id	sid	tid	token	lemma	pos
db78tb12r75	1	1	underactuated	underactuated	ADJ
db78tb12r75	1	2	mechanical	mechanical	ADJ
db78tb12r75	1	3	systems	system	NOUN
db78tb12r75	1	4	(	(	PUNCT
db78tb12r75	1	5	ums	ums	PROPN
db78tb12r75	1	6	)	)	PUNCT
db78tb12r75	1	7	are	be	AUX
db78tb12r75	1	8	mechanical	mechanical	ADJ
db78tb12r75	1	9	systems	system	NOUN
db78tb12r75	1	10	with	with	ADP
db78tb12r75	1	11	fewer	few	ADJ
db78tb12r75	1	12	controls	control	NOUN
db78tb12r75	1	13	than	than	ADP
db78tb12r75	1	14	the	the	DET
db78tb12r75	1	15	number	number	NOUN
db78tb12r75	1	16	of	of	ADP
db78tb12r75	1	17	configuration	configuration	NOUN
db78tb12r75	1	18	states	state	NOUN
db78tb12r75	1	19	.	.	PUNCT
db78tb12r75	2	1	the	the	DET
db78tb12r75	2	2	systems	system	NOUN
db78tb12r75	2	3	have	have	VERB
db78tb12r75	2	4	broad	broad	ADJ
db78tb12r75	2	5	applications	application	NOUN
db78tb12r75	2	6	in	in	ADP
db78tb12r75	2	7	robotics	robotic	NOUN
db78tb12r75	2	8	,	,	PUNCT
db78tb12r75	2	9	aerospace	aerospace	NOUN
db78tb12r75	2	10	and	and	CCONJ
db78tb12r75	2	11	marine	marine	ADJ
db78tb12r75	2	12	vehicles	vehicle	NOUN
db78tb12r75	2	13	and	and	CCONJ
db78tb12r75	2	14	many	many	ADJ
db78tb12r75	2	15	more	more	ADJ
db78tb12r75	2	16	areas	area	NOUN
db78tb12r75	2	17	.	.	PUNCT
db78tb12r75	3	1	the	the	DET
db78tb12r75	3	2	application	application	NOUN
db78tb12r75	3	3	examples	example	NOUN
db78tb12r75	3	4	include	include	VERB
db78tb12r75	3	5	bipedal	bipedal	ADJ
db78tb12r75	3	6	robots	robot	NOUN
db78tb12r75	3	7	,	,	PUNCT
db78tb12r75	3	8	quadruped	quadrupe	VERB
db78tb12r75	3	9	robots	robot	NOUN
db78tb12r75	3	10	,	,	PUNCT
db78tb12r75	3	11	flexible	flexible	ADJ
db78tb12r75	3	12	-	-	PUNCT
db78tb12r75	3	13	link	link	NOUN
db78tb12r75	3	14	robots	robot	NOUN
db78tb12r75	3	15	,	,	PUNCT
db78tb12r75	3	16	underactuated	underactuated	ADJ
db78tb12r75	3	17	manipulators	manipulator	NOUN
db78tb12r75	3	18	,	,	PUNCT
db78tb12r75	3	19	snake	snake	NOUN
db78tb12r75	3	20	robots	robot	NOUN
db78tb12r75	3	21	,	,	PUNCT
db78tb12r75	3	22	acrobatic	acrobatic	ADJ
db78tb12r75	3	23	robots	robot	NOUN
db78tb12r75	3	24	,	,	PUNCT
db78tb12r75	3	25	robots	robot	NOUN
db78tb12r75	3	26	on	on	ADP
db78tb12r75	3	27	a	a	DET
db78tb12r75	3	28	mobile	mobile	ADJ
db78tb12r75	3	29	platform	platform	NOUN
db78tb12r75	3	30	,	,	PUNCT
db78tb12r75	3	31	spacecraft	spacecraft	NOUN
db78tb12r75	3	32	,	,	PUNCT
db78tb12r75	3	33	unmanned	unmanned	ADJ
db78tb12r75	3	34	aerial	aerial	ADJ
db78tb12r75	3	35	vehicles	vehicle	NOUN
db78tb12r75	3	36	,	,	PUNCT
db78tb12r75	3	37	surface	surface	NOUN
db78tb12r75	3	38	vessels	vessel	NOUN
db78tb12r75	3	39	and	and	CCONJ
db78tb12r75	3	40	underwater	underwater	ADJ
db78tb12r75	3	41	vehicles	vehicle	NOUN
db78tb12r75	3	42	.	.	PUNCT
db78tb12r75	4	1	the	the	DET
db78tb12r75	4	2	systems	system	NOUN
db78tb12r75	4	3	generally	generally	ADV
db78tb12r75	4	4	have	have	VERB
db78tb12r75	4	5	highly	highly	ADV
db78tb12r75	4	6	nonlinear	nonlinear	ADJ
db78tb12r75	4	7	dynamics	dynamic	NOUN
db78tb12r75	4	8	,	,	PUNCT
db78tb12r75	4	9	and	and	CCONJ
db78tb12r75	4	10	less	less	ADJ
db78tb12r75	4	11	control	control	NOUN
db78tb12r75	4	12	authority	authority	NOUN
db78tb12r75	4	13	due	due	ADP
db78tb12r75	4	14	to	to	ADP
db78tb12r75	4	15	the	the	DET
db78tb12r75	4	16	underactuation	underactuation	NOUN
db78tb12r75	4	17	;	;	PUNCT
db78tb12r75	4	18	furthermore	furthermore	ADV
db78tb12r75	4	19	,	,	PUNCT
db78tb12r75	4	20	some	some	DET
db78tb12r75	4	21	systems	system	NOUN
db78tb12r75	4	22	,	,	PUNCT
db78tb12r75	4	23	such	such	ADJ
db78tb12r75	4	24	as	as	ADP
db78tb12r75	4	25	bipedal	bipedal	ADJ
db78tb12r75	4	26	robots	robot	NOUN
db78tb12r75	4	27	,	,	PUNCT
db78tb12r75	4	28	include	include	VERB
db78tb12r75	4	29	a	a	DET
db78tb12r75	4	30	mixture	mixture	NOUN
db78tb12r75	4	31	of	of	ADP
db78tb12r75	4	32	continuous	continuous	ADJ
db78tb12r75	4	33	and	and	CCONJ
db78tb12r75	4	34	discrete	discrete	ADJ
db78tb12r75	4	35	dynamics	dynamic	NOUN
db78tb12r75	4	36	and	and	CCONJ
db78tb12r75	4	37	multiple	multiple	ADJ
db78tb12r75	4	38	switching	switching	NOUN
db78tb12r75	4	39	events	event	NOUN
db78tb12r75	4	40	among	among	ADP
db78tb12r75	4	41	different	different	ADJ
db78tb12r75	4	42	phases	phase	NOUN
db78tb12r75	4	43	.	.	PUNCT
db78tb12r75	5	1	because	because	SCONJ
db78tb12r75	5	2	of	of	ADP
db78tb12r75	5	3	these	these	DET
db78tb12r75	5	4	properties	property	NOUN
db78tb12r75	5	5	,	,	PUNCT
db78tb12r75	5	6	control	control	NOUN
db78tb12r75	5	7	of	of	ADP
db78tb12r75	5	8	ums	ums	PROPN
db78tb12r75	5	9	has	have	AUX
db78tb12r75	5	10	been	be	AUX
db78tb12r75	5	11	an	an	DET
db78tb12r75	5	12	important	important	ADJ
db78tb12r75	5	13	and	and	CCONJ
db78tb12r75	5	14	challenging	challenging	ADJ
db78tb12r75	5	15	problem	problem	NOUN
db78tb12r75	5	16	for	for	ADP
db78tb12r75	5	17	years.the	years.the	DET
db78tb12r75	5	18	dynamics	dynamic	NOUN
db78tb12r75	5	19	of	of	ADP
db78tb12r75	5	20	almost	almost	ADV
db78tb12r75	5	21	all	all	PRON
db78tb12r75	5	22	mechanical	mechanical	ADJ
db78tb12r75	5	23	systems	system	NOUN
db78tb12r75	5	24	can	can	AUX
db78tb12r75	5	25	be	be	AUX
db78tb12r75	5	26	structured	structure	VERB
db78tb12r75	5	27	into	into	ADP
db78tb12r75	5	28	a	a	DET
db78tb12r75	5	29	form	form	NOUN
db78tb12r75	5	30	with	with	ADP
db78tb12r75	5	31	a	a	DET
db78tb12r75	5	32	distribution	distribution	NOUN
db78tb12r75	5	33	of	of	ADP
db78tb12r75	5	34	vector	vector	NOUN
db78tb12r75	5	35	fields	field	NOUN
db78tb12r75	5	36	,	,	PUNCT
db78tb12r75	5	37	and	and	CCONJ
db78tb12r75	5	38	control	control	NOUN
db78tb12r75	5	39	of	of	ADP
db78tb12r75	5	40	the	the	DET
db78tb12r75	5	41	systems	system	NOUN
db78tb12r75	5	42	can	can	AUX
db78tb12r75	5	43	be	be	AUX
db78tb12r75	5	44	treated	treat	VERB
db78tb12r75	5	45	as	as	ADP
db78tb12r75	5	46	controlled	control	VERB
db78tb12r75	5	47	flows	flow	NOUN
db78tb12r75	5	48	on	on	ADP
db78tb12r75	5	49	configuration	configuration	NOUN
db78tb12r75	5	50	and	and	CCONJ
db78tb12r75	5	51	velocity	velocity	NOUN
db78tb12r75	5	52	manifolds	manifold	NOUN
db78tb12r75	5	53	.	.	PUNCT
db78tb12r75	6	1	a	a	DET
db78tb12r75	6	2	major	major	ADJ
db78tb12r75	6	3	contribution	contribution	NOUN
db78tb12r75	6	4	of	of	ADP
db78tb12r75	6	5	this	this	DET
db78tb12r75	6	6	dissertation	dissertation	NOUN
db78tb12r75	6	7	is	be	AUX
db78tb12r75	6	8	thus	thus	ADV
db78tb12r75	6	9	to	to	PART
db78tb12r75	6	10	exploit	exploit	VERB
db78tb12r75	6	11	geometric	geometric	ADJ
db78tb12r75	6	12	approaches	approach	NOUN
db78tb12r75	6	13	for	for	ADP
db78tb12r75	6	14	control	control	NOUN
db78tb12r75	6	15	of	of	ADP
db78tb12r75	6	16	a	a	DET
db78tb12r75	6	17	class	class	NOUN
db78tb12r75	6	18	of	of	ADP
db78tb12r75	6	19	ums	ums	PROPN
db78tb12r75	6	20	,	,	PUNCT
db78tb12r75	6	21	which	which	PRON
db78tb12r75	6	22	produces	produce	VERB
db78tb12r75	6	23	general	general	ADJ
db78tb12r75	6	24	fundamental	fundamental	ADJ
db78tb12r75	6	25	results	result	NOUN
db78tb12r75	6	26	.	.	PUNCT
db78tb12r75	7	1	first	first	ADV
db78tb12r75	7	2	,	,	PUNCT
db78tb12r75	7	3	in	in	ADP
db78tb12r75	7	4	contrast	contrast	NOUN
db78tb12r75	7	5	with	with	ADP
db78tb12r75	7	6	previous	previous	ADJ
db78tb12r75	7	7	work	work	NOUN
db78tb12r75	7	8	on	on	ADP
db78tb12r75	7	9	controllability	controllability	NOUN
db78tb12r75	7	10	of	of	ADP
db78tb12r75	7	11	underactuated	underactuated	ADJ
db78tb12r75	7	12	serial	serial	ADJ
db78tb12r75	7	13	robots	robot	NOUN
db78tb12r75	7	14	,	,	PUNCT
db78tb12r75	7	15	which	which	PRON
db78tb12r75	7	16	mostly	mostly	ADV
db78tb12r75	7	17	focused	focus	VERB
db78tb12r75	7	18	only	only	ADV
db78tb12r75	7	19	on	on	ADP
db78tb12r75	7	20	a	a	DET
db78tb12r75	7	21	specific	specific	ADJ
db78tb12r75	7	22	number	number	NOUN
db78tb12r75	7	23	of	of	ADP
db78tb12r75	7	24	links	link	NOUN
db78tb12r75	7	25	,	,	PUNCT
db78tb12r75	7	26	this	this	DET
db78tb12r75	7	27	thesis	thesis	NOUN
db78tb12r75	7	28	studies	study	VERB
db78tb12r75	7	29	nonlinear	nonlinear	ADJ
db78tb12r75	7	30	controllability	controllability	NOUN
db78tb12r75	7	31	for	for	ADP
db78tb12r75	7	32	a	a	DET
db78tb12r75	7	33	general	general	ADJ
db78tb12r75	7	34	n	n	VERB
db78tb12r75	7	35	-	-	PUNCT
db78tb12r75	7	36	link	link	NOUN
db78tb12r75	7	37	serial	serial	ADJ
db78tb12r75	7	38	robot	robot	NOUN
db78tb12r75	7	39	with	with	ADP
db78tb12r75	7	40	one	one	NUM
db78tb12r75	7	41	unactuated	unactuated	ADJ
db78tb12r75	7	42	joint	joint	NOUN
db78tb12r75	7	43	.	.	PUNCT
db78tb12r75	8	1	second	second	ADV
db78tb12r75	8	2	,	,	PUNCT
db78tb12r75	8	3	the	the	DET
db78tb12r75	8	4	time	time	NOUN
db78tb12r75	8	5	reversal	reversal	NOUN
db78tb12r75	8	6	symmetry	symmetry	NOUN
db78tb12r75	8	7	,	,	PUNCT
db78tb12r75	8	8	which	which	PRON
db78tb12r75	8	9	is	be	AUX
db78tb12r75	8	10	inherent	inherent	ADJ
db78tb12r75	8	11	in	in	ADP
db78tb12r75	8	12	many	many	ADJ
db78tb12r75	8	13	mechanical	mechanical	ADJ
db78tb12r75	8	14	systems	system	NOUN
db78tb12r75	8	15	,	,	PUNCT
db78tb12r75	8	16	is	be	AUX
db78tb12r75	8	17	exploited	exploit	VERB
db78tb12r75	8	18	to	to	PART
db78tb12r75	8	19	develop	develop	VERB
db78tb12r75	8	20	a	a	DET
db78tb12r75	8	21	general	general	ADJ
db78tb12r75	8	22	control	control	NOUN
db78tb12r75	8	23	framework	framework	NOUN
db78tb12r75	8	24	for	for	ADP
db78tb12r75	8	25	a	a	DET
db78tb12r75	8	26	class	class	NOUN
db78tb12r75	8	27	of	of	ADP
db78tb12r75	8	28	ums	ums	PROPN
db78tb12r75	8	29	,	,	PUNCT
db78tb12r75	8	30	and	and	CCONJ
db78tb12r75	8	31	the	the	DET
db78tb12r75	8	32	almost	almost	ADV
db78tb12r75	8	33	global	global	ADJ
db78tb12r75	8	34	controllability	controllability	NOUN
db78tb12r75	8	35	of	of	ADP
db78tb12r75	8	36	the	the	DET
db78tb12r75	8	37	method	method	NOUN
db78tb12r75	8	38	is	be	AUX
db78tb12r75	8	39	proved	prove	VERB
db78tb12r75	8	40	by	by	ADP
db78tb12r75	8	41	following	follow	VERB
db78tb12r75	8	42	the	the	DET
db78tb12r75	8	43	same	same	ADJ
db78tb12r75	8	44	line	line	NOUN
db78tb12r75	8	45	with	with	ADP
db78tb12r75	8	46	lyapunov	lyapunov	PROPN
db78tb12r75	8	47	's	's	PART
db78tb12r75	8	48	method.this	method.this	NOUN
db78tb12r75	8	49	dissertation	dissertation	NOUN
db78tb12r75	8	50	also	also	ADV
db78tb12r75	8	51	addresses	address	VERB
db78tb12r75	8	52	robustness	robustness	ADJ
db78tb12r75	8	53	issues	issue	NOUN
db78tb12r75	8	54	for	for	ADP
db78tb12r75	8	55	underactuated	underactuated	ADJ
db78tb12r75	8	56	bipedal	bipedal	ADJ
db78tb12r75	8	57	robots	robot	NOUN
db78tb12r75	8	58	,	,	PUNCT
db78tb12r75	8	59	which	which	PRON
db78tb12r75	8	60	can	can	AUX
db78tb12r75	8	61	be	be	AUX
db78tb12r75	8	62	regarded	regard	VERB
db78tb12r75	8	63	as	as	ADP
db78tb12r75	8	64	some	some	DET
db78tb12r75	8	65	balance	balance	NOUN
db78tb12r75	8	66	between	between	ADP
db78tb12r75	8	67	fully	fully	ADV
db78tb12r75	8	68	actuated	actuate	VERB
db78tb12r75	8	69	and	and	CCONJ
db78tb12r75	8	70	passive	passive	ADJ
db78tb12r75	8	71	walking	walking	NOUN
db78tb12r75	8	72	robots	robot	NOUN
db78tb12r75	8	73	.	.	PUNCT
db78tb12r75	9	1	thus	thus	ADV
db78tb12r75	9	2	,	,	PUNCT
db78tb12r75	9	3	the	the	DET
db78tb12r75	9	4	underactuated	underactuated	ADJ
db78tb12r75	9	5	biped	biped	NOUN
db78tb12r75	9	6	makes	make	VERB
db78tb12r75	9	7	a	a	DET
db78tb12r75	9	8	promising	promising	ADJ
db78tb12r75	9	9	solution	solution	NOUN
db78tb12r75	9	10	to	to	PART
db78tb12r75	9	11	balance	balance	VERB
db78tb12r75	9	12	the	the	DET
db78tb12r75	9	13	competing	compete	VERB
db78tb12r75	9	14	issues	issue	NOUN
db78tb12r75	9	15	of	of	ADP
db78tb12r75	9	16	energy	energy	NOUN
db78tb12r75	9	17	consumption	consumption	NOUN
db78tb12r75	9	18	and	and	CCONJ
db78tb12r75	9	19	robustness	robustness	NOUN
db78tb12r75	9	20	.	.	PUNCT
db78tb12r75	10	1	for	for	ADP
db78tb12r75	10	2	the	the	DET
db78tb12r75	10	3	biped	biped	NOUN
db78tb12r75	10	4	,	,	PUNCT
db78tb12r75	10	5	the	the	DET
db78tb12r75	10	6	coupling	coupling	NOUN
db78tb12r75	10	7	between	between	ADP
db78tb12r75	10	8	velocities	velocity	NOUN
db78tb12r75	10	9	along	along	ADP
db78tb12r75	10	10	the	the	DET
db78tb12r75	10	11	actuated	actuate	VERB
db78tb12r75	10	12	and	and	CCONJ
db78tb12r75	10	13	unactuated	unactuated	ADJ
db78tb12r75	10	14	vector	vector	NOUN
db78tb12r75	10	15	fields	field	NOUN
db78tb12r75	10	16	has	have	AUX
db78tb12r75	10	17	been	be	AUX
db78tb12r75	10	18	exploited	exploit	VERB
db78tb12r75	10	19	to	to	PART
db78tb12r75	10	20	define	define	VERB
db78tb12r75	10	21	a	a	DET
db78tb12r75	10	22	nonlinear	nonlinear	ADJ
db78tb12r75	10	23	coupling	coupling	NOUN
db78tb12r75	10	24	metric	metric	NOUN
db78tb12r75	10	25	,	,	PUNCT
db78tb12r75	10	26	which	which	PRON
db78tb12r75	10	27	can	can	AUX
db78tb12r75	10	28	be	be	AUX
db78tb12r75	10	29	used	use	VERB
db78tb12r75	10	30	to	to	PART
db78tb12r75	10	31	quantitatively	quantitatively	ADV
db78tb12r75	10	32	measure	measure	VERB
db78tb12r75	10	33	the	the	DET
db78tb12r75	10	34	robustness	robustness	NOUN
db78tb12r75	10	35	of	of	ADP
db78tb12r75	10	36	gaits	gait	NOUN
db78tb12r75	10	37	.	.	PUNCT
db78tb12r75	11	1	considering	consider	VERB
db78tb12r75	11	2	that	that	SCONJ
db78tb12r75	11	3	bipeds	bipeds	PROPN
db78tb12r75	11	4	will	will	AUX
db78tb12r75	11	5	eventually	eventually	ADV
db78tb12r75	11	6	walk	walk	VERB
db78tb12r75	11	7	in	in	ADP
db78tb12r75	11	8	unstructured	unstructured	ADJ
db78tb12r75	11	9	natural	natural	ADJ
db78tb12r75	11	10	environments	environment	NOUN
db78tb12r75	11	11	,	,	PUNCT
db78tb12r75	11	12	this	this	DET
db78tb12r75	11	13	thesis	thesis	NOUN
db78tb12r75	11	14	further	far	ADV
db78tb12r75	11	15	examines	examine	VERB
db78tb12r75	11	16	the	the	DET
db78tb12r75	11	17	problem	problem	NOUN
db78tb12r75	11	18	of	of	ADP
db78tb12r75	11	19	bipedal	bipedal	ADJ
db78tb12r75	11	20	walking	walk	VERB
db78tb12r75	11	21	on	on	ADP
db78tb12r75	11	22	slippery	slippery	ADJ
db78tb12r75	11	23	surfaces	surface	NOUN
db78tb12r75	11	24	,	,	PUNCT
db78tb12r75	11	25	and	and	CCONJ
db78tb12r75	11	26	presents	present	VERB
db78tb12r75	11	27	some	some	DET
db78tb12r75	11	28	results	result	NOUN
db78tb12r75	11	29	that	that	PRON
db78tb12r75	11	30	illustrate	illustrate	VERB
db78tb12r75	11	31	relationships	relationship	NOUN
db78tb12r75	11	32	among	among	ADP
db78tb12r75	11	33	gait	gait	NOUN
db78tb12r75	11	34	features	feature	NOUN
db78tb12r75	11	35	and	and	CCONJ
db78tb12r75	11	36	the	the	DET
db78tb12r75	11	37	robustness	robustness	NOUN
db78tb12r75	11	38	for	for	ADP
db78tb12r75	11	39	walking	walk	VERB
db78tb12r75	11	40	on	on	ADP
db78tb12r75	11	41	slippery	slippery	ADJ
db78tb12r75	11	42	surfaces	surface	NOUN
db78tb12r75	11	43	.	.	PUNCT
db78tb12r75	12	1	a	a	DET
db78tb12r75	12	2	primary	primary	ADJ
db78tb12r75	12	3	contribution	contribution	NOUN
db78tb12r75	12	4	in	in	ADP
db78tb12r75	12	5	this	this	DET
db78tb12r75	12	6	aspect	aspect	NOUN
db78tb12r75	12	7	is	be	AUX
db78tb12r75	12	8	providing	provide	VERB
db78tb12r75	12	9	a	a	DET
db78tb12r75	12	10	nonlinear	nonlinear	ADJ
db78tb12r75	12	11	mechanical	mechanical	ADJ
db78tb12r75	12	12	coupling	coupling	NOUN
db78tb12r75	12	13	metric	metric	NOUN
db78tb12r75	12	14	and	and	CCONJ
db78tb12r75	12	15	some	some	DET
db78tb12r75	12	16	design	design	NOUN
db78tb12r75	12	17	insights	insight	NOUN
db78tb12r75	12	18	,	,	PUNCT
db78tb12r75	12	19	such	such	ADJ
db78tb12r75	12	20	as	as	ADP
db78tb12r75	12	21	changing	change	VERB
db78tb12r75	12	22	actuation	actuation	NOUN
db78tb12r75	12	23	methods	method	NOUN
db78tb12r75	12	24	,	,	PUNCT
db78tb12r75	12	25	adjusting	adjust	VERB
db78tb12r75	12	26	the	the	DET
db78tb12r75	12	27	center	center	NOUN
db78tb12r75	12	28	of	of	ADP
db78tb12r75	12	29	mass	mass	ADJ
db78tb12r75	12	30	location	location	NOUN
db78tb12r75	12	31	,	,	PUNCT
db78tb12r75	12	32	speeds	speed	NOUN
db78tb12r75	12	33	and	and	CCONJ
db78tb12r75	12	34	stride	stride	VERB
db78tb12r75	12	35	lengths	length	NOUN
db78tb12r75	12	36	,	,	PUNCT
db78tb12r75	12	37	which	which	PRON
db78tb12r75	12	38	can	can	AUX
db78tb12r75	12	39	be	be	AUX
db78tb12r75	12	40	used	use	VERB
db78tb12r75	12	41	to	to	PART
db78tb12r75	12	42	improve	improve	VERB
db78tb12r75	12	43	the	the	DET
db78tb12r75	12	44	robustness	robustness	NOUN
db78tb12r75	12	45	of	of	ADP
db78tb12r75	12	46	bipedal	bipedal	ADJ
db78tb12r75	12	47	robots	robot	NOUN
db78tb12r75	12	48	.	.	PUNCT