id	sid	tid	token	lemma	pos
g158bg27f38	1	1	the	the	DET
g158bg27f38	1	2	work	work	NOUN
g158bg27f38	1	3	presented	present	VERB
g158bg27f38	1	4	here	here	ADV
g158bg27f38	1	5	demonstrates	demonstrate	VERB
g158bg27f38	1	6	a	a	DET
g158bg27f38	1	7	method	method	NOUN
g158bg27f38	1	8	of	of	ADP
g158bg27f38	1	9	using	use	VERB
g158bg27f38	1	10	acceleration	acceleration	NOUN
g158bg27f38	1	11	or	or	CCONJ
g158bg27f38	1	12	dynamic	dynamic	ADJ
g158bg27f38	1	13	capability	capability	NOUN
g158bg27f38	1	14	analysis	analysis	NOUN
g158bg27f38	1	15	to	to	PART
g158bg27f38	1	16	generate	generate	VERB
g158bg27f38	1	17	walking	walking	NOUN
g158bg27f38	1	18	gaits	gait	NOUN
g158bg27f38	1	19	on	on	ADP
g158bg27f38	1	20	dynamically	dynamically	ADV
g158bg27f38	1	21	simulated	simulate	VERB
g158bg27f38	1	22	legged	legged	ADJ
g158bg27f38	1	23	robotic	robotic	ADJ
g158bg27f38	1	24	systems	system	NOUN
g158bg27f38	1	25	.	.	PUNCT
g158bg27f38	2	1	an	an	DET
g158bg27f38	2	2	illustrative	illustrative	ADJ
g158bg27f38	2	3	example	example	NOUN
g158bg27f38	2	4	,	,	PUNCT
g158bg27f38	2	5	using	use	VERB
g158bg27f38	2	6	a	a	DET
g158bg27f38	2	7	six	six	NUM
g158bg27f38	2	8	degree	degree	NOUN
g158bg27f38	2	9	-	-	PUNCT
g158bg27f38	2	10	of	of	ADP
g158bg27f38	2	11	-	-	PUNCT
g158bg27f38	2	12	freedom	freedom	NOUN
g158bg27f38	2	13	robotic	robotic	ADJ
g158bg27f38	2	14	manipulator	manipulator	NOUN
g158bg27f38	2	15	simulation	simulation	NOUN
g158bg27f38	2	16	,	,	PUNCT
g158bg27f38	2	17	demonstrates	demonstrate	VERB
g158bg27f38	2	18	themajor	themajor	NOUN
g158bg27f38	2	19	contributions	contribution	NOUN
g158bg27f38	2	20	of	of	ADP
g158bg27f38	2	21	the	the	DET
g158bg27f38	2	22	method	method	NOUN
g158bg27f38	2	23	and	and	CCONJ
g158bg27f38	2	24	allows	allow	VERB
g158bg27f38	2	25	some	some	DET
g158bg27f38	2	26	insight	insight	NOUN
g158bg27f38	2	27	into	into	ADP
g158bg27f38	2	28	the	the	DET
g158bg27f38	2	29	extension	extension	NOUN
g158bg27f38	2	30	of	of	ADP
g158bg27f38	2	31	the	the	DET
g158bg27f38	2	32	aforementioned	aforementioned	ADJ
g158bg27f38	2	33	method	method	NOUN
g158bg27f38	2	34	into	into	ADP
g158bg27f38	2	35	motion	motion	NOUN
g158bg27f38	2	36	generation	generation	NOUN
g158bg27f38	2	37	of	of	ADP
g158bg27f38	2	38	legged	legged	ADJ
g158bg27f38	2	39	systems	system	NOUN
g158bg27f38	2	40	.	.	PUNCT
g158bg27f38	3	1	legged	legged	ADJ
g158bg27f38	3	2	motion	motion	NOUN
g158bg27f38	3	3	is	be	AUX
g158bg27f38	3	4	accomplished	accomplish	VERB
g158bg27f38	3	5	by	by	ADP
g158bg27f38	3	6	determiningpostures	determiningposture	NOUN
g158bg27f38	3	7	which	which	PRON
g158bg27f38	3	8	aid	aid	NOUN
g158bg27f38	3	9	in	in	ADP
g158bg27f38	3	10	the	the	DET
g158bg27f38	3	11	system	system	NOUN
g158bg27f38	3	12	's	's	PART
g158bg27f38	3	13	ability	ability	NOUN
g158bg27f38	3	14	to	to	PART
g158bg27f38	3	15	resist	resist	VERB
g158bg27f38	3	16	impacts	impact	NOUN
g158bg27f38	3	17	more	more	ADV
g158bg27f38	3	18	effectively	effectively	ADV
g158bg27f38	3	19	.	.	PUNCT
g158bg27f38	4	1	these	these	DET
g158bg27f38	4	2	positions	position	NOUN
g158bg27f38	4	3	are	be	AUX
g158bg27f38	4	4	chosen	choose	VERB
g158bg27f38	4	5	at	at	ADP
g158bg27f38	4	6	different	different	ADJ
g158bg27f38	4	7	times	time	NOUN
g158bg27f38	4	8	,	,	PUNCT
g158bg27f38	4	9	dependingon	dependingon	PROPN
g158bg27f38	4	10	the	the	DET
g158bg27f38	4	11	situation	situation	NOUN
g158bg27f38	4	12	at	at	ADP
g158bg27f38	4	13	hand	hand	NOUN
g158bg27f38	4	14	.	.	PUNCT
g158bg27f38	5	1	a	a	DET
g158bg27f38	5	2	simplified	simplified	ADJ
g158bg27f38	5	3	control	control	NOUN
g158bg27f38	5	4	approach	approach	NOUN
g158bg27f38	5	5	is	be	AUX
g158bg27f38	5	6	proposed	propose	VERB
g158bg27f38	5	7	which	which	PRON
g158bg27f38	5	8	generates	generate	VERB
g158bg27f38	5	9	walking	walk	VERB
g158bg27f38	5	10	motions	motion	NOUN
g158bg27f38	5	11	and	and	CCONJ
g158bg27f38	5	12	rudimentary	rudimentary	ADJ
g158bg27f38	5	13	agility	agility	NOUN
g158bg27f38	5	14	,	,	PUNCT
g158bg27f38	5	15	and	and	CCONJ
g158bg27f38	5	16	a	a	DET
g158bg27f38	5	17	more	more	ADV
g158bg27f38	5	18	advanced	advanced	ADJ
g158bg27f38	5	19	control	control	NOUN
g158bg27f38	5	20	method	method	NOUN
g158bg27f38	5	21	is	be	AUX
g158bg27f38	5	22	proposed	propose	VERB
g158bg27f38	5	23	which	which	PRON
g158bg27f38	5	24	allows	allow	VERB
g158bg27f38	5	25	higher	high	ADJ
g158bg27f38	5	26	speeds	speed	NOUN
g158bg27f38	5	27	and	and	CCONJ
g158bg27f38	5	28	greater	great	ADJ
g158bg27f38	5	29	agility	agility	NOUN
g158bg27f38	5	30	but	but	CCONJ
g158bg27f38	5	31	is	be	AUX
g158bg27f38	5	32	more	more	ADV
g158bg27f38	5	33	difficult	difficult	ADJ
g158bg27f38	5	34	to	to	PART
g158bg27f38	5	35	stabilize	stabilize	VERB
g158bg27f38	5	36	entirely	entirely	ADV
g158bg27f38	5	37	.	.	PUNCT
g158bg27f38	6	1	also	also	ADV
g158bg27f38	6	2	,	,	PUNCT
g158bg27f38	6	3	asimplified	asimplified	ADJ
g158bg27f38	6	4	dynamic	dynamic	ADJ
g158bg27f38	6	5	interaction	interaction	NOUN
g158bg27f38	6	6	model	model	NOUN
g158bg27f38	6	7	is	be	AUX
g158bg27f38	6	8	presented	present	VERB
g158bg27f38	6	9	which	which	PRON
g158bg27f38	6	10	allows	allow	VERB
g158bg27f38	6	11	for	for	ADP
g158bg27f38	6	12	more	more	ADV
g158bg27f38	6	13	realistic	realistic	ADJ
g158bg27f38	6	14	dynamic	dynamic	ADJ
g158bg27f38	6	15	simulations	simulation	NOUN
g158bg27f38	6	16	without	without	ADP
g158bg27f38	6	17	additional	additional	ADJ
g158bg27f38	6	18	computationalcost	computationalcost	PROPN
g158bg27f38	6	19	.	.	PUNCT