	the	DET
fumecheng-547	45	18	fuzzy	fuzzy	ADJ
fumecheng-547	45	19	controller	controller	NOUN
fumecheng-547	45	20	is	be	AUX
fumecheng-547	45	21	given	give	VERB
fumecheng-547	45	22	.	.	PUNCT
fumecheng-547	46	1	the	the	DET
fumecheng-547	46	2	design	design	NOUN
fumecheng-547	46	3	of	of	ADP
fumecheng-547	46	4	the	the	DET
fumecheng-547	46	5	fuzzy	fuzzy	ADJ
fumecheng-547	46	6	controller	controller	NOUN
fumecheng-547	46	7	is	be	AUX
fumecheng-547	46	8	given	give	VERB
fumecheng-547	46	9	in	in	ADP
fumecheng-547	46	10	section	section	NOUN
fumecheng-547	46	11	3	3	NUM
fumecheng-547	46	12	.	.	PUNCT
fumecheng-547	46	13	section	section	NOUN
fumecheng-547	46	14	4	4	NUM
fumecheng-547	46	15	presents	present	VERB
fumecheng-547	46	16	experimental	experimental	ADJ
fumecheng-547	46	17	results	result	NOUN
fumecheng-547	46	18	obtained	obtain	VERB
fumecheng-547	46	19	in	in	ADP
fumecheng-547	46	20	real	real	ADJ
fumecheng-547	46	21	-	-	PUNCT
fumecheng-547	46	22	world	world	NOUN
fumecheng-547	46	23	steering	steering	NOUN
fumecheng-547	46	24	of	of	ADP
fumecheng-547	46	25	the	the	DET
fumecheng-547	46	26	corbys	corbys	PROPN
fumecheng-547	46	27	mobile	mobile	ADJ
fumecheng-547	46	28	platform	platform	NOUN
fumecheng-547	46	29	wheels	wheel	NOUN
fumecheng-547	46	30	using	use	VERB
fumecheng-547	46	31	the	the	DET
fumecheng-547	46	32	designed	design	VERB
fumecheng-547	46	33	controller	controller	NOUN
fumecheng-547	46	34	.	.	PUNCT
fumecheng-547	47	1	2	2	NUM
fumecheng-547	47	2	.	.	NOUN
fumecheng-547	47	3	inverse	inverse	NOUN
fumecheng-547	47	4	kinematics	kinematic	NOUN
fumecheng-547	47	5	of	of	ADP
fumecheng-547	47	6	the	the	DET
fumecheng-547	47	7	four	four	NUM
fumecheng-547	47	8	-	-	PUNCT
fumecheng-547	47	9	wheel	wheel	NOUN
fumecheng-547	47	10	mobile	mobile	NOUN
fumecheng-547	47	11	platform	platform	NOUN
fumecheng-547	47	12	the	the	DET
fumecheng-547	47	13	reference	reference	NOUN
fumecheng-547	47	14	values	value	NOUN
fumecheng-547	47	15	for	for	ADP
fumecheng-547	47	16	the	the	DET
fumecheng-547	47	17	control	control	NOUN
fumecheng-547	47	18	of	of	ADP
fumecheng-547	47	19	mobile	mobile	ADJ
fumecheng-547	47	20	robots	robot	NOUN
fumecheng-547	47	21	can	can	AUX
fumecheng-547	47	22	be	be	AUX
fumecheng-547	47	23	defined	define	VERB
fumecheng-547	47	24	utilizing	utilize	VERB
fumecheng-547	47	25	dynamical	dynamical	ADJ
fumecheng-547	47	26	or	or	CCONJ
fumecheng-547	47	27	kinematic	kinematic	ADJ
fumecheng-547	47	28	model	model	NOUN
fumecheng-547	47	29	,	,	PUNCT
fumecheng-547	47	30	respectively	respectively	ADV
fumecheng-547	47	31	[	[	X
fumecheng-547	47	32	5	5	NUM
fumecheng-547	47	33	]	]	PUNCT
fumecheng-547	47	34	.	.	PUNCT
fumecheng-547	48	1	given	give	VERB
fumecheng-547	48	2	the	the	DET
fumecheng-547	48	3	linear	linear	ADJ
fumecheng-547	48	4	and	and	CCONJ
fumecheng-547	48	5	angular	angular	ADJ
fumecheng-547	48	6	velocities	velocity	NOUN
fumecheng-547	48	7	for	for	ADP
fumecheng-547	48	8	the	the	DET
fumecheng-547	48	9	center	center	NOUN
fumecheng-547	48	10	of	of	ADP
fumecheng-547	48	11	mass	mass	NOUN
fumecheng-547	48	12	of	of	ADP
fumecheng-547	48	13	the	the	DET
fumecheng-547	48	14	mobile	mobile	NOUN
fumecheng-547	48	15	robot	robot	NOUN
fumecheng-547	48	16	,	,	PUNCT
fumecheng-547	48	17	the	the	DET
fumecheng-547	48	18	inverse	inverse	NOUN
fumecheng-547	48	19	kinematics	kinematic	NOUN
fumecheng-547	48	20	equations	equation	NOUN
fumecheng-547	48	21	calculate	calculate	VERB
fumecheng-547	48	22	the	the	DET
fumecheng-547	48	23	steering	steering	NOUN
fumecheng-547	48	24	angle	angle	NOUN
fumecheng-547	48	25	and	and	CCONJ
fumecheng-547	48	26	the	the	DET
fumecheng-547	48	27	driving	drive	VERB
fumecheng-547	48	28	angular	angular	ADJ
fumecheng-547	48	29	velocity	velocity	NOUN
fumecheng-547	48	30	of	of	ADP
fumecheng-547	48	31	each	each	DET
fumecheng-547	48	32	wheel	wheel	NOUN
fumecheng-547	48	33	of	of	ADP
fumecheng-547	48	34	the	the	DET
fumecheng-547	48	35	mobile	mobile	NOUN
fumecheng-547	48	36	robot	robot	NOUN
fumecheng-547	48	37	.	.	PUNCT
fumecheng-547	49	1	starting	start	VERB
fumecheng-547	49	2	from	from	ADP
fumecheng-547	49	3	the	the	DET
fumecheng-547	49	4	mobile	mobile	ADJ
fumecheng-547	49	5	platform	platform	NOUN
fumecheng-547	49	6	illustration	illustration	NOUN
fumecheng-547	49	7	shown	show	VERB
fumecheng-547	49	8	in	in	ADP
fumecheng-547	49	9	fig	fig	NOUN
fumecheng-547	49	10	.	.	PUNCT
fumecheng-547	50	1	2	2	NUM
fumecheng-547	50	2	,	,	PUNCT
fumecheng-547	50	3	the	the	DET
fumecheng-547	50	4	kinematic	kinematic	ADJ
fumecheng-547	50	5	model	model	NOUN
fumecheng-547	50	6	of	of	ADP
fumecheng-547	50	7	the	the	DET
fumecheng-547	50	8	mobile	mobile	ADJ
fumecheng-547	50	9	platform	platform	NOUN
fumecheng-547	50	10	of	of	ADP
fumecheng-547	50	11	corbys	corbys	NOUN
fumecheng-547	50	12	system	system	NOUN
fumecheng-547	50	13	is	be	AUX
fumecheng-547	50	14	derived	derive	VERB
fumecheng-547	50	15	in	in	ADP
fumecheng-547	50	16	the	the	DET
fumecheng-547	50	17	following	following	ADJ
fumecheng-547	50	18	way	way	NOUN
fumecheng-547	50	19	.	.	PUNCT
fumecheng-547	51	1	the	the	DET
fumecheng-547	51	2	mobile	mobile	ADJ
fumecheng-547	51	3	platform	platform	NOUN
fumecheng-547	51	4	is	be	AUX
fumecheng-547	51	5	considered	consider	VERB
fumecheng-547	51	6	as	as	ADP
fumecheng-547	51	7	a	a	DET
fumecheng-547	51	8	rigid	rigid	ADJ
fumecheng-547	51	9	body	body	NOUN
fumecheng-547	51	10	with	with	ADP
fumecheng-547	51	11	four	four	NUM
fumecheng-547	51	12	independent	independent	ADJ
fumecheng-547	51	13	wheels	wheel	NOUN
fumecheng-547	51	14	:	:	PUNCT
fumecheng-547	51	15	front	front	ADJ
fumecheng-547	51	16	right	right	ADJ
fumecheng-547	51	17	wheel	wheel	NOUN
fumecheng-547	51	18	(	(	PUNCT
fumecheng-547	51	19	w1	w1	NOUN
fumecheng-547	51	20	)	)	PUNCT
fumecheng-547	51	21	,	,	PUNCT
fumecheng-547	51	22	rear	rear	ADJ
fumecheng-547	51	23	right	right	ADJ
fumecheng-547	51	24	wheel	wheel	NOUN
fumecheng-547	51	25	(	(	PUNCT
fumecheng-547	51	26	w2	w2	NOUN
fumecheng-547	51	27	)	)	PUNCT
fumecheng-547	51	28	,	,	PUNCT
fumecheng-547	51	29	front	front	ADJ
fumecheng-547	51	30	left	leave	VERB
fumecheng-547	51	31	wheel	wheel	NOUN
fumecheng-547	51	32	(	(	PUNCT
fumecheng-547	51	33	w3	w3	PROPN
fumecheng-547	51	34	)	)	PUNCT
fumecheng-547	51	35	and	and	CCONJ
fumecheng-547	51	36	rear	rear	ADJ
fumecheng-547	51	37	left	left	ADJ
fumecheng-547	51	38	wheel	wheel	NOUN
fumecheng-547	51	39	(	(	PUNCT
fumecheng-547	51	40	w4	w4	NOUN
fumecheng-547	51	41	)	)	PUNCT
fumecheng-547	51	42	.	.	PUNCT
fumecheng-547	52	1	the	the	DET
fumecheng-547	52	2	known	know	VERB
fumecheng-547	52	3	variables	variable	NOUN
fumecheng-547	52	4	for	for	ADP
fumecheng-547	52	5	the	the	DET
fumecheng-547	52	6	inverse	inverse	NOUN
fumecheng-547	52	7	kinematic	kinematic	NOUN
fumecheng-547	52	8	equations	equation	NOUN
fumecheng-547	52	9	are	be	AUX
fumecheng-547	52	10	the	the	DET
fumecheng-547	52	11	xand	xand	PROPN
fumecheng-547	52	12	z	z	NOUN
fumecheng-547	52	13	-	-	PUNCT
fumecheng-547	52	14	components	component	NOUN
fumecheng-547	52	15	of	of	ADP
fumecheng-547	52	16	linear	linear	ADJ
fumecheng-547	52	17	velocity	velocity	NOUN
fumecheng-547	52	18	of	of	ADP
fumecheng-547	52	19	the	the	DET
fumecheng-547	52	20	mobile	mobile	ADJ
fumecheng-547	52	21	platform	platform	NOUN
fumecheng-547	52	22	center	center	NOUN
fumecheng-547	52	23	of	of	ADP
fumecheng-547	52	24	mass	mass	NOUN
fumecheng-547	52	25	[	[	X
fumecheng-547	52	26	vcx	vcx	NOUN
fumecheng-547	52	27	,	,	PUNCT
fumecheng-547	52	28	vcz	vcz	NOUN
fumecheng-547	52	29	]	]	PUNCT
fumecheng-547	52	30	with	with	ADP
fumecheng-547	52	31	respect	respect	NOUN
fumecheng-547	52	32	to	to	ADP
fumecheng-547	52	33	the	the	DET
fumecheng-547	52	34	inertial	inertial	ADJ
fumecheng-547	52	35	frame	frame	NOUN
fumecheng-547	52	36	{	{	PUNCT
fumecheng-547	52	37	o	o	NOUN
fumecheng-547	52	38	,	,	PUNCT
fumecheng-547	52	39	x	x	PROPN
fumecheng-547	52	40	,	,	PUNCT
fumecheng-547	52	41	y	y	PROPN
fumecheng-547	52	42	,	,	PUNCT
fumecheng-547	52	43	z}and	z}and	NOUN
fumecheng-547	52	44	the	the	DET
fumecheng-547	52	45	angular	angular	ADJ
fumecheng-547	52	46	velocity	velocity	NOUN
fumecheng-547	52	47	of	of	ADP
fumecheng-547	52	48	center	center	NOUN
fumecheng-547	52	49	of	of	ADP
fumecheng-547	52	50	mass	mass	PROPN
fumecheng-547	52	51	,	,	PUNCT
fumecheng-547	52	52			PROPN
fumecheng-547	52	53	,	,	PUNCT
fumecheng-547	52	54	with	with	ADP
fumecheng-547	52	55	respect	respect	NOUN
fumecheng-547	52	56	to	to	ADP
fumecheng-547	52	57	the	the	DET
fumecheng-547	52	58	inertial	inertial	ADJ
fumecheng-547	52	59	frame	frame	NOUN
fumecheng-547	52	60	.	.	PUNCT
fumecheng-547	53	1	the	the	DET
fumecheng-547	53	2	unknown	unknown	ADJ
fumecheng-547	53	3	variables	variable	NOUN
fumecheng-547	53	4	are	be	AUX
fumecheng-547	53	5	the	the	DET
fumecheng-547	53	6	driving	drive	VERB
fumecheng-547	53	7	angular	angular	ADJ
fumecheng-547	53	8	velocity	velocity	NOUN
fumecheng-547	53	9	of	of	ADP
fumecheng-547	53	10	each	each	DET
fumecheng-547	53	11	wheel	wheel	NOUN
fumecheng-547	53	12	,	,	PUNCT
fumecheng-547	53	13	1,2,3,4i	1,2,3,4i	NUM
fumecheng-547	53	14	i	i	ADP
fumecheng-547	53	15			NOUN
fumecheng-547	53	16	and	and	CCONJ
fumecheng-547	53	17	the	the	DET
fumecheng-547	53	18	steering	steering	NOUN
fumecheng-547	53	19	angle	angle	NOUN
fumecheng-547	53	20	of	of	ADP
fumecheng-547	53	21	each	each	DET
fumecheng-547	53	22	wheel	wheel	NOUN
fumecheng-547	53	23	4,3,2,1	4,3,2,1	NUM
fumecheng-547	53	24	,	,	PUNCT
fumecheng-547	53	25	ii	ii	X
fumecheng-547	53	26	.	.	PUNCT
fumecheng-547	54	1	the	the	DET
fumecheng-547	54	2	inverse	inverse	NOUN
fumecheng-547	54	3	kinematic	kinematic	NOUN
fumecheng-547	54	4	equations	equation	NOUN
fumecheng-547	54	5	can	can	AUX
fumecheng-547	54	6	be	be	AUX
fumecheng-547	54	7	summarized	summarize	VERB
fumecheng-547	54	8	as	as	SCONJ
fumecheng-547	54	9	follows	follow	VERB
fumecheng-547	54	10	:	:	PUNCT
fumecheng-547	54	11	1	1	NUM
fumecheng-547	54	12	1	1	NUM
fumecheng-547	54	13	2	2	NUM
fumecheng-547	54	14	3	3	NUM
fumecheng-547	54	15	4	4	NUM
fumecheng-547	54	16	1	1	NUM
fumecheng-547	54	17	2	2	NUM
fumecheng-547	54	18	3	3	NUM
fumecheng-547	54	19	4	4	NUM
fumecheng-547	54	20	[	[	PUNCT
fumecheng-547	54	21	]	]	X
fumecheng-547	54	22	(	(	PUNCT
fumecheng-547	54	23	,	,	PUNCT
fumecheng-547	54	24	,	,	PUNCT
fumecheng-547	54	25	)	)	PUNCT
fumecheng-547	54	26	t	t	PROPN
fumecheng-547	54	27	cx	cx	NOUN
fumecheng-547	54	28	czf	czf	NOUN
fumecheng-547	54	29	v	v	ADP
fumecheng-547	54	30	v	v	NOUN
fumecheng-547	54	31			ADJ
fumecheng-547	54	32			ADJ
fumecheng-547	54	33			ADJ
fumecheng-547	54	34			NOUN
fumecheng-547	54	35			PROPN
fumecheng-547	54	36			PROPN
fumecheng-547	54	37			PROPN
fumecheng-547	54	38			X
fumecheng-547	54	39	(	(	PUNCT
fumecheng-547	54	40	1	1	X
fumecheng-547	54	41	)	)	PUNCT
fumecheng-547	54	42	226	226	NUM
fumecheng-547	54	43	m.	m.	NOUN
fumecheng-547	54	44	kyrarini	kyrarini	PROPN
fumecheng-547	54	45	,	,	PUNCT
fumecheng-547	54	46	s.	s.	PROPN
fumecheng-547	54	47	slavnić	slavnić	PROPN
fumecheng-547	54	48	,	,	PUNCT
fumecheng-547	54	49	d.	d.	PROPN
fumecheng-547	54	50	ristić	ristić	PROPN
fumecheng-547	54	51	-	-	PUNCT
fumecheng-547	54	52	durrant	durrant	PROPN
fumecheng-547	54	53	beside	beside	ADP
fumecheng-547	54	54	the	the	DET
fumecheng-547	54	55	inertial	inertial	ADJ
fumecheng-547	54	56	or	or	CCONJ
fumecheng-547	54	57	reference	reference	NOUN
fumecheng-547	54	58	frame	frame	NOUN
fumecheng-547	54	59	{	{	PUNCT
fumecheng-547	54	60	o	o	NOUN
fumecheng-547	54	61	,	,	PUNCT
fumecheng-547	54	62	x	x	PROPN
fumecheng-547	54	63	,	,	PUNCT
fumecheng-547	54	64	y	y	PROPN
fumecheng-547	54	65	,	,	PUNCT
fumecheng-547	54	66	z	z	NOUN
fumecheng-547	54	67	}	}	PUNCT
fumecheng-547	54	68	,	,	PUNCT
fumecheng-547	54	69	for	for	ADP
fumecheng-547	54	70	the	the	DET
fumecheng-547	54	71	description	description	NOUN
fumecheng-547	54	72	of	of	ADP
fumecheng-547	54	73	the	the	DET
fumecheng-547	54	74	motion	motion	NOUN
fumecheng-547	54	75	of	of	ADP
fumecheng-547	54	76	the	the	DET
fumecheng-547	54	77	platform	platform	NOUN
fumecheng-547	54	78	two	two	NUM
fumecheng-547	54	79	additional	additional	ADJ
fumecheng-547	54	80	frames	frame	NOUN
fumecheng-547	54	81	are	be	AUX
fumecheng-547	54	82	important	important	ADJ
fumecheng-547	54	83	as	as	SCONJ
fumecheng-547	54	84	illustrated	illustrate	VERB
fumecheng-547	54	85	in	in	ADP
fumecheng-547	54	86	fig	fig	NOUN
fumecheng-547	54	87	.	.	PUNCT
fumecheng-547	55	1	2	2	NUM
fumecheng-547	55	2	:	:	PUNCT
fumecheng-547	55	3	the	the	DET
fumecheng-547	55	4	frame	frame	NOUN
fumecheng-547	55	5	{	{	PUNCT
fumecheng-547	55	6	c	c	NOUN
fumecheng-547	55	7	,	,	PUNCT
fumecheng-547	55	8	x	x	X
fumecheng-547	55	9	,	,	PUNCT
fumecheng-547	55	10	y	y	PROPN
fumecheng-547	55	11	,	,	PUNCT
fumecheng-547	55	12	z	z	NOUN
fumecheng-547	55	13	}	}	PUNCT
fumecheng-547	55	14	which	which	PRON
fumecheng-547	55	15	is	be	AUX
fumecheng-547	55	16	attached	attach	VERB
fumecheng-547	55	17	to	to	ADP
fumecheng-547	55	18	the	the	DET
fumecheng-547	55	19	centre	centre	NOUN
fumecheng-547	55	20	of	of	ADP
fumecheng-547	55	21	mass	mass	NOUN
fumecheng-547	55	22	of	of	ADP
fumecheng-547	55	23	the	the	DET
fumecheng-547	55	24	mobile	mobile	ADJ
fumecheng-547	55	25	platform	platform	NOUN
fumecheng-547	55	26	and	and	CCONJ
fumecheng-547	55	27	the	the	DET
fumecheng-547	55	28	frames	frame	NOUN
fumecheng-547	55	29	{	{	PUNCT
fumecheng-547	55	30	wi	wi	PROPN
fumecheng-547	55	31	,	,	PUNCT
fumecheng-547	55	32	xi',yi',zi	xi',yi',zi	NOUN
fumecheng-547	55	33	'	'	PUNCT
fumecheng-547	55	34	}	}	PUNCT
fumecheng-547	55	35	,	,	PUNCT
fumecheng-547	55	36	i	i	PRON
fumecheng-547	55	37	=	=	NOUN
fumecheng-547	55	38	1,2,3,4	1,2,3,4	NUM
fumecheng-547	55	39	that	that	PRON
fumecheng-547	55	40	are	be	AUX
fumecheng-547	55	41	attached	attach	VERB
fumecheng-547	55	42	to	to	ADP
fumecheng-547	55	43	the	the	DET
fumecheng-547	55	44	centers	center	NOUN
fumecheng-547	55	45	of	of	ADP
fumecheng-547	55	46	the	the	DET
fumecheng-547	55	47	wheels	wheel	NOUN
fumecheng-547	55	48	.	.	PUNCT
fumecheng-547	56	1	fig	fig	NOUN
fumecheng-547	56	2	.	.	PUNCT
fumecheng-547	57	1	2	2	NUM
fumecheng-547	57	2	top	top	ADJ
fumecheng-547	57	3	view	view	NOUN
fumecheng-547	57	4	of	of	ADP
fumecheng-547	57	5	the	the	DET
fumecheng-547	57	6	mobile	mobile	ADJ
fumecheng-547	57	7	platform	platform	NOUN
fumecheng-547	57	8	the	the	DET
fumecheng-547	57	9	mobile	mobile	ADJ
fumecheng-547	57	10	platform	platform	NOUN
fumecheng-547	57	11	has	have	VERB
fumecheng-547	57	12	the	the	DET
fumecheng-547	57	13	following	follow	VERB
fumecheng-547	57	14	characteristics	characteristic	NOUN
fumecheng-547	57	15	:	:	PUNCT
fumecheng-547	57	16	width	width	VERB
fumecheng-547	57	17	w	w	NOUN
fumecheng-547	57	18	=	=	PUNCT
fumecheng-547	57	19	1026.4	1026.4	NUM
fumecheng-547	57	20	mm	mm	NOUN
fumecheng-547	57	21	,	,	PUNCT
fumecheng-547	57	22	length	length	NOUN
fumecheng-547	57	23	l	l	NOUN
fumecheng-547	57	24	=	=	SYM
fumecheng-547	57	25	1702	1702	NUM
fumecheng-547	57	26	mm	mm	PROPN
fumecheng-547	57	27	,	,	PUNCT
fumecheng-547	57	28	wheel	wheel	NOUN
fumecheng-547	57	29	radius	radius	NOUN
fumecheng-547	57	30	r	r	NOUN
fumecheng-547	57	31	=	=	SYM
fumecheng-547	57	32	100	100	NUM
fumecheng-547	57	33	mm	mm	NOUN
fumecheng-547	57	34	.	.	PUNCT
fumecheng-547	58	1	velocities	velocity	NOUN
fumecheng-547	58	2	vi	vi	PROPN
fumecheng-547	58	3	,	,	PUNCT
fumecheng-547	58	4	i	i	PRON
fumecheng-547	58	5	=	=	NOUN
fumecheng-547	58	6	1,2,3,4	1,2,3,4	NUM
fumecheng-547	58	7	,	,	PUNCT
fumecheng-547	58	8	of	of	ADP
fumecheng-547	58	9	the	the	DET
fumecheng-547	58	10	wheels	wheel	NOUN
fumecheng-547	58	11	’	'	PUNCT
fumecheng-547	58	12	centre	centre	NOUN
fumecheng-547	58	13	points	point	NOUN
fumecheng-547	58	14	with	with	ADP
fumecheng-547	58	15	respect	respect	NOUN
fumecheng-547	58	16	to	to	ADP
fumecheng-547	58	17	the	the	DET
fumecheng-547	58	18	inertial	inertial	ADJ
fumecheng-547	58	19	frame	frame	NOUN
fumecheng-547	58	20	{	{	PUNCT
fumecheng-547	58	21	o	o	NOUN
fumecheng-547	58	22	,	,	PUNCT
fumecheng-547	58	23	x	x	PROPN
fumecheng-547	58	24	,	,	PUNCT
fumecheng-547	58	25	y	y	PROPN
fumecheng-547	58	26	,	,	PUNCT
fumecheng-547	58	27	z}are	z}are	PROPN
fumecheng-547	58	28	as	as	SCONJ
fumecheng-547	58	29	follows	follow	VERB
fumecheng-547	58	30	:	:	PUNCT
fumecheng-547	58	31	iici	iici	PROPN
fumecheng-547	58	32	ddvv	ddvv	PROPN
fumecheng-547	58	33			CCONJ
fumecheng-547	58	34			X
fumecheng-547	58	35	(	(	PUNCT
fumecheng-547	58	36	2	2	NUM
fumecheng-547	58	37	)	)	PUNCT
fumecheng-547	58	38	where	where	SCONJ
fumecheng-547	58	39	vc	vc	PROPN
fumecheng-547	58	40	is	be	AUX
fumecheng-547	58	41	the	the	DET
fumecheng-547	58	42	linear	linear	ADJ
fumecheng-547	58	43	velocity	velocity	NOUN
fumecheng-547	58	44	of	of	ADP
fumecheng-547	58	45	the	the	DET
fumecheng-547	58	46	mobile	mobile	ADJ
fumecheng-547	58	47	platform	platform	NOUN
fumecheng-547	58	48	centre	centre	NOUN
fumecheng-547	58	49	of	of	ADP
fumecheng-547	58	50	mass	mass	NOUN
fumecheng-547	58	51	with	with	ADP
fumecheng-547	58	52	respect	respect	NOUN
fumecheng-547	58	53	to	to	ADP
fumecheng-547	58	54	the	the	DET
fumecheng-547	58	55	inertial	inertial	ADJ
fumecheng-547	58	56	frame	frame	NOUN
fumecheng-547	58	57	whose	whose	DET
fumecheng-547	58	58	x	x	NOUN
fumecheng-547	58	59	-	-	NOUN
fumecheng-547	58	60	component	component	NOUN
fumecheng-547	58	61	and	and	CCONJ
fumecheng-547	58	62	z	z	NOUN
fumecheng-547	58	63	-	-	PUNCT
fumecheng-547	58	64	component	component	NOUN
fumecheng-547	58	65	are	be	AUX
fumecheng-547	58	66	expressed	express	VERB
fumecheng-547	58	67	in	in	ADP
fumecheng-547	58	68	terms	term	NOUN
fumecheng-547	58	69	of	of	ADP
fumecheng-547	58	70	unit	unit	NOUN
fumecheng-547	58	71	vectors	vector	NOUN
fumecheng-547	58	72	(	(	PUNCT
fumecheng-547	58	73	i	i	PROPN
fumecheng-547	58	74	,	,	PUNCT
fumecheng-547	58	75	j	j	PROPN
fumecheng-547	58	76	,	,	PUNCT
fumecheng-547	58	77	k	k	NOUN
fumecheng-547	58	78	)	)	PUNCT
fumecheng-547	58	79	in	in	ADP
fumecheng-547	58	80	the	the	DET
fumecheng-547	58	81	frame	frame	NOUN
fumecheng-547	58	82	{	{	PUNCT
fumecheng-547	58	83	c	c	NOUN
fumecheng-547	58	84	,	,	PUNCT
fumecheng-547	58	85	x	x	X
fumecheng-547	58	86	,	,	PUNCT
fumecheng-547	58	87	y	y	PROPN
fumecheng-547	58	88	,	,	PUNCT
fumecheng-547	58	89	z	z	NOUN
fumecheng-547	58	90	}	}	PUNCT
fumecheng-547	58	91	:	:	PUNCT
fumecheng-547	58	92	czcxc	czcxc	PROPN
fumecheng-547	58	93	vvv	vvv	PROPN
fumecheng-547	58	94			ADJ
fumecheng-547	58	95	.	.	PUNCT
fumecheng-547	59	1	(	(	PUNCT
fumecheng-547	59	2	3	3	X
fumecheng-547	59	3	)	)	PUNCT
fumecheng-547	59	4			X
fumecheng-547	59	5	is	be	AUX
fumecheng-547	59	6	the	the	DET
fumecheng-547	59	7	angular	angular	ADJ
fumecheng-547	59	8	velocity	velocity	NOUN
fumecheng-547	59	9	of	of	ADP
fumecheng-547	59	10	the	the	DET
fumecheng-547	59	11	frame	frame	NOUN
fumecheng-547	59	12	{	{	PUNCT
fumecheng-547	59	13	c	c	NOUN
fumecheng-547	59	14	,	,	PUNCT
fumecheng-547	59	15	x	x	X
fumecheng-547	59	16	,	,	PUNCT
fumecheng-547	59	17	y	y	PROPN
fumecheng-547	59	18	,	,	PUNCT
fumecheng-547	59	19	z	z	NOUN
fumecheng-547	59	20	}	}	PUNCT
fumecheng-547	59	21	,	,	PUNCT
fumecheng-547	59	22	with	with	ADP
fumecheng-547	59	23	respect	respect	NOUN
fumecheng-547	59	24	to	to	ADP
fumecheng-547	59	25	the	the	DET
fumecheng-547	59	26	inertial	inertial	ADJ
fumecheng-547	59	27	frame	frame	NOUN
fumecheng-547	59	28	and	and	CCONJ
fumecheng-547	59	29	di	di	NOUN
fumecheng-547	59	30	is	be	AUX
fumecheng-547	59	31	the	the	DET
fumecheng-547	59	32	position	position	NOUN
fumecheng-547	59	33	vector	vector	NOUN
fumecheng-547	59	34	of	of	ADP
fumecheng-547	59	35	the	the	DET
fumecheng-547	59	36	point	point	NOUN
fumecheng-547	59	37	wi	wi	PROPN
fumecheng-547	59	38	with	with	ADP
fumecheng-547	59	39	respect	respect	NOUN
fumecheng-547	59	40	to	to	ADP
fumecheng-547	59	41	the	the	DET
fumecheng-547	59	42	frame	frame	NOUN
fumecheng-547	59	43	{	{	PUNCT
fumecheng-547	59	44	c	c	NOUN
fumecheng-547	59	45	,	,	PUNCT
fumecheng-547	59	46	x	x	X
fumecheng-547	59	47	,	,	PUNCT
fumecheng-547	59	48	y	y	PROPN
fumecheng-547	59	49	,	,	PUNCT
fumecheng-547	59	50	z	z	NOUN
fumecheng-547	59	51	}	}	PUNCT
fumecheng-547	59	52	.	.	PUNCT
fumecheng-547	60	1	as	as	SCONJ
fumecheng-547	60	2	di	di	NOUN
fumecheng-547	60	3	is	be	AUX
fumecheng-547	60	4	constant	constant	ADJ
fumecheng-547	60	5	,	,	PUNCT
fumecheng-547	60	6	time	time	NOUN
fumecheng-547	60	7	derivative	derivative	ADJ
fumecheng-547	60	8	id	id	PROPN
fumecheng-547	60	9	of	of	ADP
fumecheng-547	60	10	the	the	DET
fumecheng-547	60	11	position	position	NOUN
fumecheng-547	60	12	vector	vector	NOUN
fumecheng-547	60	13	in	in	ADP
fumecheng-547	60	14	(	(	PUNCT
fumecheng-547	60	15	2	2	NUM
fumecheng-547	60	16	)	)	PUNCT
fumecheng-547	60	17	is	be	AUX
fumecheng-547	60	18	equal	equal	ADJ
fumecheng-547	60	19	to	to	ADP
fumecheng-547	60	20	zero	zero	NUM
fumecheng-547	60	21	.	.	PUNCT
fumecheng-547	61	1	position	position	NOUN
fumecheng-547	61	2	vectors	vector	NOUN
fumecheng-547	61	3	di	di	VERB
fumecheng-547	61	4	,	,	PUNCT
fumecheng-547	61	5	i	i	PROPN
fumecheng-547	61	6	=	=	NOUN
fumecheng-547	61	7	1,2,3,4	1,2,3,4	NUM
fumecheng-547	61	8	of	of	ADP
fumecheng-547	61	9	wheels	wheel	NOUN
fumecheng-547	61	10	’	'	PUNCT
fumecheng-547	61	11	centre	centre	NOUN
fumecheng-547	61	12	points	point	NOUN
fumecheng-547	61	13	can	can	AUX
fumecheng-547	61	14	be	be	AUX
fumecheng-547	61	15	represented	represent	VERB
fumecheng-547	61	16	in	in	ADP
fumecheng-547	61	17	terms	term	NOUN
fumecheng-547	61	18	of	of	ADP
fumecheng-547	61	19	unit	unit	NOUN
fumecheng-547	61	20	vectors	vector	NOUN
fumecheng-547	61	21	(	(	PUNCT
fumecheng-547	61	22	i	i	PROPN
fumecheng-547	61	23	,	,	PUNCT
fumecheng-547	61	24	j	j	PROPN
fumecheng-547	61	25	,	,	PUNCT
fumecheng-547	61	26	k	k	NOUN
fumecheng-547	61	27	)	)	PUNCT
fumecheng-547	61	28	in	in	ADP
fumecheng-547	61	29	the	the	DET
fumecheng-547	61	30	frame	frame	NOUN
fumecheng-547	61	31	{	{	PUNCT
fumecheng-547	61	32	c	c	NOUN
fumecheng-547	61	33	,	,	PUNCT
fumecheng-547	61	34	x	x	X
fumecheng-547	61	35	,	,	PUNCT
fumecheng-547	61	36	y	y	PROPN
fumecheng-547	61	37	,	,	PUNCT
fumecheng-547	61	38	z	z	NOUN
fumecheng-547	61	39	}	}	PUNCT
fumecheng-547	61	40	:	:	PUNCT
fumecheng-547	61	41	fuzzy	fuzzy	ADJ
fumecheng-547	61	42	controller	controller	NOUN
fumecheng-547	61	43	for	for	ADP
fumecheng-547	61	44	the	the	DET
fumecheng-547	61	45	control	control	NOUN
fumecheng-547	61	46	of	of	ADP
fumecheng-547	61	47	the	the	DET
fumecheng-547	61	48	mobile	mobile	ADJ
fumecheng-547	61	49	platform	platform	NOUN
fumecheng-547	61	50	of	of	ADP
fumecheng-547	61	51	the	the	DET
fumecheng-547	61	52	corbys	corbys	NOUN
fumecheng-547	61	53	robotic	robotic	ADJ
fumecheng-547	61	54	system	system	NOUN
fumecheng-547	61	55	227	227	NUM
fumecheng-547	61	56	1	1	NUM
fumecheng-547	61	57	2	2	NUM
fumecheng-547	61	58	3	3	NUM
fumecheng-547	61	59	4	4	NUM
fumecheng-547	61	60	;	;	PUNCT
fumecheng-547	61	61	;	;	PUNCT
fumecheng-547	61	62	;	;	PUNCT
fumecheng-547	61	63	2	2	NUM
fumecheng-547	61	64	2	2	NUM
fumecheng-547	61	65	2	2	NUM
fumecheng-547	61	66	2	2	NUM
fumecheng-547	61	67	2	2	NUM
fumecheng-547	61	68	2	2	NUM
fumecheng-547	61	69	2	2	NUM
fumecheng-547	61	70	2	2	NUM
fumecheng-547	61	71	l	l	NOUN
fumecheng-547	61	72	w	w	NOUN
fumecheng-547	61	73	l	l	PROPN
fumecheng-547	61	74	w	w	PROPN
fumecheng-547	62	1	l	l	PROPN
fumecheng-547	62	2	w	w	PROPN
fumecheng-547	62	3	l	l	PROPN
fumecheng-547	62	4	w	w	NOUN
fumecheng-547	63	1	d	d	NOUN
fumecheng-547	63	2	i	i	PRON
fumecheng-547	63	3	k	k	PROPN
fumecheng-547	64	1	d	d	NOUN
fumecheng-547	64	2	i	i	PRON
fumecheng-547	64	3	k	k	PROPN
fumecheng-547	65	1	d	d	NOUN
fumecheng-547	65	2	i	i	PRON
fumecheng-547	65	3	k	k	PROPN
fumecheng-547	66	1	d	d	NOUN
fumecheng-547	66	2	i	i	PRON
fumecheng-547	66	3	k	k	NOUN
fumecheng-547	66	4			PUNCT
fumecheng-547	66	5			PROPN
fumecheng-547	66	6			PROPN
fumecheng-547	66	7			VERB
fumecheng-547	66	8			NUM
fumecheng-547	66	9			PROPN
fumecheng-547	66	10			PROPN
fumecheng-547	66	11			PROPN
fumecheng-547	66	12			PROPN
fumecheng-547	66	13	.	.	PUNCT
fumecheng-547	67	1	(	(	PUNCT
fumecheng-547	67	2	4	4	X
fumecheng-547	67	3	)	)	PUNCT
fumecheng-547	67	4	the	the	DET
fumecheng-547	67	5	xand	xand	PROPN
fumecheng-547	67	6	z	z	NOUN
fumecheng-547	67	7	-	-	PUNCT
fumecheng-547	67	8	components	component	NOUN
fumecheng-547	67	9	of	of	ADP
fumecheng-547	67	10	velocities	velocity	NOUN
fumecheng-547	67	11	vi	vi	PROPN
fumecheng-547	67	12	,	,	PUNCT
fumecheng-547	67	13	i	i	PRON
fumecheng-547	67	14	=	=	NOUN
fumecheng-547	67	15	1,2,3,4	1,2,3,4	NUM
fumecheng-547	67	16	with	with	ADP
fumecheng-547	67	17	respect	respect	NOUN
fumecheng-547	67	18	to	to	ADP
fumecheng-547	67	19	the	the	DET
fumecheng-547	67	20	inertial	inertial	ADJ
fumecheng-547	67	21	frame	frame	NOUN
fumecheng-547	67	22	,	,	PUNCT
fumecheng-547	67	23	are	be	AUX
fumecheng-547	67	24	expressed	express	VERB
fumecheng-547	67	25	in	in	ADP
fumecheng-547	67	26	terms	term	NOUN
fumecheng-547	67	27	of	of	ADP
fumecheng-547	67	28	the	the	DET
fumecheng-547	67	29	units	unit	NOUN
fumecheng-547	67	30	vectors	vector	NOUN
fumecheng-547	67	31	in	in	ADP
fumecheng-547	67	32	the	the	DET
fumecheng-547	67	33	frame	frame	NOUN
fumecheng-547	67	34	{	{	PUNCT
fumecheng-547	67	35	c	c	NOUN
fumecheng-547	67	36	,	,	PUNCT
fumecheng-547	67	37	x	x	X
fumecheng-547	67	38	,	,	PUNCT
fumecheng-547	67	39	y	y	PROPN
fumecheng-547	67	40	,	,	PUNCT
fumecheng-547	67	41	z	z	NOUN
fumecheng-547	67	42	}	}	PUNCT
fumecheng-547	67	43	as	as	ADP
fumecheng-547	67	44	:	:	PUNCT
fumecheng-547	67	45			PROPN
fumecheng-547	67	46			NUM
fumecheng-547	67	47			PRON
fumecheng-547	67	48			PROPN
fumecheng-547	67	49			PROPN
fumecheng-547	67	50			NOUN
fumecheng-547	67	51			PROPN
fumecheng-547	67	52			VERB
fumecheng-547	67	53			PRON
fumecheng-547	67	54			PROPN
fumecheng-547	67	55			PROPN
fumecheng-547	67	56			NOUN
fumecheng-547	67	57			NOUN
fumecheng-547	68	1	i	i	PRON
fumecheng-547	68	2	l	l	VERB
fumecheng-547	68	3	vvk	vvk	VERB
fumecheng-547	68	4	w	w	ADP
fumecheng-547	68	5	vv	vv	NOUN
fumecheng-547	68	6	czzcxx	czzcxx	NOUN
fumecheng-547	68	7	2	2	NUM
fumecheng-547	68	8	;	;	PUNCT
fumecheng-547	68	9	2	2	NUM
fumecheng-547	68	10	11	11	NUM
fumecheng-547	68	11			X
fumecheng-547	68	12	(	(	PUNCT
fumecheng-547	68	13	5	5	X
fumecheng-547	68	14	)	)	PUNCT
fumecheng-547	68	15			PROPN
fumecheng-547	68	16			PROPN
fumecheng-547	69	1			PRON
fumecheng-547	69	2			PROPN
fumecheng-547	69	3			PROPN
fumecheng-547	69	4			NOUN
fumecheng-547	69	5			PROPN
fumecheng-547	69	6			NOUN
fumecheng-547	69	7			PRON
fumecheng-547	69	8			PROPN
fumecheng-547	69	9			PROPN
fumecheng-547	69	10			NOUN
fumecheng-547	69	11			NOUN
fumecheng-547	70	1	i	i	PRON
fumecheng-547	70	2	l	l	VERB
fumecheng-547	70	3	vvk	vvk	VERB
fumecheng-547	70	4	w	w	ADP
fumecheng-547	70	5	vv	vv	NOUN
fumecheng-547	70	6	czzcxx	czzcxx	NOUN
fumecheng-547	70	7	2	2	NUM
fumecheng-547	70	8	;	;	PUNCT
fumecheng-547	70	9	2	2	NUM
fumecheng-547	70	10	22	22	NUM
fumecheng-547	70	11			X
fumecheng-547	70	12	(	(	PUNCT
fumecheng-547	70	13	6	6	X
fumecheng-547	70	14	)	)	PUNCT
fumecheng-547	70	15			PROPN
fumecheng-547	70	16			PROPN
fumecheng-547	71	1			PRON
fumecheng-547	71	2			PROPN
fumecheng-547	71	3			PROPN
fumecheng-547	71	4			NOUN
fumecheng-547	71	5			PROPN
fumecheng-547	71	6			VERB
fumecheng-547	71	7			PRON
fumecheng-547	71	8			PROPN
fumecheng-547	71	9			PROPN
fumecheng-547	71	10			NOUN
fumecheng-547	71	11			NOUN
fumecheng-547	72	1	i	i	PRON
fumecheng-547	72	2	l	l	PROPN
fumecheng-547	72	3	vvk	vvk	VERB
fumecheng-547	72	4	w	w	ADP
fumecheng-547	72	5	vv	vv	NOUN
fumecheng-547	72	6	czzcxx	czzcxx	NOUN
fumecheng-547	72	7	2	2	NUM
fumecheng-547	72	8	;	;	PUNCT
fumecheng-547	72	9	2	2	NUM
fumecheng-547	72	10	33	33	NUM
fumecheng-547	72	11			X
fumecheng-547	72	12	(	(	PUNCT
fumecheng-547	72	13	7	7	X
fumecheng-547	72	14	)	)	PUNCT
fumecheng-547	72	15			PROPN
fumecheng-547	72	16			NOUN
fumecheng-547	73	1			PRON
fumecheng-547	73	2			PROPN
fumecheng-547	73	3			PROPN
fumecheng-547	73	4			NOUN
fumecheng-547	73	5			PROPN
fumecheng-547	73	6			NOUN
fumecheng-547	73	7			PRON
fumecheng-547	73	8			PROPN
fumecheng-547	73	9			PROPN
fumecheng-547	73	10			NOUN
fumecheng-547	74	1			NOUN
fumecheng-547	75	1	i	i	PRON
fumecheng-547	75	2	l	l	PROPN
fumecheng-547	75	3	vvk	vvk	VERB
fumecheng-547	75	4	w	w	ADP
fumecheng-547	75	5	vv	vv	NOUN
fumecheng-547	75	6	czzcxx	czzcxx	NOUN
fumecheng-547	75	7	2	2	NUM
fumecheng-547	75	8	;	;	PUNCT
fumecheng-547	75	9	2	2	NUM
fumecheng-547	75	10	44	44	NUM
fumecheng-547	75	11			X
fumecheng-547	75	12	(	(	PUNCT
fumecheng-547	75	13	8)	8)	NUM
fumecheng-547	75	14	as	as	SCONJ
fumecheng-547	75	15	said	say	VERB
fumecheng-547	75	16	above	above	ADV
fumecheng-547	75	17	,	,	PUNCT
fumecheng-547	75	18	the	the	DET
fumecheng-547	75	19	motion	motion	NOUN
fumecheng-547	75	20	of	of	ADP
fumecheng-547	75	21	wheel	wheel	PROPN
fumecheng-547	75	22	wi	wi	PROPN
fumecheng-547	75	23	is	be	AUX
fumecheng-547	75	24	defined	define	VERB
fumecheng-547	75	25	by	by	ADP
fumecheng-547	75	26	driving	drive	VERB
fumecheng-547	75	27	angular	angular	ADJ
fumecheng-547	75	28	velocity	velocity	NOUN
fumecheng-547	75	29	i	i	X
fumecheng-547	75	30	and	and	CCONJ
fumecheng-547	75	31	steering	steer	VERB
fumecheng-547	75	32	wheel	wheel	NOUN
fumecheng-547	75	33	angle	angle	NOUN
fumecheng-547	75	34	i	i	PROPN
fumecheng-547	75	35	which	which	PRON
fumecheng-547	75	36	are	be	AUX
fumecheng-547	75	37	illustrated	illustrate	VERB
fumecheng-547	75	38	in	in	ADP
fumecheng-547	75	39	fig	fig	NOUN
fumecheng-547	75	40	.	.	PUNCT
fumecheng-547	76	1	3	3	X
fumecheng-547	76	2	.	.	X
fumecheng-547	76	3	fig	fig	NOUN
fumecheng-547	76	4	.	.	PUNCT
fumecheng-547	77	1	3	3	NUM
fumecheng-547	77	2	left	leave	VERB
fumecheng-547	77	3	:	:	PUNCT
fumecheng-547	77	4	driving	drive	VERB
fumecheng-547	77	5	angular	angular	ADJ
fumecheng-547	77	6	velocity	velocity	NOUN
fumecheng-547	77	7	of	of	ADP
fumecheng-547	77	8	the	the	DET
fumecheng-547	77	9	wheel	wheel	NOUN
fumecheng-547	77	10	(	(	PUNCT
fumecheng-547	77	11	right	right	ADJ
fumecheng-547	77	12	side	side	NOUN
fumecheng-547	77	13	view	view	NOUN
fumecheng-547	77	14	)	)	PUNCT
fumecheng-547	77	15	.	.	PUNCT
fumecheng-547	78	1	right	right	ADJ
fumecheng-547	78	2	:	:	PUNCT
fumecheng-547	78	3	wheel	wheel	NOUN
fumecheng-547	78	4	steering	steering	NOUN
fumecheng-547	78	5	angle	angle	NOUN
fumecheng-547	78	6	(	(	PUNCT
fumecheng-547	78	7	top	top	ADJ
fumecheng-547	78	8	view	view	NOUN
fumecheng-547	78	9	)	)	PUNCT
fumecheng-547	78	10	in	in	ADP
fumecheng-547	78	11	pure	pure	ADJ
fumecheng-547	78	12	rolling	rolling	ADJ
fumecheng-547	78	13	conditions	condition	NOUN
fumecheng-547	78	14	,	,	PUNCT
fumecheng-547	78	15	driving	drive	VERB
fumecheng-547	78	16	angular	angular	ADJ
fumecheng-547	78	17	velocity	velocity	NOUN
fumecheng-547	78	18	i	i	X
fumecheng-547	78	19	and	and	CCONJ
fumecheng-547	78	20	steering	steering	NOUN
fumecheng-547	78	21	angle	angle	NOUN
fumecheng-547	78	22	i	i	PROPN
fumecheng-547	78	23	for	for	ADP
fumecheng-547	78	24	each	each	DET
fumecheng-547	78	25	wheel	wheel	NOUN
fumecheng-547	78	26	are	be	AUX
fumecheng-547	78	27	calculated	calculate	VERB
fumecheng-547	78	28	as	as	ADP
fumecheng-547	78	29	:	:	PUNCT
fumecheng-547	78	30	4,3,2,1	4,3,2,1	NUM
fumecheng-547	78	31	,	,	PUNCT
fumecheng-547	78	32	22	22	NUM
fumecheng-547	78	33			NOUN
fumecheng-547	78	34			ADV
fumecheng-547	79	1			NOUN
fumecheng-547	80	1	i	i	PRON
fumecheng-547	80	2	r	r	NOUN
fumecheng-547	80	3	vv	vv	ADP
fumecheng-547	80	4	izix	izix	PROPN
fumecheng-547	80	5	i	i	X
fumecheng-547	80	6	,	,	PUNCT
fumecheng-547	80	7	4,3,2,1,2atan	4,3,2,1,2atan	PROPN
fumecheng-547	80	8			ADP
fumecheng-547	80	9			NUM
fumecheng-547	80	10			NOUN
fumecheng-547	81	1			PROPN
fumecheng-547	81	2			PROPN
fumecheng-547	81	3			PROPN
fumecheng-547	82	1			PROPN
fumecheng-547	82	2			NOUN
fumecheng-547	83	1			INTJ
fumecheng-547	84	1	i	i	PRON
fumecheng-547	84	2	v	v	VERB
fumecheng-547	84	3	v	v	ADP
fumecheng-547	84	4	ix	ix	ADP
fumecheng-547	84	5	iz	iz	INTJ
fumecheng-547	84	6	i	i	PROPN
fumecheng-547	84	7	.	.	PUNCT
fumecheng-547	85	1	(	(	PUNCT
fumecheng-547	85	2	9	9	X
fumecheng-547	85	3	)	)	PUNCT
fumecheng-547	85	4	the	the	DET
fumecheng-547	85	5	inverse	inverse	NOUN
fumecheng-547	85	6	kinematic	kinematic	NOUN
fumecheng-547	85	7	model	model	NOUN
fumecheng-547	85	8	of	of	ADP
fumecheng-547	85	9	the	the	DET
fumecheng-547	85	10	mobile	mobile	ADJ
fumecheng-547	85	11	platform	platform	NOUN
fumecheng-547	85	12	(	(	PUNCT
fumecheng-547	85	13	9	9	NUM
fumecheng-547	85	14	)	)	PUNCT
fumecheng-547	85	15	and	and	CCONJ
fumecheng-547	85	16	(	(	PUNCT
fumecheng-547	85	17	5	5	NUM
fumecheng-547	85	18	-	-	SYM
fumecheng-547	85	19	8)	8)	NUM
fumecheng-547	85	20	,	,	PUNCT
fumecheng-547	85	21	is	be	AUX
fumecheng-547	85	22	used	use	VERB
fumecheng-547	85	23	for	for	ADP
fumecheng-547	85	24	the	the	DET
fumecheng-547	85	25	development	development	NOUN
fumecheng-547	85	26	of	of	ADP
fumecheng-547	85	27	the	the	DET
fumecheng-547	85	28	steering	steering	NOUN
fumecheng-547	85	29	control	control	NOUN
fumecheng-547	85	30	algorithm	algorithm	NOUN
fumecheng-547	85	31	as	as	SCONJ
fumecheng-547	85	32	given	give	VERB
fumecheng-547	85	33	in	in	ADP
fumecheng-547	85	34	the	the	DET
fumecheng-547	85	35	following	follow	VERB
fumecheng-547	85	36	section	section	NOUN
fumecheng-547	85	37	.	.	PUNCT
fumecheng-547	86	1	228	228	NUM
fumecheng-547	86	2	m.	m.	PROPN
fumecheng-547	86	3	kyrarini	kyrarini	PROPN
fumecheng-547	86	4	,	,	PUNCT
fumecheng-547	86	5	s.	s.	PROPN
fumecheng-547	86	6	slavnić	slavnić	PROPN
fumecheng-547	86	7	,	,	PUNCT
fumecheng-547	86	8	d.	d.	PROPN
fumecheng-547	86	9	ristić	ristić	PROPN
fumecheng-547	86	10	-	-	PUNCT
fumecheng-547	86	11	durrant	durrant	PROPN
fumecheng-547	86	12	3	3	NUM
fumecheng-547	86	13	.	.	PUNCT
fumecheng-547	86	14	fuzzy	fuzzy	ADJ
fumecheng-547	86	15	logic	logic	NOUN
fumecheng-547	86	16	control	control	NOUN
fumecheng-547	86	17	of	of	ADP
fumecheng-547	86	18	steering	steer	VERB
fumecheng-547	86	19	dc	dc	PROPN
fumecheng-547	86	20	motor	motor	NOUN
fumecheng-547	86	21	fuzzy	fuzzy	ADJ
fumecheng-547	86	22	logic	logic	NOUN
fumecheng-547	86	23	provides	provide	VERB
fumecheng-547	86	24	useful	useful	ADJ
fumecheng-547	86	25	methodology	methodology	NOUN
fumecheng-547	86	26	for	for	ADP
fumecheng-547	86	27	a	a	DET
fumecheng-547	86	28	practical	practical	ADJ
fumecheng-547	86	29	solution	solution	NOUN
fumecheng-547	86	30	for	for	ADP
fumecheng-547	86	31	controlling	control	VERB
fumecheng-547	86	32	complex	complex	ADJ
fumecheng-547	86	33	systems	system	NOUN
fumecheng-547	86	34	particularly	particularly	ADV
fumecheng-547	86	35	in	in	ADP
fumecheng-547	86	36	the	the	DET
fumecheng-547	86	37	absence	absence	NOUN
fumecheng-547	86	38	of	of	ADP
fumecheng-547	86	39	the	the	DET
fumecheng-547	86	40	exact	exact	ADJ
fumecheng-547	86	41	model	model	NOUN
fumecheng-547	86	42	of	of	ADP
fumecheng-547	86	43	such	such	ADJ
fumecheng-547	86	44	complex	complex	ADJ
fumecheng-547	86	45	systems	system	NOUN
fumecheng-547	86	46	[	[	X
fumecheng-547	86	47	3][4][7	3][4][7	NUM
fumecheng-547	86	48	]	]	PUNCT
fumecheng-547	86	49	.	.	PUNCT
fumecheng-547	87	1	due	due	ADP
fumecheng-547	87	2	to	to	ADP
fumecheng-547	87	3	the	the	DET
fumecheng-547	87	4	lack	lack	NOUN
fumecheng-547	87	5	of	of	ADP
fumecheng-547	87	6	information	information	NOUN
fumecheng-547	87	7	on	on	ADP
fumecheng-547	87	8	the	the	DET
fumecheng-547	87	9	steering	steering	NOUN
fumecheng-547	87	10	motors	motor	NOUN
fumecheng-547	87	11	and	and	CCONJ
fumecheng-547	87	12	load	load	NOUN
fumecheng-547	87	13	characteristics	characteristic	NOUN
fumecheng-547	87	14	,	,	PUNCT
fumecheng-547	87	15	a	a	DET
fumecheng-547	87	16	fuzzy	fuzzy	ADJ
fumecheng-547	87	17	logic	logic	NOUN
fumecheng-547	87	18	controller	controller	NOUN
fumecheng-547	87	19	is	be	AUX
fumecheng-547	87	20	designed	design	VERB
fumecheng-547	87	21	and	and	CCONJ
fumecheng-547	87	22	implemented	implement	VERB
fumecheng-547	87	23	for	for	ADP
fumecheng-547	87	24	the	the	DET
fumecheng-547	87	25	steering	steering	NOUN
fumecheng-547	87	26	angle	angle	NOUN
fumecheng-547	87	27	position	position	NOUN
fumecheng-547	87	28	control	control	NOUN
fumecheng-547	87	29	of	of	ADP
fumecheng-547	87	30	each	each	DET
fumecheng-547	87	31	wheel	wheel	NOUN
fumecheng-547	87	32	of	of	ADP
fumecheng-547	87	33	corbys	corbys	PROPN
fumecheng-547	87	34	mobile	mobile	ADJ
fumecheng-547	87	35	platform	platform	NOUN
fumecheng-547	87	36	.	.	PUNCT
fumecheng-547	88	1	a	a	DET
fumecheng-547	88	2	block	block	NOUN
fumecheng-547	88	3	-	-	PUNCT
fumecheng-547	88	4	diagram	diagram	NOUN
fumecheng-547	88	5	of	of	ADP
fumecheng-547	88	6	the	the	DET
fumecheng-547	88	7	fuzzy	fuzzy	ADJ
fumecheng-547	88	8	logic	logic	NOUN
fumecheng-547	88	9	control	control	NOUN
fumecheng-547	88	10	system	system	NOUN
fumecheng-547	88	11	is	be	AUX
fumecheng-547	88	12	shown	show	VERB
fumecheng-547	88	13	in	in	ADP
fumecheng-547	88	14	fig	fig	NOUN
fumecheng-547	88	15	.	.	PUNCT
fumecheng-547	89	1	4	4	X
fumecheng-547	89	2	.	.	X
fumecheng-547	89	3	fig	fig	NOUN
fumecheng-547	89	4	.	.	PUNCT
fumecheng-547	90	1	4	4	NUM
fumecheng-547	90	2	block	block	NOUN
fumecheng-547	90	3	-	-	PUNCT
fumecheng-547	90	4	diagram	diagram	NOUN
fumecheng-547	90	5	of	of	ADP
fumecheng-547	90	6	the	the	DET
fumecheng-547	90	7	fuzzy	fuzzy	ADJ
fumecheng-547	90	8	logic	logic	NOUN
fumecheng-547	90	9	control	control	NOUN
fumecheng-547	90	10	of	of	ADP
fumecheng-547	90	11	steering	steer	VERB
fumecheng-547	90	12	dc	dc	PROPN
fumecheng-547	90	13	motor	motor	NOUN
fumecheng-547	90	14	in	in	ADP
fumecheng-547	90	15	order	order	NOUN
fumecheng-547	90	16	to	to	PART
fumecheng-547	90	17	achieve	achieve	VERB
fumecheng-547	90	18	desired	desire	VERB
fumecheng-547	90	19	(	(	PUNCT
fumecheng-547	90	20	reference	reference	NOUN
fumecheng-547	90	21	)	)	PUNCT
fumecheng-547	90	22	steering	steering	NOUN
fumecheng-547	90	23	angle	angle	NOUN
fumecheng-547	90	24	value	value	NOUN
fumecheng-547	90	25	ref	ref	NOUN
fumecheng-547	90	26	(	(	PUNCT
fumecheng-547	90	27	t	t	PROPN
fumecheng-547	90	28	)	)	PUNCT
fumecheng-547	90	29	as	as	SCONJ
fumecheng-547	90	30	calculated	calculate	VERB
fumecheng-547	90	31	from	from	ADP
fumecheng-547	90	32	the	the	DET
fumecheng-547	90	33	inverse	inverse	NOUN
fumecheng-547	90	34	kinematics	kinematic	NOUN
fumecheng-547	90	35	,	,	PUNCT
fumecheng-547	90	36	position	position	NOUN
fumecheng-547	90	37	error	error	NOUN
fumecheng-547	90	38	e(t	e(t	NOUN
fumecheng-547	90	39	)	)	PUNCT
fumecheng-547	90	40	=	=	SYM
fumecheng-547	90	41	ref	ref	NOUN
fumecheng-547	90	42	(	(	PUNCT
fumecheng-547	90	43	t	t	PROPN
fumecheng-547	90	44	)	)	PUNCT
fumecheng-547	90	45			NOUN
fumecheng-547	90	46	(t	(t	NOUN
fumecheng-547	90	47	)	)	PUNCT
fumecheng-547	90	48	,	,	PUNCT
fumecheng-547	90	49	which	which	PRON
fumecheng-547	90	50	is	be	AUX
fumecheng-547	90	51	different	different	ADJ
fumecheng-547	90	52	from	from	ADP
fumecheng-547	90	53	desired	desire	VERB
fumecheng-547	90	54	and	and	CCONJ
fumecheng-547	90	55	actual	actual	ADJ
fumecheng-547	90	56	steering	steering	NOUN
fumecheng-547	90	57	angle	angle	NOUN
fumecheng-547	90	58	(t	(t	NOUN
fumecheng-547	90	59	)	)	PUNCT
fumecheng-547	90	60	measured	measure	VERB
fumecheng-547	90	61	by	by	ADP
fumecheng-547	90	62	the	the	DET
fumecheng-547	90	63	angle	angle	NOUN
fumecheng-547	90	64	sensor	sensor	NOUN
fumecheng-547	90	65	,	,	PUNCT
fumecheng-547	90	66	and	and	CCONJ
fumecheng-547	90	67	corresponding	correspond	VERB
fumecheng-547	90	68	derivative	derivative	NOUN
fumecheng-547	90	69	de(t	de(t	NOUN
fumecheng-547	90	70	)	)	PUNCT
fumecheng-547	90	71	are	be	AUX
fumecheng-547	90	72	selected	select	VERB
fumecheng-547	90	73	as	as	ADP
fumecheng-547	90	74	two	two	NUM
fumecheng-547	90	75	input	input	NOUN
fumecheng-547	90	76	variables	variable	NOUN
fumecheng-547	90	77	.	.	PUNCT
fumecheng-547	91	1	the	the	DET
fumecheng-547	91	2	membership	membership	NOUN
fumecheng-547	91	3	functions	function	NOUN
fumecheng-547	91	4	(	(	PUNCT
fumecheng-547	91	5	mfs	mfs	PROPN
fumecheng-547	91	6	)	)	PUNCT
fumecheng-547	91	7	for	for	ADP
fumecheng-547	91	8	two	two	NUM
fumecheng-547	91	9	input	input	NOUN
fumecheng-547	91	10	variables	variable	NOUN
fumecheng-547	91	11	are	be	AUX
fumecheng-547	91	12	shown	show	VERB
fumecheng-547	91	13	in	in	ADP
fumecheng-547	91	14	figs	fig	NOUN
fumecheng-547	91	15	.	.	PUNCT
fumecheng-547	92	1	5	5	NUM
fumecheng-547	92	2	and	and	CCONJ
fumecheng-547	92	3	6	6	NUM
fumecheng-547	92	4	,	,	PUNCT
fumecheng-547	92	5	respectively	respectively	ADV
fumecheng-547	92	6	.	.	PUNCT
fumecheng-547	93	1	fig	fig	NOUN
fumecheng-547	93	2	.	.	PUNCT
fumecheng-547	94	1	5	5	NUM
fumecheng-547	94	2	membership	membership	NOUN
fumecheng-547	94	3	function	function	NOUN
fumecheng-547	94	4	for	for	ADP
fumecheng-547	94	5	the	the	DET
fumecheng-547	94	6	input	input	NOUN
fumecheng-547	94	7	e(t	e(t	NOUN
fumecheng-547	94	8	)	)	PUNCT
fumecheng-547	94	9	fig	fig	NOUN
fumecheng-547	94	10	.	.	PUNCT
fumecheng-547	95	1	6	6	NUM
fumecheng-547	95	2	membership	membership	NOUN
fumecheng-547	95	3	function	function	NOUN
fumecheng-547	95	4	for	for	ADP
fumecheng-547	95	5	the	the	DET
fumecheng-547	95	6	input	input	NOUN
fumecheng-547	95	7	de(t	de(t	NOUN
fumecheng-547	95	8	)	)	PUNCT
fumecheng-547	95	9	fuzzy	fuzzy	ADJ
fumecheng-547	95	10	controller	controller	NOUN
fumecheng-547	95	11	for	for	ADP
fumecheng-547	95	12	the	the	DET
fumecheng-547	95	13	control	control	NOUN
fumecheng-547	95	14	of	of	ADP
fumecheng-547	95	15	the	the	DET
fumecheng-547	95	16	mobile	mobile	ADJ
fumecheng-547	95	17	platform	platform	NOUN
fumecheng-547	95	18	of	of	ADP
fumecheng-547	95	19	the	the	DET
fumecheng-547	95	20	corbys	corbys	NOUN
fumecheng-547	95	21	robotic	robotic	ADJ
fumecheng-547	95	22	system	system	NOUN
fumecheng-547	95	23	229	229	NUM
fumecheng-547	95	24	the	the	DET
fumecheng-547	95	25	output	output	NOUN
fumecheng-547	95	26	of	of	ADP
fumecheng-547	95	27	the	the	DET
fumecheng-547	95	28	fuzzy	fuzzy	ADJ
fumecheng-547	95	29	logic	logic	NOUN
fumecheng-547	95	30	controller	controller	NOUN
fumecheng-547	95	31	is	be	AUX
fumecheng-547	95	32	applied	apply	VERB
fumecheng-547	95	33	voltage	voltage	NOUN
fumecheng-547	95	34	v(t	v(t	NOUN
fumecheng-547	95	35	)	)	PUNCT
fumecheng-547	95	36	(	(	PUNCT
fumecheng-547	95	37	fig	fig	NOUN
fumecheng-547	95	38	.	.	PUNCT
fumecheng-547	96	1	7	7	NUM
fumecheng-547	96	2	)	)	PUNCT
fumecheng-547	96	3	.	.	PUNCT
fumecheng-547	97	1	the	the	DET
fumecheng-547	97	2	linguistic	linguistic	ADJ
fumecheng-547	97	3	variables	variable	NOUN
fumecheng-547	97	4	are	be	AUX
fumecheng-547	97	5	defined	define	VERB
fumecheng-547	97	6	as	as	ADP
fumecheng-547	97	7	nb	nb	NOUN
fumecheng-547	97	8	:	:	PUNCT
fumecheng-547	97	9	negative	negative	ADJ
fumecheng-547	97	10	big	big	ADJ
fumecheng-547	97	11	,	,	PUNCT
fumecheng-547	97	12	nm	nm	ADJ
fumecheng-547	97	13	:	:	PUNCT
fumecheng-547	97	14	negative	negative	ADJ
fumecheng-547	97	15	medium	medium	ADJ
fumecheng-547	97	16	,	,	PUNCT
fumecheng-547	97	17	ns	ns	ADJ
fumecheng-547	97	18	:	:	PUNCT
fumecheng-547	97	19	negative	negative	ADJ
fumecheng-547	97	20	small	small	ADJ
fumecheng-547	97	21	,	,	PUNCT
fumecheng-547	97	22	ze	ze	PROPN
fumecheng-547	97	23	:	:	PUNCT
fumecheng-547	97	24	zero	zero	NUM
fumecheng-547	97	25	,	,	PUNCT
fumecheng-547	97	26	ps	ps	NOUN
fumecheng-547	97	27	:	:	PUNCT
fumecheng-547	97	28	positive	positive	ADJ
fumecheng-547	97	29	small	small	ADJ
fumecheng-547	97	30	,	,	PUNCT
fumecheng-547	97	31	pm	pm	NOUN
fumecheng-547	97	32	:	:	PUNCT
fumecheng-547	97	33	positive	positive	ADJ
fumecheng-547	97	34	medium	medium	NOUN
fumecheng-547	97	35	,	,	PUNCT
fumecheng-547	97	36	pb	pb	ADJ
fumecheng-547	97	37	:	:	PUNCT
fumecheng-547	97	38	positive	positive	ADJ
fumecheng-547	97	39	big	big	ADJ
fumecheng-547	97	40	.	.	PUNCT
fumecheng-547	98	1	the	the	DET
fumecheng-547	98	2	set	set	NOUN
fumecheng-547	98	3	of	of	ADP
fumecheng-547	98	4	decision	decision	NOUN
fumecheng-547	98	5	control	control	NOUN
fumecheng-547	98	6	rules	rule	NOUN
fumecheng-547	98	7	is	be	AUX
fumecheng-547	98	8	shown	show	VERB
fumecheng-547	98	9	in	in	ADP
fumecheng-547	98	10	fig	fig	NOUN
fumecheng-547	98	11	.	.	PUNCT
fumecheng-547	99	1	8	8	X
fumecheng-547	99	2	.	.	PUNCT
fumecheng-547	100	1	the	the	DET
fumecheng-547	100	2	fuzzy	fuzzy	ADJ
fumecheng-547	100	3	rules	rule	NOUN
fumecheng-547	100	4	contain	contain	VERB
fumecheng-547	100	5	the	the	DET
fumecheng-547	100	6	relationships	relationship	NOUN
fumecheng-547	100	7	between	between	ADP
fumecheng-547	100	8	inputs	input	NOUN
fumecheng-547	100	9	and	and	CCONJ
fumecheng-547	100	10	output	output	NOUN
fumecheng-547	100	11	.	.	PUNCT
fumecheng-547	101	1	each	each	DET
fumecheng-547	101	2	control	control	NOUN
fumecheng-547	101	3	input	input	NOUN
fumecheng-547	101	4	has	have	VERB
fumecheng-547	101	5	seven	seven	NUM
fumecheng-547	101	6	fuzzy	fuzzy	ADJ
fumecheng-547	101	7	sets	set	NOUN
fumecheng-547	101	8	so	so	SCONJ
fumecheng-547	101	9	there	there	PRON
fumecheng-547	101	10	are	be	VERB
fumecheng-547	101	11	49	49	NUM
fumecheng-547	101	12	fuzzy	fuzzy	ADJ
fumecheng-547	101	13	rules	rule	NOUN
fumecheng-547	101	14	.	.	PUNCT
fumecheng-547	102	1	the	the	DET
fumecheng-547	102	2	fuzzyfication	fuzzyfication	NOUN
fumecheng-547	102	3	,	,	PUNCT
fumecheng-547	102	4	converting	convert	VERB
fumecheng-547	102	5	a	a	DET
fumecheng-547	102	6	numerical	numerical	ADJ
fumecheng-547	102	7	variable	variable	NOUN
fumecheng-547	102	8	into	into	ADP
fumecheng-547	102	9	a	a	DET
fumecheng-547	102	10	linguistic	linguistic	ADJ
fumecheng-547	102	11	variable	variable	NOUN
fumecheng-547	102	12	,	,	PUNCT
fumecheng-547	102	13	and	and	CCONJ
fumecheng-547	102	14	the	the	DET
fumecheng-547	102	15	set	set	NOUN
fumecheng-547	102	16	of	of	ADP
fumecheng-547	102	17	control	control	NOUN
fumecheng-547	102	18	rules	rule	NOUN
fumecheng-547	102	19	are	be	AUX
fumecheng-547	102	20	designed	design	VERB
fumecheng-547	102	21	experimentally	experimentally	ADV
fumecheng-547	102	22	.	.	PUNCT
fumecheng-547	103	1	the	the	DET
fumecheng-547	103	2	rule	rule	NOUN
fumecheng-547	103	3	base	base	NOUN
fumecheng-547	103	4	structure	structure	NOUN
fumecheng-547	103	5	is	be	AUX
fumecheng-547	103	6	mamdani	mamdani	ADJ
fumecheng-547	103	7	fuzzy	fuzzy	ADJ
fumecheng-547	103	8	interference	interference	NOUN
fumecheng-547	103	9	reasoning	reasoning	NOUN
fumecheng-547	103	10	.	.	PUNCT
fumecheng-547	104	1	the	the	DET
fumecheng-547	104	2	number	number	NOUN
fumecheng-547	104	3	of	of	ADP
fumecheng-547	104	4	mfs	mfs	PROPN
fumecheng-547	104	5	(	(	PUNCT
fumecheng-547	104	6	seven	seven	NUM
fumecheng-547	104	7	)	)	PUNCT
fumecheng-547	104	8	is	be	AUX
fumecheng-547	104	9	chosen	choose	VERB
fumecheng-547	104	10	so	so	SCONJ
fumecheng-547	104	11	as	as	SCONJ
fumecheng-547	104	12	to	to	PART
fumecheng-547	104	13	meet	meet	VERB
fumecheng-547	104	14	requirements	requirement	NOUN
fumecheng-547	104	15	of	of	ADP
fumecheng-547	104	16	smooth	smooth	ADJ
fumecheng-547	104	17	and	and	CCONJ
fumecheng-547	104	18	time	time	NOUN
fumecheng-547	104	19	efficient	efficient	ADJ
fumecheng-547	104	20	steering	steering	NOUN
fumecheng-547	104	21	control	control	NOUN
fumecheng-547	104	22	.	.	PUNCT
fumecheng-547	105	1	when	when	SCONJ
fumecheng-547	105	2	the	the	DET
fumecheng-547	105	3	error	error	NOUN
fumecheng-547	105	4	and	and	CCONJ
fumecheng-547	105	5	the	the	DET
fumecheng-547	105	6	change	change	NOUN
fumecheng-547	105	7	of	of	ADP
fumecheng-547	105	8	error	error	NOUN
fumecheng-547	105	9	are	be	AUX
fumecheng-547	105	10	big	big	ADJ
fumecheng-547	105	11	,	,	PUNCT
fumecheng-547	105	12	then	then	ADV
fumecheng-547	105	13	the	the	DET
fumecheng-547	105	14	applied	apply	VERB
fumecheng-547	105	15	voltage	voltage	NOUN
fumecheng-547	105	16	should	should	AUX
fumecheng-547	105	17	be	be	AUX
fumecheng-547	105	18	maximal	maximal	ADJ
fumecheng-547	105	19	so	so	SCONJ
fumecheng-547	105	20	that	that	SCONJ
fumecheng-547	105	21	the	the	DET
fumecheng-547	105	22	steering	steering	NOUN
fumecheng-547	105	23	motor	motor	NOUN
fumecheng-547	105	24	rotates	rotate	NOUN
fumecheng-547	105	25	with	with	ADP
fumecheng-547	105	26	maximum	maximum	ADJ
fumecheng-547	105	27	angular	angular	ADJ
fumecheng-547	105	28	velocity	velocity	NOUN
fumecheng-547	105	29	.	.	PUNCT
fumecheng-547	106	1	as	as	ADP
fumecheng-547	106	2	the	the	DET
fumecheng-547	106	3	steering	steering	NOUN
fumecheng-547	106	4	motor	motor	NOUN
fumecheng-547	106	5	rotates	rotate	NOUN
fumecheng-547	106	6	,	,	PUNCT
fumecheng-547	106	7	the	the	DET
fumecheng-547	106	8	wheel	wheel	NOUN
fumecheng-547	106	9	is	be	AUX
fumecheng-547	106	10	coming	come	VERB
fumecheng-547	106	11	closer	close	ADV
fumecheng-547	106	12	to	to	ADP
fumecheng-547	106	13	the	the	DET
fumecheng-547	106	14	desired	desire	VERB
fumecheng-547	106	15	position	position	NOUN
fumecheng-547	106	16	so	so	SCONJ
fumecheng-547	106	17	that	that	SCONJ
fumecheng-547	106	18	the	the	DET
fumecheng-547	106	19	steering	steering	NOUN
fumecheng-547	106	20	motor	motor	NOUN
fumecheng-547	106	21	should	should	AUX
fumecheng-547	106	22	move	move	VERB
fumecheng-547	106	23	slowly	slowly	ADV
fumecheng-547	106	24	enough	enough	ADV
fumecheng-547	106	25	to	to	PART
fumecheng-547	106	26	continue	continue	VERB
fumecheng-547	106	27	the	the	DET
fumecheng-547	106	28	wheel	wheel	NOUN
fumecheng-547	106	29	moving	move	VERB
fumecheng-547	106	30	towards	towards	ADP
fumecheng-547	106	31	the	the	DET
fumecheng-547	106	32	desired	desire	VERB
fumecheng-547	106	33	position	position	NOUN
fumecheng-547	106	34	and	and	CCONJ
fumecheng-547	106	35	avoiding	avoid	VERB
fumecheng-547	106	36	big	big	ADJ
fumecheng-547	106	37	overshoot	overshoot	NOUN
fumecheng-547	106	38	.	.	PUNCT
fumecheng-547	107	1	the	the	DET
fumecheng-547	107	2	seven	seven	NUM
fumecheng-547	107	3	mfs	mfs	NOUN
fumecheng-547	107	4	enable	enable	ADJ
fumecheng-547	107	5	good	good	ADJ
fumecheng-547	107	6	control	control	NOUN
fumecheng-547	107	7	on	on	ADP
fumecheng-547	107	8	the	the	DET
fumecheng-547	107	9	required	require	VERB
fumecheng-547	107	10	speed	speed	NOUN
fumecheng-547	107	11	changes	change	NOUN
fumecheng-547	107	12	of	of	ADP
fumecheng-547	107	13	the	the	DET
fumecheng-547	107	14	motor	motor	NOUN
fumecheng-547	107	15	,	,	PUNCT
fumecheng-547	107	16	which	which	PRON
fumecheng-547	107	17	is	be	AUX
fumecheng-547	107	18	not	not	PART
fumecheng-547	107	19	possible	possible	ADJ
fumecheng-547	107	20	for	for	ADP
fumecheng-547	107	21	the	the	DET
fumecheng-547	107	22	considered	consider	VERB
fumecheng-547	107	23	mobile	mobile	ADJ
fumecheng-547	107	24	platform	platform	NOUN
fumecheng-547	107	25	with	with	ADP
fumecheng-547	107	26	three	three	NUM
fumecheng-547	107	27	mfs	mfs	NOUN
fumecheng-547	107	28	or	or	CCONJ
fumecheng-547	107	29	five	five	NUM
fumecheng-547	107	30	mfs	mfs	PROPN
fumecheng-547	107	31	.	.	PUNCT
fumecheng-547	108	1	the	the	DET
fumecheng-547	108	2	knowledge	knowledge	NOUN
fumecheng-547	108	3	base	base	NOUN
fumecheng-547	108	4	for	for	ADP
fumecheng-547	108	5	the	the	DET
fumecheng-547	108	6	fuzzy	fuzzy	ADJ
fumecheng-547	108	7	controller	controller	NOUN
fumecheng-547	108	8	is	be	AUX
fumecheng-547	108	9	generated	generate	VERB
fumecheng-547	108	10	from	from	ADP
fumecheng-547	108	11	the	the	DET
fumecheng-547	108	12	control	control	NOUN
fumecheng-547	108	13	rules	rule	NOUN
fumecheng-547	108	14	of	of	ADP
fumecheng-547	108	15	the	the	DET
fumecheng-547	108	16	form	form	NOUN
fumecheng-547	108	17	:	:	PUNCT
fumecheng-547	108	18	if	if	SCONJ
fumecheng-547	108	19	e	e	PROPN
fumecheng-547	108	20	=	=	SYM
fumecheng-547	108	21	ei	ei	X
fumecheng-547	108	22	and	and	CCONJ
fumecheng-547	108	23	de	de	PROPN
fumecheng-547	108	24	=	=	PROPN
fumecheng-547	108	25	dej	dej	PROPN
fumecheng-547	108	26	then	then	ADV
fumecheng-547	108	27	v	v	NOUN
fumecheng-547	108	28	=	=	SYM
fumecheng-547	108	29	v(i	v(i	NUM
fumecheng-547	108	30	,	,	PUNCT
fumecheng-547	108	31	j	j	NOUN
fumecheng-547	108	32	)	)	PUNCT
fumecheng-547	108	33	.	.	PUNCT
fumecheng-547	109	1	these	these	DET
fumecheng-547	109	2	rules	rule	NOUN
fumecheng-547	109	3	form	form	VERB
fumecheng-547	109	4	the	the	DET
fumecheng-547	109	5	“	"	PUNCT
fumecheng-547	109	6	rule	rule	NOUN
fumecheng-547	109	7	base	base	NOUN
fumecheng-547	109	8	”	"	PUNCT
fumecheng-547	109	9	which	which	PRON
fumecheng-547	109	10	characterizes	characterize	VERB
fumecheng-547	109	11	the	the	DET
fumecheng-547	109	12	manner	manner	NOUN
fumecheng-547	109	13	in	in	ADP
fumecheng-547	109	14	which	which	PRON
fumecheng-547	109	15	the	the	DET
fumecheng-547	109	16	steering	steering	NOUN
fumecheng-547	109	17	dc	dc	PROPN
fumecheng-547	109	18	motor	motor	NOUN
fumecheng-547	109	19	is	be	AUX
fumecheng-547	109	20	controlled	control	VERB
fumecheng-547	109	21	.	.	PUNCT
fumecheng-547	110	1	for	for	ADP
fumecheng-547	110	2	example	example	NOUN
fumecheng-547	110	3	,	,	PUNCT
fumecheng-547	110	4	if	if	SCONJ
fumecheng-547	110	5	error	error	NOUN
fumecheng-547	110	6	is	be	AUX
fumecheng-547	110	7	pm	pm	NOUN
fumecheng-547	110	8	and	and	CCONJ
fumecheng-547	110	9	error	error	NOUN
fumecheng-547	110	10	change	change	NOUN
fumecheng-547	110	11	is	be	AUX
fumecheng-547	110	12	pm	pm	NOUN
fumecheng-547	110	13	then	then	ADV
fumecheng-547	110	14	the	the	DET
fumecheng-547	110	15	output	output	NOUN
fumecheng-547	110	16	(	(	PUNCT
fumecheng-547	110	17	voltage	voltage	NOUN
fumecheng-547	110	18	)	)	PUNCT
fumecheng-547	110	19	is	be	AUX
fumecheng-547	110	20	pb	pb	PRON
fumecheng-547	110	21	,	,	PUNCT
fumecheng-547	110	22	which	which	PRON
fumecheng-547	110	23	means	mean	VERB
fumecheng-547	110	24	that	that	SCONJ
fumecheng-547	110	25	the	the	DET
fumecheng-547	110	26	motor	motor	NOUN
fumecheng-547	110	27	will	will	AUX
fumecheng-547	110	28	rotate	rotate	VERB
fumecheng-547	110	29	with	with	ADP
fumecheng-547	110	30	high	high	ADJ
fumecheng-547	110	31	angular	angular	ADJ
fumecheng-547	110	32	speed	speed	NOUN
fumecheng-547	110	33	until	until	SCONJ
fumecheng-547	110	34	the	the	DET
fumecheng-547	110	35	position	position	NOUN
fumecheng-547	110	36	error	error	NOUN
fumecheng-547	110	37	is	be	AUX
fumecheng-547	110	38	minimized	minimize	VERB
fumecheng-547	110	39	.	.	PUNCT
fumecheng-547	111	1	fig	fig	NOUN
fumecheng-547	111	2	.	.	PUNCT
fumecheng-547	112	1	7	7	NUM
fumecheng-547	112	2	membership	membership	NOUN
fumecheng-547	112	3	function	function	NOUN
fumecheng-547	112	4	for	for	ADP
fumecheng-547	112	5	output	output	NOUN
fumecheng-547	112	6	v(t	v(t	NOUN
fumecheng-547	112	7	)	)	PUNCT
fumecheng-547	112	8	fig	fig	NOUN
fumecheng-547	112	9	.	.	PUNCT
fumecheng-547	112	10	8	8	NUM
fumecheng-547	112	11	fuzzy	fuzzy	ADJ
fumecheng-547	112	12	rule	rule	NOUN
fumecheng-547	112	13	base	base	NOUN
fumecheng-547	112	14	230	230	NUM
fumecheng-547	112	15	m.	m.	NOUN
fumecheng-547	112	16	kyrarini	kyrarini	NOUN
fumecheng-547	112	17	,	,	PUNCT
fumecheng-547	112	18	s.	s.	PROPN
fumecheng-547	112	19	slavnić	slavnić	PROPN
fumecheng-547	112	20	,	,	PUNCT
fumecheng-547	112	21	d.	d.	PROPN
fumecheng-547	112	22	ristić	ristić	PROPN
fumecheng-547	112	23	-	-	PUNCT
fumecheng-547	112	24	durrant	durrant	PROPN
fumecheng-547	112	25	4	4	NUM
fumecheng-547	112	26	.	.	PUNCT
fumecheng-547	112	27	experimental	experimental	ADJ
fumecheng-547	112	28	results	result	NOUN
fumecheng-547	112	29	a.	a.	NOUN
fumecheng-547	112	30	linear	linear	PROPN
fumecheng-547	112	31	motion	motion	NOUN
fumecheng-547	112	32	of	of	ADP
fumecheng-547	112	33	the	the	DET
fumecheng-547	112	34	mobile	mobile	ADJ
fumecheng-547	112	35	platform	platform	NOUN
fumecheng-547	112	36	in	in	ADP
fumecheng-547	112	37	the	the	DET
fumecheng-547	112	38	experimental	experimental	ADJ
fumecheng-547	112	39	scenario	scenario	NOUN
fumecheng-547	112	40	named	name	VERB
fumecheng-547	112	41	“	"	PUNCT
fumecheng-547	112	42	linear	linear	ADJ
fumecheng-547	112	43	motion	motion	NOUN
fumecheng-547	112	44	of	of	ADP
fumecheng-547	112	45	the	the	DET
fumecheng-547	112	46	mobile	mobile	ADJ
fumecheng-547	112	47	platform	platform	NOUN
fumecheng-547	112	48	”	"	PUNCT
fumecheng-547	112	49	,	,	PUNCT
fumecheng-547	112	50	the	the	DET
fumecheng-547	112	51	mobile	mobile	ADJ
fumecheng-547	112	52	platform	platform	NOUN
fumecheng-547	112	53	is	be	AUX
fumecheng-547	112	54	moved	move	VERB
fumecheng-547	112	55	forwards	forwards	ADV
fumecheng-547	112	56	,	,	PUNCT
fumecheng-547	112	57	backwards	backwards	ADV
fumecheng-547	112	58	and	and	CCONJ
fumecheng-547	112	59	sideways	sideways	ADV
fumecheng-547	112	60	using	use	VERB
fumecheng-547	112	61	a	a	DET
fumecheng-547	112	62	joystick	joystick	NOUN
fumecheng-547	112	63	as	as	ADP
fumecheng-547	112	64	the	the	DET
fumecheng-547	112	65	input	input	NOUN
fumecheng-547	112	66	device	device	NOUN
fumecheng-547	112	67	.	.	PUNCT
fumecheng-547	113	1	the	the	DET
fumecheng-547	113	2	system	system	NOUN
fumecheng-547	113	3	receives	receive	VERB
fumecheng-547	113	4	two	two	NUM
fumecheng-547	113	5	signals	signal	NOUN
fumecheng-547	113	6	from	from	ADP
fumecheng-547	113	7	the	the	DET
fumecheng-547	113	8	joystick	joystick	NOUN
fumecheng-547	113	9	,	,	PUNCT
fumecheng-547	113	10	as	as	SCONJ
fumecheng-547	113	11	shown	show	VERB
fumecheng-547	113	12	in	in	ADP
fumecheng-547	113	13	fig	fig	NOUN
fumecheng-547	113	14	.	.	PUNCT
fumecheng-547	114	1	9	9	X
fumecheng-547	114	2	.	.	X
fumecheng-547	114	3	the	the	DET
fumecheng-547	114	4	first	first	ADJ
fumecheng-547	114	5	signal	signal	NOUN
fumecheng-547	114	6	a	a	PRON
fumecheng-547	114	7	represents	represent	VERB
fumecheng-547	114	8	the	the	DET
fumecheng-547	114	9	linear	linear	ADJ
fumecheng-547	114	10	velocity	velocity	NOUN
fumecheng-547	114	11	of	of	ADP
fumecheng-547	114	12	the	the	DET
fumecheng-547	114	13	mobile	mobile	ADJ
fumecheng-547	114	14	platform	platform	NOUN
fumecheng-547	114	15	center	center	NOUN
fumecheng-547	114	16	of	of	ADP
fumecheng-547	114	17	mass	mass	NOUN
fumecheng-547	114	18	in	in	ADP
fumecheng-547	114	19	the	the	DET
fumecheng-547	114	20	xdirection	xdirection	NOUN
fumecheng-547	114	21	vcx	vcx	NOUN
fumecheng-547	114	22	(	(	PUNCT
fumecheng-547	114	23	forwards	forward	NOUN
fumecheng-547	114	24	and	and	CCONJ
fumecheng-547	114	25	backwards	backwards	ADV
fumecheng-547	114	26	movements	movement	NOUN
fumecheng-547	114	27	)	)	PUNCT
fumecheng-547	114	28	and	and	CCONJ
fumecheng-547	114	29	the	the	DET
fumecheng-547	114	30	second	second	ADJ
fumecheng-547	114	31	signal	signal	NOUN
fumecheng-547	114	32	b	b	NOUN
fumecheng-547	114	33	represents	represent	VERB
fumecheng-547	114	34	the	the	DET
fumecheng-547	114	35	linear	linear	ADJ
fumecheng-547	114	36	velocity	velocity	NOUN
fumecheng-547	114	37	in	in	ADP
fumecheng-547	114	38	the	the	DET
fumecheng-547	114	39	z	z	NOUN
fumecheng-547	114	40	-	-	PUNCT
fumecheng-547	114	41	direction	direction	NOUN
fumecheng-547	114	42	vcz	vcz	NOUN
fumecheng-547	114	43	(	(	PUNCT
fumecheng-547	114	44	sideways	sideways	ADJ
fumecheng-547	114	45	movements	movement	NOUN
fumecheng-547	114	46	)	)	PUNCT
fumecheng-547	114	47	.	.	PUNCT
fumecheng-547	115	1	from	from	ADP
fumecheng-547	115	2	the	the	DET
fumecheng-547	115	3	joystick	joystick	NOUN
fumecheng-547	115	4	signals	signal	VERB
fumecheng-547	115	5	illustration	illustration	NOUN
fumecheng-547	115	6	in	in	ADP
fumecheng-547	115	7	fig	fig	NOUN
fumecheng-547	115	8	.	.	PUNCT
fumecheng-547	116	1	9	9	NUM
fumecheng-547	116	2	,	,	PUNCT
fumecheng-547	116	3	it	it	PRON
fumecheng-547	116	4	can	can	AUX
fumecheng-547	116	5	be	be	AUX
fumecheng-547	116	6	seen	see	VERB
fumecheng-547	116	7	that	that	SCONJ
fumecheng-547	116	8	the	the	DET
fumecheng-547	116	9	movement	movement	NOUN
fumecheng-547	116	10	of	of	ADP
fumecheng-547	116	11	the	the	DET
fumecheng-547	116	12	mobile	mobile	ADJ
fumecheng-547	116	13	platform	platform	NOUN
fumecheng-547	116	14	is	be	AUX
fumecheng-547	116	15	commanded	command	VERB
fumecheng-547	116	16	as	as	ADP
fumecheng-547	116	17	following	follow	VERB
fumecheng-547	116	18	:	:	PUNCT
fumecheng-547	116	19	after	after	SCONJ
fumecheng-547	116	20	6sec	6sec	NUM
fumecheng-547	116	21	from	from	ADP
fumecheng-547	116	22	the	the	DET
fumecheng-547	116	23	start	start	NOUN
fumecheng-547	116	24	of	of	ADP
fumecheng-547	116	25	the	the	DET
fumecheng-547	116	26	experiment	experiment	NOUN
fumecheng-547	116	27	the	the	DET
fumecheng-547	116	28	platform	platform	NOUN
fumecheng-547	116	29	should	should	AUX
fumecheng-547	116	30	go	go	VERB
fumecheng-547	116	31	forward	forward	ADV
fumecheng-547	116	32	for	for	ADP
fumecheng-547	116	33	8,5sec	8,5sec	NUM
fumecheng-547	116	34	(	(	PUNCT
fumecheng-547	116	35	motion	motion	NOUN
fumecheng-547	116	36	i	i	PROPN
fumecheng-547	116	37	)	)	PUNCT
fumecheng-547	116	38	;	;	PUNCT
fumecheng-547	116	39	1sec	1sec	NUM
fumecheng-547	116	40	after	after	ADP
fumecheng-547	116	41	motion	motion	NOUN
fumecheng-547	116	42	i	i	PRON
fumecheng-547	116	43	the	the	DET
fumecheng-547	116	44	platform	platform	NOUN
fumecheng-547	116	45	should	should	AUX
fumecheng-547	116	46	move	move	VERB
fumecheng-547	116	47	to	to	ADP
fumecheng-547	116	48	the	the	DET
fumecheng-547	116	49	right	right	NOUN
fumecheng-547	116	50	for	for	ADP
fumecheng-547	116	51	7,5	7,5	NUM
fumecheng-547	116	52	sec	sec	PROPN
fumecheng-547	116	53	(	(	PUNCT
fumecheng-547	116	54	motion	motion	NOUN
fumecheng-547	116	55	ii	ii	PROPN
fumecheng-547	116	56	)	)	PUNCT
fumecheng-547	116	57	;	;	PUNCT
fumecheng-547	116	58	1sec	1sec	NUM
fumecheng-547	116	59	after	after	ADP
fumecheng-547	116	60	motion	motion	NOUN
fumecheng-547	116	61	ii	ii	PROPN
fumecheng-547	116	62	the	the	DET
fumecheng-547	116	63	platform	platform	NOUN
fumecheng-547	116	64	should	should	AUX
fumecheng-547	116	65	go	go	VERB
fumecheng-547	116	66	backwards	backwards	ADV
fumecheng-547	116	67	for	for	ADP
fumecheng-547	116	68	13,5	13,5	NUM
fumecheng-547	116	69	(	(	PUNCT
fumecheng-547	116	70	motion	motion	NOUN
fumecheng-547	116	71	iii	iii	NOUN
fumecheng-547	116	72	)	)	PUNCT
fumecheng-547	116	73	;	;	PUNCT
fumecheng-547	116	74	0,5sec	0,5sec	PUNCT
fumecheng-547	116	75	after	after	ADP
fumecheng-547	116	76	motion	motion	NOUN
fumecheng-547	116	77	iii	iii	NOUN
fumecheng-547	116	78	the	the	DET
fumecheng-547	116	79	platform	platform	NOUN
fumecheng-547	116	80	should	should	AUX
fumecheng-547	116	81	move	move	VERB
fumecheng-547	116	82	to	to	ADP
fumecheng-547	116	83	the	the	DET
fumecheng-547	116	84	left	left	NOUN
fumecheng-547	116	85	for	for	ADP
fumecheng-547	116	86	10sec	10sec	PROPN
fumecheng-547	116	87	(	(	PUNCT
fumecheng-547	116	88	motion	motion	NOUN
fumecheng-547	116	89	iv	iv	NUM
fumecheng-547	116	90	)	)	PUNCT
fumecheng-547	116	91	.	.	PUNCT
fumecheng-547	117	1	the	the	DET
fumecheng-547	117	2	time	time	NOUN
fumecheng-547	117	3	intervals	interval	NOUN
fumecheng-547	117	4	when	when	SCONJ
fumecheng-547	117	5	the	the	DET
fumecheng-547	117	6	platform	platform	NOUN
fumecheng-547	117	7	is	be	AUX
fumecheng-547	117	8	not	not	PART
fumecheng-547	117	9	moving	move	VERB
fumecheng-547	117	10	are	be	AUX
fumecheng-547	117	11	referred	refer	VERB
fumecheng-547	117	12	to	to	ADP
fumecheng-547	117	13	as	as	ADP
fumecheng-547	117	14	rest	rest	NOUN
fumecheng-547	117	15	time	time	NOUN
fumecheng-547	117	16	.	.	PUNCT
fumecheng-547	118	1	fig	fig	NOUN
fumecheng-547	118	2	.	.	PUNCT
fumecheng-547	119	1	9	9	NUM
fumecheng-547	119	2	joystick	joystick	NOUN
fumecheng-547	119	3	signals	signal	NOUN
fumecheng-547	119	4	linear	linear	ADJ
fumecheng-547	119	5	velocity	velocity	NOUN
fumecheng-547	119	6	of	of	ADP
fumecheng-547	119	7	the	the	DET
fumecheng-547	119	8	mobile	mobile	ADJ
fumecheng-547	119	9	platform	platform	NOUN
fumecheng-547	119	10	starting	start	VERB
fumecheng-547	119	11	from	from	ADP
fumecheng-547	119	12	the	the	DET
fumecheng-547	119	13	input	input	NOUN
fumecheng-547	119	14	joystick	joystick	NOUN
fumecheng-547	119	15	signals	signal	NOUN
fumecheng-547	119	16	,	,	PUNCT
fumecheng-547	119	17	the	the	DET
fumecheng-547	119	18	steering	steering	NOUN
fumecheng-547	119	19	angle	angle	NOUN
fumecheng-547	119	20	is	be	AUX
fumecheng-547	119	21	calculated	calculate	VERB
fumecheng-547	119	22	from	from	ADP
fumecheng-547	119	23	the	the	DET
fumecheng-547	119	24	inverse	inverse	NOUN
fumecheng-547	119	25	kinematics	kinematic	NOUN
fumecheng-547	119	26	as	as	SCONJ
fumecheng-547	119	27	shown	show	VERB
fumecheng-547	119	28	in	in	ADP
fumecheng-547	119	29	fig	fig	NOUN
fumecheng-547	119	30	.	.	PUNCT
fumecheng-547	120	1	10a	10a	NOUN
fumecheng-547	120	2	for	for	ADP
fumecheng-547	120	3	one	one	NUM
fumecheng-547	120	4	of	of	ADP
fumecheng-547	120	5	the	the	DET
fumecheng-547	120	6	mobile	mobile	ADJ
fumecheng-547	120	7	platform	platform	NOUN
fumecheng-547	120	8	wheels	wheel	NOUN
fumecheng-547	120	9	.	.	PUNCT
fumecheng-547	121	1	since	since	SCONJ
fumecheng-547	121	2	the	the	DET
fumecheng-547	121	3	desired	desire	VERB
fumecheng-547	121	4	motion	motion	NOUN
fumecheng-547	121	5	of	of	ADP
fumecheng-547	121	6	the	the	DET
fumecheng-547	121	7	platform	platform	NOUN
fumecheng-547	121	8	is	be	AUX
fumecheng-547	121	9	linear	linear	ADJ
fumecheng-547	121	10	,	,	PUNCT
fumecheng-547	121	11	all	all	DET
fumecheng-547	121	12	the	the	DET
fumecheng-547	121	13	wheels	wheel	NOUN
fumecheng-547	121	14	have	have	VERB
fumecheng-547	121	15	the	the	DET
fumecheng-547	121	16	same	same	ADJ
fumecheng-547	121	17	steering	steering	NOUN
fumecheng-547	121	18	angle	angle	NOUN
fumecheng-547	121	19	.	.	PUNCT
fumecheng-547	122	1	as	as	SCONJ
fumecheng-547	122	2	it	it	PRON
fumecheng-547	122	3	can	can	AUX
fumecheng-547	122	4	be	be	AUX
fumecheng-547	122	5	seen	see	VERB
fumecheng-547	122	6	in	in	ADP
fumecheng-547	122	7	fig	fig	NOUN
fumecheng-547	122	8	.	.	PUNCT
fumecheng-547	123	1	10a	10a	NOUN
fumecheng-547	123	2	,	,	PUNCT
fumecheng-547	123	3	the	the	DET
fumecheng-547	123	4	output	output	NOUN
fumecheng-547	123	5	of	of	ADP
fumecheng-547	123	6	the	the	DET
fumecheng-547	123	7	inverse	inverse	NOUN
fumecheng-547	123	8	kinematics	kinematic	NOUN
fumecheng-547	123	9	are	be	AUX
fumecheng-547	123	10	angles	angle	NOUN
fumecheng-547	123	11	0	0	NUM
fumecheng-547	123	12	°	°	NUM
fumecheng-547	123	13	,	,	PUNCT
fumecheng-547	123	14	90	90	NUM
fumecheng-547	123	15	°	°	NOUN
fumecheng-547	123	16	,	,	PUNCT
fumecheng-547	123	17	180	180	NUM
fumecheng-547	123	18	°	°	NUM
fumecheng-547	123	19	and	and	CCONJ
fumecheng-547	123	20	-90	-90	PUNCT
fumecheng-547	123	21	°	°	NOUN
fumecheng-547	123	22	for	for	ADP
fumecheng-547	123	23	the	the	DET
fumecheng-547	123	24	motions	motion	NOUN
fumecheng-547	123	25	i	i	PRON
fumecheng-547	123	26	,	,	PUNCT
fumecheng-547	123	27	ii	ii	PROPN
fumecheng-547	123	28	,	,	PUNCT
fumecheng-547	123	29	iii	iii	PROPN
fumecheng-547	123	30	and	and	CCONJ
fumecheng-547	123	31	iv	iv	NUM
fumecheng-547	123	32	,	,	PUNCT
fumecheng-547	123	33	respectively	respectively	ADV
fumecheng-547	123	34	.	.	PUNCT
fumecheng-547	124	1	fig	fig	NOUN
fumecheng-547	124	2	.	.	PUNCT
fumecheng-547	125	1	10b	10b	NOUN
fumecheng-547	125	2	shows	show	VERB
fumecheng-547	125	3	the	the	DET
fumecheng-547	125	4	adapted	adapted	ADJ
fumecheng-547	125	5	output	output	NOUN
fumecheng-547	125	6	of	of	ADP
fumecheng-547	125	7	the	the	DET
fumecheng-547	125	8	inverse	inverse	NOUN
fumecheng-547	125	9	kinematics	kinematic	NOUN
fumecheng-547	125	10	.	.	PUNCT
fumecheng-547	126	1	namely	namely	ADV
fumecheng-547	126	2	,	,	PUNCT
fumecheng-547	126	3	since	since	SCONJ
fumecheng-547	126	4	the	the	DET
fumecheng-547	126	5	driving	drive	VERB
fumecheng-547	126	6	dc	dc	PROPN
fumecheng-547	126	7	motors	motor	NOUN
fumecheng-547	126	8	are	be	AUX
fumecheng-547	126	9	able	able	ADJ
fumecheng-547	126	10	to	to	PART
fumecheng-547	126	11	drive	drive	VERB
fumecheng-547	126	12	in	in	ADP
fumecheng-547	126	13	2	2	NUM
fumecheng-547	126	14	directions	direction	NOUN
fumecheng-547	126	15	only	only	ADV
fumecheng-547	126	16	forward	forward	ADV
fumecheng-547	126	17	and	and	CCONJ
fumecheng-547	126	18	backwards	backwards	ADV
fumecheng-547	126	19	,	,	PUNCT
fumecheng-547	126	20	the	the	DET
fumecheng-547	126	21	value	value	NOUN
fumecheng-547	126	22	of	of	ADP
fumecheng-547	126	23	steering	steering	NOUN
fumecheng-547	126	24	angle	angle	NOUN
fumecheng-547	126	25	is	be	AUX
fumecheng-547	126	26	limited	limit	VERB
fumecheng-547	126	27	to	to	ADP
fumecheng-547	126	28	[	[	X
fumecheng-547	126	29	-90	-90	NOUN
fumecheng-547	126	30	°	°	NOUN
fumecheng-547	126	31	,	,	PUNCT
fumecheng-547	126	32	90	90	NUM
fumecheng-547	126	33	°	°	NUM
fumecheng-547	126	34	]	]	PUNCT
fumecheng-547	126	35	.	.	PUNCT
fumecheng-547	127	1	for	for	ADP
fumecheng-547	127	2	example	example	NOUN
fumecheng-547	127	3	,	,	PUNCT
fumecheng-547	127	4	in	in	ADP
fumecheng-547	127	5	motion	motion	NOUN
fumecheng-547	127	6	iii	iii	NOUN
fumecheng-547	127	7	the	the	DET
fumecheng-547	127	8	platform	platform	NOUN
fumecheng-547	127	9	should	should	AUX
fumecheng-547	127	10	move	move	VERB
fumecheng-547	127	11	backwards	backwards	ADV
fumecheng-547	127	12	.	.	PUNCT
fumecheng-547	128	1	in	in	ADP
fumecheng-547	128	2	that	that	DET
fumecheng-547	128	3	case	case	NOUN
fumecheng-547	128	4	there	there	PRON
fumecheng-547	128	5	are	be	VERB
fumecheng-547	128	6	two	two	NUM
fumecheng-547	128	7	options	option	NOUN
fumecheng-547	128	8	:	:	PUNCT
fumecheng-547	128	9	to	to	PART
fumecheng-547	128	10	steer	steer	VERB
fumecheng-547	128	11	the	the	DET
fumecheng-547	128	12	wheel	wheel	NOUN
fumecheng-547	128	13	to	to	ADP
fumecheng-547	128	14	180	180	NUM
fumecheng-547	128	15	°	°	NOUN
fumecheng-547	128	16	and	and	CCONJ
fumecheng-547	128	17	drive	drive	VERB
fumecheng-547	128	18	forward	forward	ADV
fumecheng-547	128	19	or	or	CCONJ
fumecheng-547	128	20	to	to	PART
fumecheng-547	128	21	steer	steer	VERB
fumecheng-547	128	22	the	the	DET
fumecheng-547	128	23	wheel	wheel	NOUN
fumecheng-547	128	24	to	to	ADP
fumecheng-547	128	25	0	0	NUM
fumecheng-547	128	26	°	°	NUM
fumecheng-547	128	27	and	and	CCONJ
fumecheng-547	128	28	drive	drive	VERB
fumecheng-547	128	29	backwards	backwards	ADV
fumecheng-547	128	30	.	.	PUNCT
fumecheng-547	129	1	due	due	ADP
fumecheng-547	129	2	to	to	ADP
fumecheng-547	129	3	the	the	DET
fumecheng-547	129	4	limitation	limitation	NOUN
fumecheng-547	129	5	of	of	ADP
fumecheng-547	129	6	steering	steering	NOUN
fumecheng-547	129	7	angle	angle	NOUN
fumecheng-547	129	8	,	,	PUNCT
fumecheng-547	129	9	the	the	DET
fumecheng-547	129	10	second	second	ADJ
fumecheng-547	129	11	option	option	NOUN
fumecheng-547	129	12	is	be	AUX
fumecheng-547	129	13	taken	take	VERB
fumecheng-547	129	14	as	as	ADP
fumecheng-547	129	15	the	the	DET
fumecheng-547	129	16	adapted	adapted	ADJ
fumecheng-547	129	17	inverse	inverse	NOUN
fumecheng-547	129	18	kinematics	kinematic	NOUN
fumecheng-547	129	19	output	output	NOUN
fumecheng-547	129	20	.	.	PUNCT
fumecheng-547	130	1	additionally	additionally	ADV
fumecheng-547	130	2	,	,	PUNCT
fumecheng-547	130	3	the	the	DET
fumecheng-547	130	4	steering	steering	NOUN
fumecheng-547	130	5	angle	angle	NOUN
fumecheng-547	130	6	is	be	AUX
fumecheng-547	130	7	not	not	PART
fumecheng-547	130	8	changing	change	VERB
fumecheng-547	130	9	until	until	SCONJ
fumecheng-547	130	10	it	it	PRON
fumecheng-547	130	11	fuzzy	fuzzy	ADJ
fumecheng-547	130	12	controller	controller	NOUN
fumecheng-547	130	13	for	for	ADP
fumecheng-547	130	14	the	the	DET
fumecheng-547	130	15	control	control	NOUN
fumecheng-547	130	16	of	of	ADP
fumecheng-547	130	17	the	the	DET
fumecheng-547	130	18	mobile	mobile	ADJ
fumecheng-547	130	19	platform	platform	NOUN
fumecheng-547	130	20	of	of	ADP
fumecheng-547	130	21	the	the	DET
fumecheng-547	130	22	corbys	corbys	NOUN
fumecheng-547	130	23	robotic	robotic	ADJ
fumecheng-547	130	24	system	system	NOUN
fumecheng-547	130	25	231	231	NUM
fumecheng-547	130	26	gets	get	VERB
fumecheng-547	130	27	a	a	DET
fumecheng-547	130	28	new	new	ADJ
fumecheng-547	130	29	command	command	NOUN
fumecheng-547	130	30	from	from	ADP
fumecheng-547	130	31	the	the	DET
fumecheng-547	130	32	joystick	joystick	NOUN
fumecheng-547	130	33	.	.	PUNCT
fumecheng-547	131	1	so	so	ADV
fumecheng-547	131	2	between	between	ADP
fumecheng-547	131	3	motion	motion	NOUN
fumecheng-547	131	4	ii	ii	PROPN
fumecheng-547	131	5	and	and	CCONJ
fumecheng-547	131	6	iii	iii	NOUN
fumecheng-547	131	7	as	as	ADV
fumecheng-547	131	8	well	well	ADV
fumecheng-547	131	9	as	as	ADP
fumecheng-547	131	10	between	between	ADP
fumecheng-547	131	11	motion	motion	NOUN
fumecheng-547	131	12	iii	iii	NOUN
fumecheng-547	131	13	and	and	CCONJ
fumecheng-547	131	14	iv	iv	NUM
fumecheng-547	131	15	the	the	DET
fumecheng-547	131	16	steering	steering	NOUN
fumecheng-547	131	17	angle	angle	NOUN
fumecheng-547	131	18	keeps	keep	VERB
fumecheng-547	131	19	the	the	DET
fumecheng-547	131	20	previous	previous	ADJ
fumecheng-547	131	21	value	value	NOUN
fumecheng-547	131	22	.	.	PUNCT
fumecheng-547	132	1	the	the	DET
fumecheng-547	132	2	calculated	calculate	VERB
fumecheng-547	132	3	steering	steering	NOUN
fumecheng-547	132	4	angle	angle	NOUN
fumecheng-547	132	5	is	be	AUX
fumecheng-547	132	6	the	the	DET
fumecheng-547	132	7	reference	reference	NOUN
fumecheng-547	132	8	signal	signal	NOUN
fumecheng-547	132	9	for	for	ADP
fumecheng-547	132	10	the	the	DET
fumecheng-547	132	11	control	control	NOUN
fumecheng-547	132	12	of	of	ADP
fumecheng-547	132	13	the	the	DET
fumecheng-547	132	14	steering	steering	NOUN
fumecheng-547	132	15	dc	dc	PROPN
fumecheng-547	132	16	motor	motor	NOUN
fumecheng-547	132	17	.	.	PUNCT
fumecheng-547	133	1	the	the	DET
fumecheng-547	133	2	reference	reference	NOUN
fumecheng-547	133	3	signal	signal	NOUN
fumecheng-547	133	4	and	and	CCONJ
fumecheng-547	133	5	the	the	DET
fumecheng-547	133	6	actual	actual	ADJ
fumecheng-547	133	7	steering	steering	NOUN
fumecheng-547	133	8	angles	angle	NOUN
fumecheng-547	133	9	,	,	PUNCT
fumecheng-547	133	10	measured	measure	VERB
fumecheng-547	133	11	from	from	ADP
fumecheng-547	133	12	the	the	DET
fumecheng-547	133	13	angle	angle	NOUN
fumecheng-547	133	14	sensors	sensor	NOUN
fumecheng-547	133	15	,	,	PUNCT
fumecheng-547	133	16	for	for	ADP
fumecheng-547	133	17	each	each	DET
fumecheng-547	133	18	platform	platform	NOUN
fumecheng-547	133	19	’s	’s	PART
fumecheng-547	133	20	wheel	wheel	NOUN
fumecheng-547	133	21	are	be	AUX
fumecheng-547	133	22	given	give	VERB
fumecheng-547	133	23	in	in	ADP
fumecheng-547	133	24	fig	fig	NOUN
fumecheng-547	133	25	.	.	PUNCT
fumecheng-547	134	1	11	11	NUM
fumecheng-547	134	2	.	.	X
fumecheng-547	135	1	from	from	ADP
fumecheng-547	135	2	the	the	DET
fumecheng-547	135	3	presented	present	VERB
fumecheng-547	135	4	results	result	NOUN
fumecheng-547	135	5	,	,	PUNCT
fumecheng-547	135	6	it	it	PRON
fumecheng-547	135	7	is	be	AUX
fumecheng-547	135	8	evident	evident	ADJ
fumecheng-547	135	9	that	that	SCONJ
fumecheng-547	135	10	the	the	DET
fumecheng-547	135	11	implemented	implement	VERB
fumecheng-547	135	12	fuzzy	fuzzy	ADJ
fumecheng-547	135	13	logic	logic	NOUN
fumecheng-547	135	14	controller	controller	NOUN
fumecheng-547	135	15	eliminates	eliminate	VERB
fumecheng-547	135	16	the	the	DET
fumecheng-547	135	17	error	error	NOUN
fumecheng-547	135	18	.	.	PUNCT
fumecheng-547	136	1	fig	fig	NOUN
fumecheng-547	136	2	.	.	PUNCT
fumecheng-547	137	1	10	10	NUM
fumecheng-547	137	2	calculated	calculate	VERB
fumecheng-547	137	3	steering	steering	NOUN
fumecheng-547	137	4	angle	angle	NOUN
fumecheng-547	137	5	fig	fig	NOUN
fumecheng-547	137	6	.	.	PUNCT
fumecheng-547	138	1	11	11	NUM
fumecheng-547	138	2	.	.	X
fumecheng-547	139	1	reference	reference	NOUN
fumecheng-547	139	2	(	(	PUNCT
fumecheng-547	139	3	red	red	PROPN
fumecheng-547	139	4	)	)	PUNCT
fumecheng-547	139	5	and	and	CCONJ
fumecheng-547	139	6	measured	measure	VERB
fumecheng-547	139	7	(	(	PUNCT
fumecheng-547	139	8	blue	blue	ADJ
fumecheng-547	139	9	)	)	PUNCT
fumecheng-547	139	10	steering	steering	NOUN
fumecheng-547	139	11	angles	angle	VERB
fumecheng-547	139	12	232	232	NUM
fumecheng-547	139	13	m.	m.	NOUN
fumecheng-547	139	14	kyrarini	kyrarini	PROPN
fumecheng-547	139	15	,	,	PUNCT
fumecheng-547	139	16	s.	s.	PROPN
fumecheng-547	139	17	slavnić	slavnić	PROPN
fumecheng-547	139	18	,	,	PUNCT
fumecheng-547	139	19	d.	d.	PROPN
fumecheng-547	139	20	ristić	ristić	PROPN
fumecheng-547	139	21	-	-	PUNCT
fumecheng-547	139	22	durrant	durrant	PROPN
fumecheng-547	139	23	b.	b.	PROPN
fumecheng-547	139	24	rotation	rotation	NOUN
fumecheng-547	139	25	of	of	ADP
fumecheng-547	139	26	the	the	DET
fumecheng-547	139	27	mobile	mobile	ADJ
fumecheng-547	139	28	platform	platform	NOUN
fumecheng-547	139	29	in	in	ADP
fumecheng-547	139	30	the	the	DET
fumecheng-547	139	31	second	second	ADJ
fumecheng-547	139	32	experimental	experimental	ADJ
fumecheng-547	139	33	scenario	scenario	NOUN
fumecheng-547	139	34	named	name	VERB
fumecheng-547	139	35	“	"	PUNCT
fumecheng-547	139	36	rotation	rotation	NOUN
fumecheng-547	139	37	of	of	ADP
fumecheng-547	139	38	the	the	DET
fumecheng-547	139	39	mobile	mobile	ADJ
fumecheng-547	139	40	platform	platform	NOUN
fumecheng-547	139	41	”	"	PUNCT
fumecheng-547	139	42	,	,	PUNCT
fumecheng-547	139	43	the	the	DET
fumecheng-547	139	44	mobile	mobile	ADJ
fumecheng-547	139	45	platform	platform	NOUN
fumecheng-547	139	46	exhibits	exhibit	VERB
fumecheng-547	139	47	a	a	DET
fumecheng-547	139	48	rotation	rotation	NOUN
fumecheng-547	139	49	around	around	ADP
fumecheng-547	139	50	the	the	DET
fumecheng-547	139	51	y	y	NOUN
fumecheng-547	139	52	-	-	PUNCT
fumecheng-547	139	53	axis	axis	NOUN
fumecheng-547	139	54	of	of	ADP
fumecheng-547	139	55	the	the	DET
fumecheng-547	139	56	centre	centre	NOUN
fumecheng-547	139	57	of	of	ADP
fumecheng-547	139	58	mass	mass	ADJ
fumecheng-547	139	59	frame	frame	NOUN
fumecheng-547	139	60	,	,	PUNCT
fumecheng-547	139	61	using	use	VERB
fumecheng-547	139	62	the	the	DET
fumecheng-547	139	63	joystick	joystick	NOUN
fumecheng-547	139	64	as	as	ADP
fumecheng-547	139	65	input	input	NOUN
fumecheng-547	139	66	device	device	NOUN
fumecheng-547	139	67	.	.	PUNCT
fumecheng-547	140	1	the	the	DET
fumecheng-547	140	2	system	system	NOUN
fumecheng-547	140	3	receives	receive	VERB
fumecheng-547	140	4	one	one	NUM
fumecheng-547	140	5	signal	signal	NOUN
fumecheng-547	140	6	from	from	ADP
fumecheng-547	140	7	the	the	DET
fumecheng-547	140	8	joystick	joystick	NOUN
fumecheng-547	140	9	as	as	SCONJ
fumecheng-547	140	10	shown	show	VERB
fumecheng-547	140	11	in	in	ADP
fumecheng-547	140	12	fig	fig	NOUN
fumecheng-547	140	13	.	.	PUNCT
fumecheng-547	141	1	12	12	NUM
fumecheng-547	141	2	,	,	PUNCT
fumecheng-547	141	3	which	which	PRON
fumecheng-547	141	4	represents	represent	VERB
fumecheng-547	141	5	the	the	DET
fumecheng-547	141	6	target	target	NOUN
fumecheng-547	141	7	angular	angular	ADJ
fumecheng-547	141	8	velocity	velocity	NOUN
fumecheng-547	141	9	of	of	ADP
fumecheng-547	141	10	the	the	DET
fumecheng-547	141	11	mobile	mobile	ADJ
fumecheng-547	141	12	platform	platform	NOUN
fumecheng-547	141	13	.	.	PROPN
fumecheng-547	141	14	from	from	ADP
fumecheng-547	141	15	the	the	DET
fumecheng-547	141	16	joystick	joystick	NOUN
fumecheng-547	141	17	signal	signal	NOUN
fumecheng-547	141	18	illustration	illustration	NOUN
fumecheng-547	141	19	in	in	ADP
fumecheng-547	141	20	fig	fig	NOUN
fumecheng-547	141	21	.	.	PUNCT
fumecheng-547	142	1	12	12	NUM
fumecheng-547	142	2	,	,	PUNCT
fumecheng-547	142	3	it	it	PRON
fumecheng-547	142	4	can	can	AUX
fumecheng-547	142	5	be	be	AUX
fumecheng-547	142	6	seen	see	VERB
fumecheng-547	142	7	that	that	SCONJ
fumecheng-547	142	8	the	the	DET
fumecheng-547	142	9	movement	movement	NOUN
fumecheng-547	142	10	of	of	ADP
fumecheng-547	142	11	the	the	DET
fumecheng-547	142	12	mobile	mobile	ADJ
fumecheng-547	142	13	platform	platform	NOUN
fumecheng-547	142	14	is	be	AUX
fumecheng-547	142	15	commanded	command	VERB
fumecheng-547	142	16	as	as	SCONJ
fumecheng-547	142	17	follows	follow	VERB
fumecheng-547	142	18	:	:	PUNCT
fumecheng-547	142	19	after	after	SCONJ
fumecheng-547	142	20	5sec	5sec	NUM
fumecheng-547	142	21	from	from	ADP
fumecheng-547	142	22	the	the	DET
fumecheng-547	142	23	start	start	NOUN
fumecheng-547	142	24	of	of	ADP
fumecheng-547	142	25	the	the	DET
fumecheng-547	142	26	experiment	experiment	NOUN
fumecheng-547	142	27	the	the	DET
fumecheng-547	142	28	platform	platform	NOUN
fumecheng-547	142	29	should	should	AUX
fumecheng-547	142	30	rotate	rotate	VERB
fumecheng-547	142	31	clockwise	clockwise	NOUN
fumecheng-547	142	32	around	around	ADP
fumecheng-547	142	33	the	the	DET
fumecheng-547	142	34	center	center	NOUN
fumecheng-547	142	35	of	of	ADP
fumecheng-547	142	36	mass	mass	NOUN
fumecheng-547	142	37	for	for	ADP
fumecheng-547	142	38	2.1sec	2.1sec	NUM
fumecheng-547	142	39	(	(	PUNCT
fumecheng-547	142	40	motion	motion	NOUN
fumecheng-547	142	41	i	i	PROPN
fumecheng-547	142	42	)	)	PUNCT
fumecheng-547	142	43	;	;	PUNCT
fumecheng-547	142	44	1.1sec	1.1sec	NUM
fumecheng-547	142	45	after	after	ADP
fumecheng-547	142	46	motion	motion	NOUN
fumecheng-547	142	47	i	i	PRON
fumecheng-547	142	48	the	the	DET
fumecheng-547	142	49	platform	platform	NOUN
fumecheng-547	142	50	should	should	AUX
fumecheng-547	142	51	rotate	rotate	VERB
fumecheng-547	142	52	counterclockwise	counterclockwise	NOUN
fumecheng-547	142	53	around	around	ADP
fumecheng-547	142	54	the	the	DET
fumecheng-547	142	55	center	center	NOUN
fumecheng-547	142	56	of	of	ADP
fumecheng-547	142	57	mass	mass	NOUN
fumecheng-547	142	58	for	for	ADP
fumecheng-547	142	59	0,4	0,4	NUM
fumecheng-547	142	60	sec	sec	PROPN
fumecheng-547	142	61	(	(	PUNCT
fumecheng-547	142	62	motion	motion	NOUN
fumecheng-547	142	63	ii	ii	PROPN
fumecheng-547	142	64	)	)	PUNCT
fumecheng-547	142	65	;	;	PUNCT
fumecheng-547	142	66	1.3	1.3	NUM
fumecheng-547	142	67	sec	sec	PROPN
fumecheng-547	142	68	after	after	ADP
fumecheng-547	142	69	motion	motion	NOUN
fumecheng-547	142	70	ii	ii	PROPN
fumecheng-547	142	71	the	the	DET
fumecheng-547	142	72	platform	platform	NOUN
fumecheng-547	142	73	should	should	AUX
fumecheng-547	142	74	rotate	rotate	VERB
fumecheng-547	142	75	counterclockwise	counterclockwise	NOUN
fumecheng-547	142	76	for	for	ADP
fumecheng-547	142	77	1.1sec	1.1sec	PROPN
fumecheng-547	142	78	(	(	PUNCT
fumecheng-547	142	79	motion	motion	NOUN
fumecheng-547	142	80	iii	iii	NOUN
fumecheng-547	142	81	)	)	PUNCT
fumecheng-547	142	82	.	.	PUNCT
fumecheng-547	143	1	the	the	DET
fumecheng-547	143	2	time	time	NOUN
fumecheng-547	143	3	intervals	interval	NOUN
fumecheng-547	143	4	when	when	SCONJ
fumecheng-547	143	5	the	the	DET
fumecheng-547	143	6	platform	platform	NOUN
fumecheng-547	143	7	is	be	AUX
fumecheng-547	143	8	not	not	PART
fumecheng-547	143	9	moving	move	VERB
fumecheng-547	143	10	are	be	AUX
fumecheng-547	143	11	referred	refer	VERB
fumecheng-547	143	12	to	to	ADP
fumecheng-547	143	13	as	as	ADP
fumecheng-547	143	14	rest	rest	NOUN
fumecheng-547	143	15	time	time	NOUN
fumecheng-547	143	16	.	.	PUNCT
fumecheng-547	144	1	fig	fig	NOUN
fumecheng-547	144	2	.	.	PUNCT
fumecheng-547	145	1	12	12	NUM
fumecheng-547	145	2	joystick	joystick	PROPN
fumecheng-547	145	3	signal	signal	VERB
fumecheng-547	145	4	angular	angular	ADJ
fumecheng-547	145	5	velocity	velocity	NOUN
fumecheng-547	145	6	of	of	ADP
fumecheng-547	145	7	the	the	DET
fumecheng-547	145	8	mobile	mobile	ADJ
fumecheng-547	145	9	platform	platform	NOUN
fumecheng-547	145	10	using	use	VERB
fumecheng-547	145	11	the	the	DET
fumecheng-547	145	12	signal	signal	NOUN
fumecheng-547	145	13	from	from	ADP
fumecheng-547	145	14	the	the	DET
fumecheng-547	145	15	joystick	joystick	NOUN
fumecheng-547	145	16	as	as	ADP
fumecheng-547	145	17	input	input	NOUN
fumecheng-547	145	18	,	,	PUNCT
fumecheng-547	145	19	the	the	DET
fumecheng-547	145	20	wheels	wheel	NOUN
fumecheng-547	145	21	’	’	PART
fumecheng-547	145	22	steering	steering	NOUN
fumecheng-547	145	23	angles	angle	NOUN
fumecheng-547	145	24	are	be	AUX
fumecheng-547	145	25	calculated	calculate	VERB
fumecheng-547	145	26	from	from	ADP
fumecheng-547	145	27	the	the	DET
fumecheng-547	145	28	inverse	inverse	NOUN
fumecheng-547	145	29	kinematics	kinematic	NOUN
fumecheng-547	145	30	as	as	SCONJ
fumecheng-547	145	31	shown	show	VERB
fumecheng-547	145	32	in	in	ADP
fumecheng-547	145	33	fig	fig	NOUN
fumecheng-547	145	34	.	.	PUNCT
fumecheng-547	146	1	13	13	NUM
fumecheng-547	146	2	.	.	PUNCT
fumecheng-547	147	1	as	as	ADP
fumecheng-547	147	2	the	the	DET
fumecheng-547	147	3	driving	drive	VERB
fumecheng-547	147	4	dc	dc	PROPN
fumecheng-547	147	5	motors	motor	NOUN
fumecheng-547	147	6	are	be	AUX
fumecheng-547	147	7	able	able	ADJ
fumecheng-547	147	8	to	to	PART
fumecheng-547	147	9	drive	drive	VERB
fumecheng-547	147	10	in	in	ADP
fumecheng-547	147	11	2	2	NUM
fumecheng-547	147	12	directions	direction	NOUN
fumecheng-547	147	13	forward	forward	ADV
fumecheng-547	147	14	and	and	CCONJ
fumecheng-547	147	15	backwards	backwards	ADV
fumecheng-547	147	16	,	,	PUNCT
fumecheng-547	147	17	the	the	DET
fumecheng-547	147	18	value	value	NOUN
fumecheng-547	147	19	of	of	ADP
fumecheng-547	147	20	steering	steering	NOUN
fumecheng-547	147	21	angle	angle	NOUN
fumecheng-547	147	22	is	be	AUX
fumecheng-547	147	23	limited	limit	VERB
fumecheng-547	147	24	to	to	ADP
fumecheng-547	147	25	[	[	X
fumecheng-547	147	26	90	90	NUM
fumecheng-547	147	27	°	°	NOUN
fumecheng-547	147	28	,	,	PUNCT
fumecheng-547	147	29	90	90	NUM
fumecheng-547	147	30	°	°	NUM
fumecheng-547	147	31	]	]	PUNCT
fumecheng-547	147	32	.	.	PUNCT
fumecheng-547	148	1	additionally	additionally	ADV
fumecheng-547	148	2	,	,	PUNCT
fumecheng-547	148	3	the	the	DET
fumecheng-547	148	4	steering	steering	NOUN
fumecheng-547	148	5	angle	angle	NOUN
fumecheng-547	148	6	is	be	AUX
fumecheng-547	148	7	not	not	PART
fumecheng-547	148	8	changing	change	VERB
fumecheng-547	148	9	until	until	SCONJ
fumecheng-547	148	10	it	it	PRON
fumecheng-547	148	11	gets	get	VERB
fumecheng-547	148	12	a	a	DET
fumecheng-547	148	13	new	new	ADJ
fumecheng-547	148	14	command	command	NOUN
fumecheng-547	148	15	from	from	ADP
fumecheng-547	148	16	the	the	DET
fumecheng-547	148	17	joystick	joystick	NOUN
fumecheng-547	148	18	.	.	PUNCT
fumecheng-547	149	1	the	the	DET
fumecheng-547	149	2	adapted	adapt	VERB
fumecheng-547	149	3	output	output	NOUN
fumecheng-547	149	4	of	of	ADP
fumecheng-547	149	5	the	the	DET
fumecheng-547	149	6	inverse	inverse	NOUN
fumecheng-547	149	7	kinematics	kinematic	NOUN
fumecheng-547	149	8	to	to	PART
fumecheng-547	149	9	meet	meet	VERB
fumecheng-547	149	10	the	the	DET
fumecheng-547	149	11	above	above	ADJ
fumecheng-547	149	12	limitations	limitation	NOUN
fumecheng-547	149	13	can	can	AUX
fumecheng-547	149	14	be	be	AUX
fumecheng-547	149	15	seen	see	VERB
fumecheng-547	149	16	in	in	ADP
fumecheng-547	149	17	fig	fig	NOUN
fumecheng-547	149	18	.	.	PUNCT
fumecheng-547	150	1	14	14	NUM
fumecheng-547	150	2	(	(	PUNCT
fumecheng-547	150	3	red	red	ADJ
fumecheng-547	150	4	)	)	PUNCT
fumecheng-547	150	5	.	.	PUNCT
fumecheng-547	151	1	in	in	ADP
fumecheng-547	151	2	this	this	DET
fumecheng-547	151	3	scenario	scenario	NOUN
fumecheng-547	151	4	,	,	PUNCT
fumecheng-547	151	5	the	the	DET
fumecheng-547	151	6	front	front	ADJ
fumecheng-547	151	7	right	right	ADJ
fumecheng-547	151	8	wheel	wheel	NOUN
fumecheng-547	151	9	and	and	CCONJ
fumecheng-547	151	10	rear	rear	ADJ
fumecheng-547	151	11	left	left	ADJ
fumecheng-547	151	12	wheel	wheel	NOUN
fumecheng-547	151	13	are	be	AUX
fumecheng-547	151	14	steered	steer	VERB
fumecheng-547	151	15	at	at	ADP
fumecheng-547	151	16	59	59	NUM
fumecheng-547	151	17	°	°	NOUN
fumecheng-547	151	18	and	and	CCONJ
fumecheng-547	151	19	the	the	DET
fumecheng-547	151	20	front	front	NOUN
fumecheng-547	151	21	left	leave	VERB
fumecheng-547	151	22	wheel	wheel	NOUN
fumecheng-547	151	23	and	and	CCONJ
fumecheng-547	151	24	rear	rear	ADJ
fumecheng-547	151	25	right	right	ADJ
fumecheng-547	151	26	wheel	wheel	NOUN
fumecheng-547	151	27	are	be	AUX
fumecheng-547	151	28	steered	steer	VERB
fumecheng-547	151	29	at	at	ADP
fumecheng-547	151	30	-59	-59	PROPN
fumecheng-547	151	31	°	°	PROPN
fumecheng-547	151	32	.	.	PUNCT
fumecheng-547	152	1	the	the	DET
fumecheng-547	152	2	calculated	calculate	VERB
fumecheng-547	152	3	adapted	adapt	VERB
fumecheng-547	152	4	steering	steering	NOUN
fumecheng-547	152	5	angle	angle	NOUN
fumecheng-547	152	6	is	be	AUX
fumecheng-547	152	7	the	the	DET
fumecheng-547	152	8	reference	reference	NOUN
fumecheng-547	152	9	signal	signal	NOUN
fumecheng-547	152	10	for	for	ADP
fumecheng-547	152	11	the	the	DET
fumecheng-547	152	12	control	control	NOUN
fumecheng-547	152	13	of	of	ADP
fumecheng-547	152	14	the	the	DET
fumecheng-547	152	15	steering	steering	NOUN
fumecheng-547	152	16	dc	dc	PROPN
fumecheng-547	152	17	motor	motor	NOUN
fumecheng-547	152	18	.	.	PUNCT
fumecheng-547	153	1	the	the	DET
fumecheng-547	153	2	reference	reference	NOUN
fumecheng-547	153	3	signal	signal	NOUN
fumecheng-547	153	4	and	and	CCONJ
fumecheng-547	153	5	the	the	DET
fumecheng-547	153	6	actual	actual	ADJ
fumecheng-547	153	7	steering	steering	NOUN
fumecheng-547	153	8	angle	angle	NOUN
fumecheng-547	153	9	,	,	PUNCT
fumecheng-547	153	10	measured	measure	VERB
fumecheng-547	153	11	from	from	ADP
fumecheng-547	153	12	the	the	DET
fumecheng-547	153	13	angle	angle	NOUN
fumecheng-547	153	14	sensors	sensor	NOUN
fumecheng-547	153	15	,	,	PUNCT
fumecheng-547	153	16	for	for	ADP
fumecheng-547	153	17	each	each	DET
fumecheng-547	153	18	wheel	wheel	NOUN
fumecheng-547	153	19	are	be	AUX
fumecheng-547	153	20	given	give	VERB
fumecheng-547	153	21	in	in	ADP
fumecheng-547	153	22	fig	fig	NOUN
fumecheng-547	153	23	.	.	PUNCT
fumecheng-547	154	1	14	14	NUM
fumecheng-547	154	2	(	(	PUNCT
fumecheng-547	154	3	blue	blue	ADJ
fumecheng-547	154	4	)	)	PUNCT
fumecheng-547	154	5	.	.	PUNCT
fumecheng-547	155	1	as	as	SCONJ
fumecheng-547	155	2	it	it	PRON
fumecheng-547	155	3	can	can	AUX
fumecheng-547	155	4	be	be	AUX
fumecheng-547	155	5	seen	see	VERB
fumecheng-547	155	6	also	also	ADV
fumecheng-547	155	7	in	in	ADP
fumecheng-547	155	8	this	this	DET
fumecheng-547	155	9	scenario	scenario	NOUN
fumecheng-547	155	10	,	,	PUNCT
fumecheng-547	155	11	the	the	DET
fumecheng-547	155	12	implemented	implement	VERB
fumecheng-547	155	13	fuzzy	fuzzy	ADJ
fumecheng-547	155	14	logic	logic	NOUN
fumecheng-547	155	15	controller	controller	NOUN
fumecheng-547	155	16	is	be	AUX
fumecheng-547	155	17	efficient	efficient	ADJ
fumecheng-547	155	18	as	as	SCONJ
fumecheng-547	155	19	eliminates	eliminate	VERB
fumecheng-547	155	20	the	the	DET
fumecheng-547	155	21	error	error	NOUN
fumecheng-547	155	22	.	.	PUNCT
fumecheng-547	156	1	fuzzy	fuzzy	ADJ
fumecheng-547	156	2	controller	controller	NOUN
fumecheng-547	156	3	for	for	ADP
fumecheng-547	156	4	the	the	DET
fumecheng-547	156	5	control	control	NOUN
fumecheng-547	156	6	of	of	ADP
fumecheng-547	156	7	the	the	DET
fumecheng-547	156	8	mobile	mobile	ADJ
fumecheng-547	156	9	platform	platform	NOUN
fumecheng-547	156	10	of	of	ADP
fumecheng-547	156	11	the	the	DET
fumecheng-547	156	12	corbys	corbys	NOUN
fumecheng-547	156	13	robotic	robotic	ADJ
fumecheng-547	156	14	system	system	NOUN
fumecheng-547	156	15	233	233	NUM
fumecheng-547	156	16	fig	fig	NOUN
fumecheng-547	156	17	.	.	PUNCT
fumecheng-547	157	1	13	13	NUM
fumecheng-547	157	2	calculated	calculate	VERB
fumecheng-547	157	3	steering	steering	NOUN
fumecheng-547	157	4	angle	angle	NOUN
fumecheng-547	157	5	fig	fig	NOUN
fumecheng-547	157	6	.	.	PUNCT
fumecheng-547	158	1	14	14	NUM
fumecheng-547	158	2	reference	reference	NOUN
fumecheng-547	158	3	(	(	PUNCT
fumecheng-547	158	4	red	red	ADJ
fumecheng-547	158	5	)	)	PUNCT
fumecheng-547	158	6	and	and	CCONJ
fumecheng-547	158	7	measured	measure	VERB
fumecheng-547	158	8	(	(	PUNCT
fumecheng-547	158	9	blue	blue	ADJ
fumecheng-547	158	10	)	)	PUNCT
fumecheng-547	158	11	steering	steering	NOUN
fumecheng-547	158	12	angles	angle	VERB
fumecheng-547	158	13	4	4	NUM
fumecheng-547	158	14	.	.	PUNCT
fumecheng-547	158	15	conclusion	conclusion	NOUN
fumecheng-547	158	16	in	in	ADP
fumecheng-547	158	17	this	this	DET
fumecheng-547	158	18	paper	paper	NOUN
fumecheng-547	158	19	the	the	DET
fumecheng-547	158	20	design	design	NOUN
fumecheng-547	158	21	and	and	CCONJ
fumecheng-547	158	22	implementation	implementation	NOUN
fumecheng-547	158	23	of	of	ADP
fumecheng-547	158	24	a	a	DET
fumecheng-547	158	25	fuzzy	fuzzy	ADJ
fumecheng-547	158	26	controller	controller	NOUN
fumecheng-547	158	27	for	for	ADP
fumecheng-547	158	28	the	the	DET
fumecheng-547	158	29	wheels	wheel	NOUN
fumecheng-547	158	30	steering	steer	VERB
fumecheng-547	158	31	control	control	NOUN
fumecheng-547	158	32	of	of	ADP
fumecheng-547	158	33	the	the	DET
fumecheng-547	158	34	mobile	mobile	ADJ
fumecheng-547	158	35	platform	platform	NOUN
fumecheng-547	158	36	of	of	ADP
fumecheng-547	158	37	the	the	DET
fumecheng-547	158	38	robotic	robotic	ADJ
fumecheng-547	158	39	gait	gait	PROPN
fumecheng-547	158	40	rehabilitation	rehabilitation	NOUN
fumecheng-547	158	41	system	system	NOUN
fumecheng-547	158	42	corbys	corby	NOUN
fumecheng-547	158	43	are	be	AUX
fumecheng-547	158	44	presented	present	VERB
fumecheng-547	158	45	.	.	PUNCT
fumecheng-547	159	1	the	the	DET
fumecheng-547	159	2	reference	reference	NOUN
fumecheng-547	159	3	control	control	NOUN
fumecheng-547	159	4	signals	signal	NOUN
fumecheng-547	159	5	are	be	AUX
fumecheng-547	159	6	calculated	calculate	VERB
fumecheng-547	159	7	using	use	VERB
fumecheng-547	159	8	inverse	inverse	ADJ
fumecheng-547	159	9	kinematics	kinematic	NOUN
fumecheng-547	159	10	of	of	ADP
fumecheng-547	159	11	the	the	DET
fumecheng-547	159	12	mobile	mobile	ADJ
fumecheng-547	159	13	platform	platform	NOUN
fumecheng-547	159	14	.	.	PUNCT
fumecheng-547	160	1	the	the	DET
fumecheng-547	160	2	results	result	NOUN
fumecheng-547	160	3	from	from	ADP
fumecheng-547	160	4	two	two	NUM
fumecheng-547	160	5	real	real	ADJ
fumecheng-547	160	6	-	-	PUNCT
fumecheng-547	160	7	world	world	NOUN
fumecheng-547	160	8	experimental	experimental	ADJ
fumecheng-547	160	9	scenarios	scenario	NOUN
fumecheng-547	160	10	,	,	PUNCT
fumecheng-547	160	11	“	"	PUNCT
fumecheng-547	160	12	linear	linear	ADJ
fumecheng-547	160	13	motion	motion	NOUN
fumecheng-547	160	14	of	of	ADP
fumecheng-547	160	15	the	the	DET
fumecheng-547	160	16	mobile	mobile	ADJ
fumecheng-547	160	17	platform	platform	NOUN
fumecheng-547	160	18	”	"	PUNCT
fumecheng-547	160	19	and	and	CCONJ
fumecheng-547	160	20	“	"	PUNCT
fumecheng-547	160	21	rotation	rotation	NOUN
fumecheng-547	160	22	of	of	ADP
fumecheng-547	160	23	the	the	DET
fumecheng-547	160	24	mobile	mobile	ADJ
fumecheng-547	160	25	platform	platform	NOUN
fumecheng-547	160	26	”	"	PUNCT
fumecheng-547	160	27	that	that	PRON
fumecheng-547	160	28	illustrate	illustrate	VERB
fumecheng-547	160	29	the	the	DET
fumecheng-547	160	30	effectiveness	effectiveness	NOUN
fumecheng-547	160	31	of	of	ADP
fumecheng-547	160	32	the	the	DET
fumecheng-547	160	33	implemented	implement	VERB
fumecheng-547	160	34	fuzzy	fuzzy	ADJ
fumecheng-547	160	35	controller	controller	NOUN
fumecheng-547	160	36	are	be	AUX
fumecheng-547	160	37	given	give	VERB
fumecheng-547	160	38	in	in	ADP
fumecheng-547	160	39	the	the	DET
fumecheng-547	160	40	paper	paper	NOUN
fumecheng-547	160	41	.	.	PUNCT
fumecheng-547	161	1	234	234	NUM
fumecheng-547	161	2	m.	m.	NOUN
fumecheng-547	161	3	kyrarini	kyrarini	PROPN
fumecheng-547	161	4	,	,	PUNCT
fumecheng-547	161	5	s.	s.	PROPN
fumecheng-547	161	6	slavnić	slavnić	PROPN
fumecheng-547	161	7	,	,	PUNCT
fumecheng-547	161	8	d.	d.	PROPN
fumecheng-547	161	9	ristić	ristić	PROPN
fumecheng-547	161	10	-	-	PUNCT
fumecheng-547	161	11	durrant	durrant	NOUN
fumecheng-547	161	12	acknowledgements	acknowledgement	NOUN
fumecheng-547	161	13	:	:	PUNCT
fumecheng-547	161	14	this	this	DET
fumecheng-547	161	15	research	research	NOUN
fumecheng-547	161	16	was	be	AUX
fumecheng-547	161	17	supported	support	VERB
fumecheng-547	161	18	by	by	ADP
fumecheng-547	161	19	the	the	DET
fumecheng-547	161	20	european	european	PROPN
fumecheng-547	161	21	commission	commission	PROPN
fumecheng-547	161	22	as	as	ADP
fumecheng-547	161	23	part	part	NOUN
fumecheng-547	161	24	of	of	ADP
fumecheng-547	161	25	the	the	DET
fumecheng-547	161	26	corbys	corbys	NOUN
fumecheng-547	161	27	(	(	PUNCT
fumecheng-547	161	28	cognitive	cognitive	ADJ
fumecheng-547	161	29	control	control	NOUN
fumecheng-547	161	30	framework	framework	NOUN
fumecheng-547	161	31	for	for	ADP
fumecheng-547	161	32	robotic	robotic	ADJ
fumecheng-547	161	33	systems	system	NOUN
fumecheng-547	161	34	)	)	PUNCT
fumecheng-547	161	35	project	project	NOUN
fumecheng-547	161	36	under	under	ADP
fumecheng-547	161	37	contract	contract	NOUN
fumecheng-547	161	38	fp7	fp7	PROPN
fumecheng-547	161	39	ict-270219	ict-270219	NOUN
fumecheng-547	161	40	.	.	PUNCT
fumecheng-547	162	1	references	reference	NOUN
fumecheng-547	162	2	1	1	NUM
fumecheng-547	162	3	.	.	PUNCT
fumecheng-547	163	1	ristić	ristić	NOUN
fumecheng-547	163	2	-	-	PUNCT
fumecheng-547	163	3	durrant	durrant	PROPN
fumecheng-547	163	4	,	,	PUNCT
fumecheng-547	163	5	d.	d.	PROPN
fumecheng-547	163	6	,	,	PUNCT
fumecheng-547	163	7	slavnić	slavnić	PROPN
fumecheng-547	163	8	,	,	PUNCT
fumecheng-547	163	9	s.	s.	PROPN
fumecheng-547	163	10	,	,	PUNCT
fumecheng-547	163	11	glackin	glackin	PROPN
fumecheng-547	163	12	,	,	PUNCT
fumecheng-547	163	13	c.	c.	PROPN
fumecheng-547	163	14	,	,	PUNCT
fumecheng-547	163	15	2014	2014	NUM
fumecheng-547	163	16	,	,	PUNCT
fumecheng-547	163	17	corbys	corbys	NOUN
fumecheng-547	163	18	project	project	NOUN
fumecheng-547	163	19	overview	overview	NOUN
fumecheng-547	163	20	:	:	PUNCT
fumecheng-547	163	21	approach	approach	NOUN
fumecheng-547	163	22	and	and	CCONJ
fumecheng-547	163	23	achieved	achieve	VERB
fumecheng-547	163	24	results	result	NOUN
fumecheng-547	163	25	,	,	PUNCT
fumecheng-547	163	26	in	in	ADP
fumecheng-547	163	27	w.	w.	PROPN
fumecheng-547	163	28	jensen	jensen	PROPN
fumecheng-547	163	29	et	et	PROPN
fumecheng-547	163	30	al	al	PROPN
fumecheng-547	163	31	.	.	PROPN
fumecheng-547	163	32	(	(	PUNCT
fumecheng-547	163	33	eds	ed	NOUN
fumecheng-547	163	34	)	)	PUNCT
fumecheng-547	163	35	,	,	PUNCT
fumecheng-547	163	36	replace	replace	NOUN
fumecheng-547	163	37	,	,	PUNCT
fumecheng-547	163	38	repair	repair	NOUN
fumecheng-547	163	39	,	,	PUNCT
fumecheng-547	163	40	restore	restore	ADJ
fumecheng-547	163	41	,	,	PUNCT
fumecheng-547	163	42	relieve	relieve	ADJ
fumecheng-547	163	43	–	–	PUNCT
fumecheng-547	163	44	bridging	bridge	VERB
fumecheng-547	163	45	clinical	clinical	ADJ
fumecheng-547	163	46	and	and	CCONJ
fumecheng-547	163	47	engineering	engineering	NOUN
fumecheng-547	163	48	solutions	solution	NOUN
fumecheng-547	163	49	in	in	ADP
fumecheng-547	163	50	neurorehabilitation	neurorehabilitation	NOUN
fumecheng-547	163	51	,	,	PUNCT
fumecheng-547	163	52	biosystems	biosystems	PROPN
fumecheng-547	163	53	&	&	CCONJ
fumecheng-547	163	54	biorobotics	biorobotic	NOUN
fumecheng-547	163	55	,	,	PUNCT
fumecheng-547	163	56	7	7	NUM
fumecheng-547	163	57	,	,	PUNCT
fumecheng-547	163	58	pp	pp	ADJ
fumecheng-547	163	59	.	.	PUNCT
fumecheng-547	164	1	139	139	NUM
fumecheng-547	164	2	-	-	SYM
fumecheng-547	164	3	147	147	NUM
fumecheng-547	164	4	.	.	PUNCT
fumecheng-547	165	1	2	2	NUM
fumecheng-547	165	2	.	.	X
fumecheng-547	165	3	eu	eu	PROPN
fumecheng-547	165	4	fp7	fp7	PROPN
fumecheng-547	165	5	project	project	PROPN
fumecheng-547	165	6	corbys	corbys	NOUN
fumecheng-547	165	7	,	,	PUNCT
fumecheng-547	165	8	www.corbys.eu	www.corbys.eu	PROPN
fumecheng-547	165	9	(	(	PUNCT
fumecheng-547	165	10	access	access	NOUN
fumecheng-547	165	11	date	date	NOUN
fumecheng-547	165	12	:	:	PUNCT
fumecheng-547	165	13	09.11.2014	09.11.2014	X
fumecheng-547	165	14	.	.	PUNCT
fumecheng-547	165	15	)	)	PUNCT
fumecheng-547	166	1	3	3	X
fumecheng-547	166	2	.	.	X
fumecheng-547	166	3	kumar	kumar	PROPN
fumecheng-547	166	4	,	,	PUNCT
fumecheng-547	166	5	n.	n.	PROPN
fumecheng-547	166	6	s.	s.	PROPN
fumecheng-547	166	7	,	,	PUNCT
fumecheng-547	166	8	kumar	kumar	PROPN
fumecheng-547	166	9	,	,	PUNCT
fumecheng-547	166	10	c.	c.	PROPN
fumecheng-547	166	11	s.	s.	PROPN
fumecheng-547	166	12	,	,	PUNCT
fumecheng-547	166	13	2010	2010	NUM
fumecheng-547	166	14	,	,	PUNCT
fumecheng-547	166	15	design	design	NOUN
fumecheng-547	166	16	and	and	CCONJ
fumecheng-547	166	17	implementation	implementation	NOUN
fumecheng-547	166	18	of	of	ADP
fumecheng-547	166	19	adaptive	adaptive	ADJ
fumecheng-547	166	20	fuzzy	fuzzy	ADJ
fumecheng-547	166	21	controller	controller	NOUN
fumecheng-547	166	22	for	for	ADP
fumecheng-547	166	23	speed	speed	NOUN
fumecheng-547	166	24	control	control	NOUN
fumecheng-547	166	25	of	of	ADP
fumecheng-547	166	26	brushless	brushless	PROPN
fumecheng-547	166	27	dc	dc	PROPN
fumecheng-547	166	28	motors	motors	PROPN
fumecheng-547	166	29	,	,	PUNCT
fumecheng-547	166	30	international	international	ADJ
fumecheng-547	166	31	journal	journal	NOUN
fumecheng-547	166	32	of	of	ADP
fumecheng-547	166	33	computer	computer	NOUN
fumecheng-547	166	34	applications	application	NOUN
fumecheng-547	166	35	,	,	PUNCT
fumecheng-547	166	36	1(27	1(27	NUM
fumecheng-547	166	37	)	)	PUNCT
fumecheng-547	166	38	,	,	PUNCT
fumecheng-547	166	39	pp	pp	PROPN
fumecheng-547	166	40	.	.	PUNCT
fumecheng-547	167	1	36	36	NUM
fumecheng-547	167	2	-	-	SYM
fumecheng-547	167	3	41	41	NUM
fumecheng-547	167	4	.	.	NOUN
fumecheng-547	168	1	4	4	X
fumecheng-547	168	2	.	.	X
fumecheng-547	168	3	rubaai	rubaai	ADJ
fumecheng-547	168	4	,	,	PUNCT
fumecheng-547	168	5	a.	a.	NOUN
fumecheng-547	168	6	,	,	PUNCT
fumecheng-547	168	7	ricketts	ricketts	PROPN
fumecheng-547	168	8	,	,	PUNCT
fumecheng-547	168	9	d.	d.	PROPN
fumecheng-547	168	10	,	,	PUNCT
fumecheng-547	168	11	kankam	kankam	PROPN
fumecheng-547	168	12	,	,	PUNCT
fumecheng-547	168	13	d.	d.	PROPN
fumecheng-547	168	14	m.	m.	PROPN
fumecheng-547	168	15	,	,	PUNCT
fumecheng-547	168	16	2002	2002	NUM
fumecheng-547	168	17	,	,	PUNCT
fumecheng-547	168	18	development	development	NOUN
fumecheng-547	168	19	and	and	CCONJ
fumecheng-547	168	20	implementation	implementation	NOUN
fumecheng-547	168	21	of	of	ADP
fumecheng-547	168	22	an	an	DET
fumecheng-547	168	23	adaptive	adaptive	ADJ
fumecheng-547	168	24	fuzzy	fuzzy	ADJ
fumecheng-547	168	25	-	-	PUNCT
fumecheng-547	168	26	neural	neural	ADJ
fumecheng-547	168	27	-	-	PUNCT
fumecheng-547	168	28	network	network	NOUN
fumecheng-547	168	29	controller	controller	NOUN
fumecheng-547	168	30	for	for	ADP
fumecheng-547	168	31	brushless	brushless	NOUN
fumecheng-547	168	32	drives	drive	NOUN
fumecheng-547	168	33	,	,	PUNCT
fumecheng-547	168	34	ieee	ieee	NOUN
fumecheng-547	168	35	transactions	transaction	NOUN
fumecheng-547	168	36	on	on	ADP
fumecheng-547	168	37	industry	industry	NOUN
fumecheng-547	168	38	applications	application	NOUN
fumecheng-547	168	39	,	,	PUNCT
fumecheng-547	168	40	38(2	38(2	NOUN
fumecheng-547	168	41	)	)	PUNCT
fumecheng-547	168	42	,	,	PUNCT
fumecheng-547	168	43	pp	pp	ADP
fumecheng-547	168	44	.	.	PUNCT
fumecheng-547	169	1	441	441	NUM
fumecheng-547	169	2	-	-	NUM
fumecheng-547	169	3	447	447	NUM
fumecheng-547	169	4	.	.	NOUN
fumecheng-547	170	1	5	5	NUM
fumecheng-547	170	2	.	.	X
fumecheng-547	170	3	rubio	rubio	PROPN
fumecheng-547	170	4	,	,	PUNCT
fumecheng-547	170	5	j.	j.	PROPN
fumecheng-547	170	6	j.	j.	PROPN
fumecheng-547	170	7	,	,	PUNCT
fumecheng-547	170	8	aquino	aquino	PROPN
fumecheng-547	170	9	,	,	PUNCT
fumecheng-547	170	10	v.	v.	PROPN
fumecheng-547	170	11	,	,	PUNCT
fumecheng-547	170	12	figueroa	figueroa	PROPN
fumecheng-547	170	13	,	,	PUNCT
fumecheng-547	170	14	m.	m.	NOUN
fumecheng-547	170	15	,	,	PUNCT
fumecheng-547	170	16	2013	2013	NUM
fumecheng-547	170	17	,	,	PUNCT
fumecheng-547	170	18	inverse	inverse	NOUN
fumecheng-547	170	19	kinematics	kinematic	NOUN
fumecheng-547	170	20	of	of	ADP
fumecheng-547	170	21	a	a	DET
fumecheng-547	170	22	mobile	mobile	ADJ
fumecheng-547	170	23	robot	robot	NOUN
fumecheng-547	170	24	,	,	PUNCT
fumecheng-547	170	25	neural	neural	ADJ
fumecheng-547	170	26	computing	computing	PROPN
fumecheng-547	170	27	&	&	CCONJ
fumecheng-547	170	28	applications	application	NOUN
fumecheng-547	170	29	,	,	PUNCT
fumecheng-547	170	30	23	23	NUM
fumecheng-547	170	31	,	,	PUNCT
fumecheng-547	170	32	pp.187	pp.187	PROPN
fumecheng-547	170	33	-	-	PUNCT
fumecheng-547	170	34	194	194	NUM
fumecheng-547	170	35	.	.	PUNCT
fumecheng-547	171	1	6	6	NUM
fumecheng-547	171	2	.	.	X
fumecheng-547	171	3	slavnić	slavnić	PROPN
fumecheng-547	171	4	s.	s.	PROPN
fumecheng-547	171	5	,	,	PUNCT
fumecheng-547	171	6	ristić	ristić	NOUN
fumecheng-547	171	7	-	-	PUNCT
fumecheng-547	171	8	durrant	durrant	NOUN
fumecheng-547	171	9	,	,	PUNCT
fumecheng-547	171	10	d.	d.	PROPN
fumecheng-547	171	11	,	,	PUNCT
fumecheng-547	171	12	tschakarow	tschakarow	VERB
fumecheng-547	171	13	,	,	PUNCT
fumecheng-547	171	14	r.	r.	PROPN
fumecheng-547	171	15	,	,	PUNCT
fumecheng-547	171	16	brendel	brendel	PROPN
fumecheng-547	171	17	,	,	PUNCT
fumecheng-547	171	18	t.	t.	PROPN
fumecheng-547	171	19	,	,	PUNCT
fumecheng-547	171	20	tüttemann	tüttemann	PROPN
fumecheng-547	171	21	,	,	PUNCT
fumecheng-547	171	22	m.	m.	NOUN
fumecheng-547	171	23	,	,	PUNCT
fumecheng-547	171	24	leu	leu	PROPN
fumecheng-547	171	25	,	,	PUNCT
fumecheng-547	171	26	a.	a.	NOUN
fumecheng-547	171	27	,	,	PUNCT
fumecheng-547	171	28	gräser	gräser	NOUN
fumecheng-547	171	29	,	,	PUNCT
fumecheng-547	171	30	a.	a.	NOUN
fumecheng-547	171	31	,	,	PUNCT
fumecheng-547	171	32	2014	2014	NUM
fumecheng-547	171	33	,	,	PUNCT
fumecheng-547	171	34	mobile	mobile	ADJ
fumecheng-547	171	35	robotic	robotic	ADJ
fumecheng-547	171	36	gait	gait	NOUN
fumecheng-547	171	37	rehabilitation	rehabilitation	NOUN
fumecheng-547	171	38	system	system	NOUN
fumecheng-547	171	39	corbys	corbys	NOUN
fumecheng-547	171	40	–	–	PUNCT
fumecheng-547	171	41	overview	overview	NOUN
fumecheng-547	171	42	and	and	CCONJ
fumecheng-547	171	43	first	first	ADJ
fumecheng-547	171	44	results	result	NOUN
fumecheng-547	171	45	on	on	ADP
fumecheng-547	171	46	orthosis	orthosis	NOUN
fumecheng-547	171	47	actuation	actuation	NOUN
fumecheng-547	171	48	,	,	PUNCT
fumecheng-547	171	49	proceedings	proceeding	NOUN
fumecheng-547	171	50	of	of	ADP
fumecheng-547	171	51	the	the	DET
fumecheng-547	171	52	ieee	ieee	NOUN
fumecheng-547	171	53	/	/	SYM
fumecheng-547	171	54	rsj	rsj	NOUN
fumecheng-547	171	55	international	international	ADJ
fumecheng-547	171	56	conference	conference	NOUN
fumecheng-547	171	57	on	on	ADP
fumecheng-547	171	58	intelligent	intelligent	ADJ
fumecheng-547	171	59	robots	robot	NOUN
fumecheng-547	171	60	and	and	CCONJ
fumecheng-547	171	61	systems	system	NOUN
fumecheng-547	171	62	(	(	PUNCT
fumecheng-547	171	63	iros	iro	NOUN
fumecheng-547	171	64	2014	2014	NUM
fumecheng-547	171	65	)	)	PUNCT
fumecheng-547	171	66	.	.	PUNCT
fumecheng-547	172	1	7	7	X
fumecheng-547	172	2	.	.	X
fumecheng-547	172	3	prema	prema	PROPN
fumecheng-547	172	4	,	,	PUNCT
fumecheng-547	172	5	k.	k.	PROPN
fumecheng-547	172	6	,	,	PUNCT
fumecheng-547	172	7	kumar	kumar	PROPN
fumecheng-547	172	8	,	,	PUNCT
fumecheng-547	172	9	n.	n.	PROPN
fumecheng-547	172	10	s.	s.	PROPN
fumecheng-547	172	11	,	,	PUNCT
fumecheng-547	172	12	dash	dash	NOUN
fumecheng-547	172	13	,	,	PUNCT
fumecheng-547	172	14	s.	s.	PROPN
fumecheng-547	172	15	s.	s.	PROPN
fumecheng-547	172	16	,	,	PUNCT
fumecheng-547	172	17	2014	2014	NUM
fumecheng-547	172	18	,	,	PUNCT
fumecheng-547	172	19	online	online	ADJ
fumecheng-547	172	20	control	control	NOUN
fumecheng-547	172	21	of	of	ADP
fumecheng-547	172	22	dc	dc	PROPN
fumecheng-547	172	23	motors	motor	NOUN
fumecheng-547	172	24	using	use	VERB
fumecheng-547	172	25	fuzzy	fuzzy	ADJ
fumecheng-547	172	26	logic	logic	NOUN
fumecheng-547	172	27	controller	controller	NOUN
fumecheng-547	172	28	for	for	ADP
fumecheng-547	172	29	remote	remote	ADJ
fumecheng-547	172	30	operated	operate	VERB
fumecheng-547	172	31	robots	robot	NOUN
fumecheng-547	172	32	,	,	PUNCT
fumecheng-547	172	33	journal	journal	NOUN
fumecheng-547	172	34	of	of	ADP
fumecheng-547	172	35	electrical	electrical	ADJ
fumecheng-547	172	36	engineering	engineering	NOUN
fumecheng-547	172	37	&	&	CCONJ
fumecheng-547	172	38	technology	technology	NOUN
fumecheng-547	172	39	,	,	PUNCT
fumecheng-547	172	40	9(1	9(1	NUM
fumecheng-547	172	41	)	)	PUNCT
fumecheng-547	172	42	,	,	PUNCT
fumecheng-547	172	43	pp	pp	ADP
fumecheng-547	172	44	.	.	PUNCT
fumecheng-547	173	1	352	352	NUM
fumecheng-547	173	2	-	-	SYM
fumecheng-547	173	3	362	362	NUM
fumecheng-547	173	4	.	.	PUNCT
fumecheng-547	174	1	fazi	fazi	PROPN
fumecheng-547	174	2	kontroler	kontroler	PROPN
fumecheng-547	174	3	za	za	PROPN
fumecheng-547	174	4	upravlje	upravlje	VERB
fumecheng-547	174	5	mobilnom	mobilnom	NOUN
fumecheng-547	174	6	platformom	platformom	PROPN
fumecheng-547	174	7	robotskog	robotskog	PROPN
fumecheng-547	174	8	sistema	sistema	PROPN
fumecheng-547	174	9	za	za	PROPN
fumecheng-547	174	10	rehabilitaciju	rehabilitaciju	PROPN
fumecheng-547	174	11	hoda	hoda	PROPN
fumecheng-547	174	12	corbys	corbys	PROPN
fumecheng-547	174	13	ovaj	ovaj	PROPN
fumecheng-547	174	14	rad	rad	PROPN
fumecheng-547	174	15	predstavlja	predstavlja	PROPN
fumecheng-547	174	16	kontrolni	kontrolni	PROPN
fumecheng-547	174	17	algoritam	algoritam	NOUN
fumecheng-547	174	18	na	na	PROPN
fumecheng-547	174	19	bazi	bazi	PROPN
fumecheng-547	174	20	inverzne	inverzne	PROPN
fumecheng-547	174	21	kinematike	kinematike	PROPN
fumecheng-547	174	22	za	za	PROPN
fumecheng-547	174	23	džoistik	džoistik	PROPN
fumecheng-547	174	24	upravljanje	upravljanje	PROPN
fumecheng-547	174	25	mobilnom	mobilnom	PROPN
fumecheng-547	174	26	platformom	platformom	ADJ
fumecheng-547	174	27	novog	novog	ADJ
fumecheng-547	174	28	mobilnog	mobilnog	NOUN
fumecheng-547	174	29	robotskog	robotskog	NOUN
fumecheng-547	174	30	sistema	sistema	PROPN
fumecheng-547	174	31	za	za	PROPN
fumecheng-547	174	32	rehabilitaciju	rehabilitaciju	PROPN
fumecheng-547	174	33	hoda	hoda	PROPN
fumecheng-547	174	34	corbys	corbys	PROPN
fumecheng-547	174	35	.	.	PUNCT
fumecheng-547	175	1	mobilna	mobilna	PROPN
fumecheng-547	175	2	platform	platform	NOUN
fumecheng-547	175	3	i	i	PRON
fumecheng-547	175	4	m	m	VERB
fumecheng-547	175	5	a	a	DET
fumecheng-547	175	6	četiri	četiri	NOUN
fumecheng-547	175	7	točka	točka	PROPN
fumecheng-547	175	8	sa	sa	PROPN
fumecheng-547	175	9	nezavisnim	nezavisnim	PROPN
fumecheng-547	175	10	upravljanjem	upravljanjem	PROPN
fumecheng-547	175	11	i	i	PROPN
fumecheng-547	175	12	pogonom	pogonom	PROPN
fumecheng-547	175	13	.	.	PUNCT
fumecheng-547	176	1	polazeći	polazeći	PROPN
fumecheng-547	176	2	od	od	PROPN
fumecheng-547	176	3	linearne	linearne	PROPN
fumecheng-547	177	1	i	i	PRON
fumecheng-547	177	2	ugaone	ugaone	VERB
fumecheng-547	177	3	brzine	brzine	NOUN
fumecheng-547	177	4	mobilne	mobilne	PROPN
fumecheng-547	177	5	platforme	platforme	PROPN
fumecheng-547	177	6	inverzna	inverzna	PROPN
fumecheng-547	177	7	kinematika	kinematika	PROPN
fumecheng-547	177	8	definiše	definiše	PROPN
fumecheng-547	177	9	,	,	PUNCT
fumecheng-547	177	10	kao	kao	PROPN
fumecheng-547	177	11	svoj	svoj	PROPN
fumecheng-547	177	12	autput	autput	PROPN
fumecheng-547	177	13	,	,	PUNCT
fumecheng-547	177	14	ugao	ugao	ADV
fumecheng-547	177	15	nupravljanja	nupravljanja	ADJ
fumecheng-547	177	16	i	i	PRON
fumecheng-547	177	17	pogonsku	pogonsku	PROPN
fumecheng-547	177	18	ugaonu	ugaonu	PROPN
fumecheng-547	177	19	brzinu	brzinu	PROPN
fumecheng-547	177	20	svakog	svakog	X
fumecheng-547	177	21	od	od	PROPN
fumecheng-547	177	22	četiri	četiri	PROPN
fumecheng-547	177	23	točka	točka	PROPN
fumecheng-547	177	24	.	.	PUNCT
fumecheng-547	178	1	rad	rad	PROPN
fumecheng-547	178	2	je	je	PROPN
fumecheng-547	178	3	usredsređen	usredsređen	PROPN
fumecheng-547	179	1	na	na	INTJ
fumecheng-547	179	2	upravljačku	upravljačku	PROPN
fumecheng-547	180	1	kontrolu	kontrolu	PROPN
fumecheng-547	180	2	platforme	platforme	PROPN
fumecheng-547	180	3	za	za	PROPN
fumecheng-547	180	4	koju	koju	PROPN
fumecheng-547	180	5	je	je	PROPN
fumecheng-547	180	6	razvijen	razvijen	PROPN
fumecheng-547	181	1	i	i	PRON
fumecheng-547	181	2	implementiran	implementiran	VERB
fumecheng-547	181	3	fazi	fazi	PROPN
fumecheng-547	181	4	kontroler	kontroler	PROPN
fumecheng-547	181	5	.	.	PUNCT
fumecheng-547	182	1	eksperimentalni	eksperimentalni	PROPN
fumecheng-547	182	2	rezultati	rezultati	PROPN
fumecheng-547	182	3	upravljanja	upravljanja	PROPN
fumecheng-547	182	4	realnom	realnom	PROPN
fumecheng-547	182	5	platformom	platformom	PROPN
fumecheng-547	182	6	su	su	PROPN
fumecheng-547	182	7	prikazani	prikazani	PROPN
fumecheng-547	182	8	u	u	PROPN
fumecheng-547	182	9	radu	radu	PROPN
fumecheng-547	182	10	.	.	PUNCT
fumecheng-547	183	1	ključne	ključne	PROPN
fumecheng-547	183	2	reči	reči	NOUN
fumecheng-547	183	3	:	:	PUNCT
fumecheng-547	183	4	robotski	robotski	VERB
fumecheng-547	183	5	podržana	podržana	PROPN
fumecheng-547	183	6	rehabilitacija	rehabilitacija	PROPN
fumecheng-547	183	7	hoda	hoda	PROPN
fumecheng-547	183	8	,	,	PUNCT
fumecheng-547	183	9	upravljanje	upravljanje	ADJ
fumecheng-547	183	10	mobilnim	mobilnim	NOUN
fumecheng-547	183	11	robotom	robotom	NOUN
fumecheng-547	183	12	na	na	PROPN
fumecheng-547	183	13	bazi	bazi	PROPN
fumecheng-547	183	14	inverzne	inverzne	PROPN
fumecheng-547	183	15	kinematike	kinematike	PROPN
fumecheng-547	183	16	,	,	PUNCT
fumecheng-547	183	17	fazi	fazi	PROPN
fumecheng-547	183	18	kontroler	kontroler	NOUN
fumecheng-547	183	19	http://www.corbys.eu/	http://www.corbys.eu/	PUNCT