id	sid	tid	token	lemma	pos
1831cj84c6r	1	1	an	an	DET
1831cj84c6r	1	2	energetic	energetic	ADJ
1831cj84c6r	1	3	approach	approach	NOUN
1831cj84c6r	1	4	for	for	ADP
1831cj84c6r	1	5	analysis	analysis	NOUN
1831cj84c6r	1	6	of	of	ADP
1831cj84c6r	1	7	the	the	DET
1831cj84c6r	1	8	impact	impact	NOUN
1831cj84c6r	1	9	problem	problem	NOUN
1831cj84c6r	1	10	in	in	ADP
1831cj84c6r	1	11	two	two	NUM
1831cj84c6r	1	12	and	and	CCONJ
1831cj84c6r	1	13	three	three	NUM
1831cj84c6r	1	14	dimensional	dimensional	ADJ
1831cj84c6r	1	15	multi	multi	ADJ
1831cj84c6r	1	16	-	-	ADJ
1831cj84c6r	1	17	legged	legged	ADJ
1831cj84c6r	1	18	robot	robot	NOUN
1831cj84c6r	1	19	locomotion	locomotion	NOUN
1831cj84c6r	1	20	is	be	AUX
1831cj84c6r	1	21	hereby	hereby	ADV
1831cj84c6r	1	22	presented	present	VERB
1831cj84c6r	1	23	.	.	PUNCT
1831cj84c6r	2	1	the	the	DET
1831cj84c6r	2	2	equations	equation	NOUN
1831cj84c6r	2	3	of	of	ADP
1831cj84c6r	2	4	motion	motion	NOUN
1831cj84c6r	2	5	for	for	ADP
1831cj84c6r	2	6	impact	impact	NOUN
1831cj84c6r	2	7	are	be	AUX
1831cj84c6r	2	8	developed	develop	VERB
1831cj84c6r	2	9	for	for	ADP
1831cj84c6r	2	10	the	the	DET
1831cj84c6r	2	11	two	two	NUM
1831cj84c6r	2	12	and	and	CCONJ
1831cj84c6r	2	13	three	three	NUM
1831cj84c6r	2	14	dimensional	dimensional	ADJ
1831cj84c6r	2	15	cases	case	NOUN
1831cj84c6r	2	16	.	.	PUNCT
1831cj84c6r	3	1	the	the	DET
1831cj84c6r	3	2	two	two	NUM
1831cj84c6r	3	3	dimensional	dimensional	ADJ
1831cj84c6r	3	4	case	case	NOUN
1831cj84c6r	3	5	yields	yield	VERB
1831cj84c6r	3	6	algebraic	algebraic	ADJ
1831cj84c6r	3	7	expressions	expression	NOUN
1831cj84c6r	3	8	.	.	PUNCT
1831cj84c6r	4	1	the	the	DET
1831cj84c6r	4	2	expressions	expression	NOUN
1831cj84c6r	4	3	obtained	obtain	VERB
1831cj84c6r	4	4	in	in	ADP
1831cj84c6r	4	5	the	the	DET
1831cj84c6r	4	6	three	three	NUM
1831cj84c6r	4	7	dimensional	dimensional	ADJ
1831cj84c6r	4	8	have	have	AUX
1831cj84c6r	4	9	to	to	PART
1831cj84c6r	4	10	be	be	AUX
1831cj84c6r	4	11	numerically	numerically	ADV
1831cj84c6r	4	12	integrated	integrate	VERB
1831cj84c6r	4	13	.	.	PUNCT
1831cj84c6r	5	1	however	however	ADV
1831cj84c6r	5	2	,	,	PUNCT
1831cj84c6r	5	3	a	a	DET
1831cj84c6r	5	4	special	special	ADJ
1831cj84c6r	5	5	mathematical	mathematical	ADJ
1831cj84c6r	5	6	artifice	artifice	NOUN
1831cj84c6r	5	7	is	be	AUX
1831cj84c6r	5	8	needed	need	VERB
1831cj84c6r	5	9	to	to	PART
1831cj84c6r	5	10	proceed	proceed	VERB
1831cj84c6r	5	11	with	with	ADP
1831cj84c6r	5	12	the	the	DET
1831cj84c6r	5	13	integration	integration	NOUN
1831cj84c6r	5	14	when	when	SCONJ
1831cj84c6r	5	15	slip	slip	VERB
1831cj84c6r	5	16	in	in	ADP
1831cj84c6r	5	17	the	the	DET
1831cj84c6r	5	18	impacting	impact	VERB
1831cj84c6r	5	19	end	end	NOUN
1831cj84c6r	5	20	halts	halt	NOUN
1831cj84c6r	5	21	.	.	PUNCT
1831cj84c6r	6	1	the	the	DET
1831cj84c6r	6	2	equations	equation	NOUN
1831cj84c6r	6	3	for	for	ADP
1831cj84c6r	6	4	impact	impact	NOUN
1831cj84c6r	6	5	are	be	AUX
1831cj84c6r	6	6	developed	develop	VERB
1831cj84c6r	6	7	in	in	ADP
1831cj84c6r	6	8	terms	term	NOUN
1831cj84c6r	6	9	commonly	commonly	ADV
1831cj84c6r	6	10	known	know	VERB
1831cj84c6r	6	11	to	to	ADP
1831cj84c6r	6	12	the	the	DET
1831cj84c6r	6	13	robotics	robotic	NOUN
1831cj84c6r	6	14	community	community	NOUN
1831cj84c6r	6	15	.	.	PUNCT
1831cj84c6r	7	1	the	the	DET
1831cj84c6r	7	2	first	first	ADJ
1831cj84c6r	7	3	part	part	NOUN
1831cj84c6r	7	4	of	of	ADP
1831cj84c6r	7	5	the	the	DET
1831cj84c6r	7	6	approach	approach	NOUN
1831cj84c6r	7	7	resembles	resemble	VERB
1831cj84c6r	7	8	traditional	traditional	ADJ
1831cj84c6r	7	9	impact	impact	NOUN
1831cj84c6r	7	10	analysis	analysis	NOUN
1831cj84c6r	7	11	.	.	PUNCT
1831cj84c6r	8	1	here	here	ADV
1831cj84c6r	8	2	,	,	PUNCT
1831cj84c6r	8	3	it	it	PRON
1831cj84c6r	8	4	can	can	AUX
1831cj84c6r	8	5	be	be	AUX
1831cj84c6r	8	6	determined	determine	VERB
1831cj84c6r	8	7	if	if	SCONJ
1831cj84c6r	8	8	slip	slip	VERB
1831cj84c6r	8	9	in	in	ADP
1831cj84c6r	8	10	the	the	DET
1831cj84c6r	8	11	end	end	NOUN
1831cj84c6r	8	12	effector	effector	NOUN
1831cj84c6r	8	13	halts	halt	NOUN
1831cj84c6r	8	14	and	and	CCONJ
1831cj84c6r	8	15	remains	remains	AUX
1831cj84c6r	8	16	halted	halt	VERB
1831cj84c6r	8	17	before	before	ADP
1831cj84c6r	8	18	impact	impact	NOUN
1831cj84c6r	8	19	termination	termination	NOUN
1831cj84c6r	8	20	,	,	PUNCT
1831cj84c6r	8	21	a	a	DET
1831cj84c6r	8	22	condition	condition	NOUN
1831cj84c6r	8	23	known	know	VERB
1831cj84c6r	8	24	as	as	ADP
1831cj84c6r	8	25	{	{	PUNCT
1831cj84c6r	8	26	em	em	PRON
1831cj84c6r	8	27	sticking	stick	VERB
1831cj84c6r	8	28	}	}	PUNCT
1831cj84c6r	8	29	.	.	PUNCT
1831cj84c6r	9	1	achieving	achieve	VERB
1831cj84c6r	9	2	sticking	sticking	NOUN
1831cj84c6r	9	3	depends	depend	VERB
1831cj84c6r	9	4	upon	upon	SCONJ
1831cj84c6r	9	5	the	the	DET
1831cj84c6r	9	6	coefficient	coefficient	NOUN
1831cj84c6r	9	7	of	of	ADP
1831cj84c6r	9	8	friction	friction	NOUN
1831cj84c6r	9	9	between	between	ADP
1831cj84c6r	9	10	the	the	DET
1831cj84c6r	9	11	ground	ground	NOUN
1831cj84c6r	9	12	and	and	CCONJ
1831cj84c6r	9	13	the	the	DET
1831cj84c6r	9	14	end	end	NOUN
1831cj84c6r	9	15	effector	effector	NOUN
1831cj84c6r	9	16	,	,	PUNCT
1831cj84c6r	9	17	as	as	ADV
1831cj84c6r	9	18	well	well	ADV
1831cj84c6r	9	19	as	as	ADP
1831cj84c6r	9	20	the	the	DET
1831cj84c6r	9	21	impact	impact	NOUN
1831cj84c6r	9	22	configuration	configuration	NOUN
1831cj84c6r	9	23	the	the	DET
1831cj84c6r	9	24	most	most	ADV
1831cj84c6r	9	25	important	important	ADJ
1831cj84c6r	9	26	contribution	contribution	NOUN
1831cj84c6r	9	27	of	of	ADP
1831cj84c6r	9	28	this	this	DET
1831cj84c6r	9	29	thesis	thesis	NOUN
1831cj84c6r	9	30	is	be	AUX
1831cj84c6r	9	31	in	in	ADP
1831cj84c6r	9	32	going	go	VERB
1831cj84c6r	9	33	beyond	beyond	ADP
1831cj84c6r	9	34	the	the	DET
1831cj84c6r	9	35	traditional	traditional	ADJ
1831cj84c6r	9	36	way	way	NOUN
1831cj84c6r	9	37	of	of	ADP
1831cj84c6r	9	38	analyzing	analyze	VERB
1831cj84c6r	9	39	impact	impact	NOUN
1831cj84c6r	9	40	by	by	ADP
1831cj84c6r	9	41	looking	look	VERB
1831cj84c6r	9	42	at	at	ADP
1831cj84c6r	9	43	the	the	DET
1831cj84c6r	9	44	problem	problem	NOUN
1831cj84c6r	9	45	in	in	ADP
1831cj84c6r	9	46	an	an	DET
1831cj84c6r	9	47	energetic	energetic	ADJ
1831cj84c6r	9	48	framework	framework	NOUN
1831cj84c6r	9	49	where	where	SCONJ
1831cj84c6r	9	50	rigid	rigid	ADJ
1831cj84c6r	9	51	and	and	CCONJ
1831cj84c6r	9	52	deformable	deformable	ADJ
1831cj84c6r	9	53	body	body	NOUN
1831cj84c6r	9	54	approaches	approach	NOUN
1831cj84c6r	9	55	naturally	naturally	ADV
1831cj84c6r	9	56	come	come	VERB
1831cj84c6r	9	57	together	together	ADV
1831cj84c6r	9	58	.	.	PUNCT
1831cj84c6r	10	1	formerly	formerly	ADV
1831cj84c6r	10	2	,	,	PUNCT
1831cj84c6r	10	3	impact	impact	VERB
1831cj84c6r	10	4	analysis	analysis	NOUN
1831cj84c6r	10	5	methods	method	NOUN
1831cj84c6r	10	6	always	always	ADV
1831cj84c6r	10	7	predict	predict	VERB
1831cj84c6r	10	8	rebound	rebound	VERB
1831cj84c6r	10	9	for	for	ADP
1831cj84c6r	10	10	a	a	DET
1831cj84c6r	10	11	{	{	PUNCT
1831cj84c6r	10	12	em	em	NOUN
1831cj84c6r	10	13	coefficient	coefficient	NOUN
1831cj84c6r	10	14	of	of	ADP
1831cj84c6r	10	15	restitution	restitution	NOUN
1831cj84c6r	10	16	}	}	PUNCT
1831cj84c6r	10	17	greater	great	ADJ
1831cj84c6r	10	18	than	than	ADP
1831cj84c6r	10	19	zero	zero	NUM
1831cj84c6r	10	20	.	.	PUNCT
1831cj84c6r	11	1	the	the	DET
1831cj84c6r	11	2	proposed	propose	VERB
1831cj84c6r	11	3	hybrid	hybrid	NOUN
1831cj84c6r	11	4	approach	approach	NOUN
1831cj84c6r	11	5	can	can	AUX
1831cj84c6r	11	6	predict	predict	VERB
1831cj84c6r	11	7	both	both	PRON
1831cj84c6r	11	8	rebound	rebound	VERB
1831cj84c6r	11	9	and	and	CCONJ
1831cj84c6r	11	10	non	non	ADJ
1831cj84c6r	11	11	-	-	ADJ
1831cj84c6r	11	12	rebound	rebound	VERB
1831cj84c6r	11	13	for	for	ADP
1831cj84c6r	11	14	a	a	DET
1831cj84c6r	11	15	coefficient	coefficient	NOUN
1831cj84c6r	11	16	of	of	ADP
1831cj84c6r	11	17	restitution	restitution	NOUN
1831cj84c6r	11	18	greater	great	ADJ
1831cj84c6r	11	19	than	than	ADP
1831cj84c6r	11	20	zero	zero	NUM
1831cj84c6r	11	21	.	.	PUNCT
1831cj84c6r	12	1	currently	currently	ADV
1831cj84c6r	12	2	,	,	PUNCT
1831cj84c6r	12	3	the	the	DET
1831cj84c6r	12	4	robotics	robotic	NOUN
1831cj84c6r	12	5	community	community	NOUN
1831cj84c6r	12	6	makes	make	VERB
1831cj84c6r	12	7	the	the	DET
1831cj84c6r	12	8	{	{	PUNCT
1831cj84c6r	12	9	em	em	ADJ
1831cj84c6r	12	10	ad	ad	NOUN
1831cj84c6r	12	11	-	-	PUNCT
1831cj84c6r	12	12	hoc	hoc	ADJ
1831cj84c6r	12	13	}	}	PUNCT
1831cj84c6r	12	14	assumption	assumption	NOUN
1831cj84c6r	12	15	that	that	SCONJ
1831cj84c6r	12	16	the	the	DET
1831cj84c6r	12	17	coefficient	coefficient	NOUN
1831cj84c6r	12	18	of	of	ADP
1831cj84c6r	12	19	restitution	restitution	NOUN
1831cj84c6r	12	20	equals	equal	VERB
1831cj84c6r	12	21	zero	zero	NUM
1831cj84c6r	12	22	to	to	PART
1831cj84c6r	12	23	simulate	simulate	VERB
1831cj84c6r	12	24	impact	impact	NOUN
1831cj84c6r	12	25	in	in	ADP
1831cj84c6r	12	26	walking	walk	VERB
1831cj84c6r	12	27	robots	robot	NOUN
1831cj84c6r	12	28	.	.	PUNCT
1831cj84c6r	13	1	this	this	DET
1831cj84c6r	13	2	assumption	assumption	NOUN
1831cj84c6r	13	3	may	may	AUX
1831cj84c6r	13	4	incorrectly	incorrectly	ADV
1831cj84c6r	13	5	predict	predict	VERB
1831cj84c6r	13	6	non	non	ADJ
1831cj84c6r	13	7	-	-	ADJ
1831cj84c6r	13	8	rebound	rebound	ADJ
1831cj84c6r	13	9	when	when	SCONJ
1831cj84c6r	13	10	the	the	DET
1831cj84c6r	13	11	impact	impact	NOUN
1831cj84c6r	13	12	energy	energy	NOUN
1831cj84c6r	13	13	goes	go	VERB
1831cj84c6r	13	14	beyond	beyond	ADP
1831cj84c6r	13	15	what	what	PRON
1831cj84c6r	13	16	the	the	DET
1831cj84c6r	13	17	system	system	NOUN
1831cj84c6r	13	18	can	can	AUX
1831cj84c6r	13	19	safely	safely	ADV
1831cj84c6r	13	20	store	store	VERB
1831cj84c6r	13	21	or	or	CCONJ
1831cj84c6r	13	22	dissipate	dissipate	VERB
1831cj84c6r	13	23	.	.	PUNCT
1831cj84c6r	14	1	this	this	DET
1831cj84c6r	14	2	thesis	thesis	NOUN
1831cj84c6r	14	3	presents	present	VERB
1831cj84c6r	14	4	a	a	DET
1831cj84c6r	14	5	novel	novel	ADJ
1831cj84c6r	14	6	method	method	NOUN
1831cj84c6r	14	7	for	for	ADP
1831cj84c6r	14	8	analyzing	analyze	VERB
1831cj84c6r	14	9	impact	impact	NOUN
1831cj84c6r	14	10	for	for	ADP
1831cj84c6r	14	11	legged	legged	ADJ
1831cj84c6r	14	12	robots	robot	NOUN
1831cj84c6r	14	13	as	as	ADV
1831cj84c6r	14	14	well	well	ADV
1831cj84c6r	14	15	as	as	ADP
1831cj84c6r	14	16	any	any	DET
1831cj84c6r	14	17	other	other	ADJ
1831cj84c6r	14	18	rigid	rigid	ADJ
1831cj84c6r	14	19	body	body	NOUN
1831cj84c6r	14	20	.	.	PUNCT
1831cj84c6r	15	1	here	here	ADV
1831cj84c6r	15	2	the	the	DET
1831cj84c6r	15	3	energetic	energetic	ADJ
1831cj84c6r	15	4	definition	definition	NOUN
1831cj84c6r	15	5	cite{stronge	cite{stronge	NOUN
1831cj84c6r	15	6	}	}	PUNCT
1831cj84c6r	15	7	of	of	ADP
1831cj84c6r	15	8	the	the	DET
1831cj84c6r	15	9	coefficient	coefficient	NOUN
1831cj84c6r	15	10	of	of	ADP
1831cj84c6r	15	11	restitution	restitution	NOUN
1831cj84c6r	15	12	is	be	AUX
1831cj84c6r	15	13	primarily	primarily	ADV
1831cj84c6r	15	14	used	use	VERB
1831cj84c6r	15	15	but	but	CCONJ
1831cj84c6r	15	16	other	other	ADJ
1831cj84c6r	15	17	may	may	AUX
1831cj84c6r	15	18	be	be	AUX
1831cj84c6r	15	19	used	use	VERB
1831cj84c6r	15	20	as	as	ADV
1831cj84c6r	15	21	well	well	ADV
1831cj84c6r	15	22	.	.	PUNCT
1831cj84c6r	16	1	this	this	DET
1831cj84c6r	16	2	analysis	analysis	NOUN
1831cj84c6r	16	3	will	will	AUX
1831cj84c6r	16	4	help	help	VERB
1831cj84c6r	16	5	determine	determine	VERB
1831cj84c6r	16	6	if	if	SCONJ
1831cj84c6r	16	7	the	the	DET
1831cj84c6r	16	8	level	level	NOUN
1831cj84c6r	16	9	of	of	ADP
1831cj84c6r	16	10	compliance	compliance	NOUN
1831cj84c6r	16	11	in	in	ADP
1831cj84c6r	16	12	the	the	DET
1831cj84c6r	16	13	system	system	NOUN
1831cj84c6r	16	14	at	at	ADP
1831cj84c6r	16	15	a	a	DET
1831cj84c6r	16	16	given	give	VERB
1831cj84c6r	16	17	configuration	configuration	NOUN
1831cj84c6r	16	18	is	be	AUX
1831cj84c6r	16	19	adequate	adequate	ADJ
1831cj84c6r	16	20	to	to	PART
1831cj84c6r	16	21	insure	insure	VERB
1831cj84c6r	16	22	a	a	DET
1831cj84c6r	16	23	no	no	DET
1831cj84c6r	16	24	-	-	PUNCT
1831cj84c6r	16	25	slip	slip	NOUN
1831cj84c6r	16	26	,	,	PUNCT
1831cj84c6r	16	27	no	no	DET
1831cj84c6r	16	28	-	-	PUNCT
1831cj84c6r	16	29	rebound	rebound	NOUN
1831cj84c6r	16	30	impact	impact	NOUN
1831cj84c6r	16	31	.	.	PUNCT