id	sid	tid	token	lemma	pos
gx41mg76x29	1	1	it	it	PRON
gx41mg76x29	1	2	is	be	AUX
gx41mg76x29	1	3	generally	generally	ADV
gx41mg76x29	1	4	accepted	accept	VERB
gx41mg76x29	1	5	that	that	SCONJ
gx41mg76x29	1	6	the	the	DET
gx41mg76x29	1	7	design	design	NOUN
gx41mg76x29	1	8	of	of	ADP
gx41mg76x29	1	9	the	the	DET
gx41mg76x29	1	10	foot	foot	NOUN
gx41mg76x29	1	11	can	can	AUX
gx41mg76x29	1	12	influence	influence	VERB
gx41mg76x29	1	13	gait	gait	NOUN
gx41mg76x29	1	14	for	for	ADP
gx41mg76x29	1	15	both	both	DET
gx41mg76x29	1	16	robots	robot	NOUN
gx41mg76x29	1	17	and	and	CCONJ
gx41mg76x29	1	18	amputees	amputee	NOUN
gx41mg76x29	1	19	.	.	PUNCT
gx41mg76x29	2	1	however	however	ADV
gx41mg76x29	2	2	,	,	PUNCT
gx41mg76x29	2	3	the	the	DET
gx41mg76x29	2	4	nonlinear	nonlinear	ADJ
gx41mg76x29	2	5	nature	nature	NOUN
gx41mg76x29	2	6	of	of	ADP
gx41mg76x29	2	7	bipedal	bipedal	ADJ
gx41mg76x29	2	8	systems	system	NOUN
gx41mg76x29	2	9	combined	combine	VERB
gx41mg76x29	2	10	with	with	ADP
gx41mg76x29	2	11	the	the	DET
gx41mg76x29	2	12	intermittent	intermittent	ADJ
gx41mg76x29	2	13	contacts	contact	NOUN
gx41mg76x29	2	14	required	require	VERB
gx41mg76x29	2	15	for	for	ADP
gx41mg76x29	2	16	walking	walking	NOUN
gx41mg76x29	2	17	makes	make	VERB
gx41mg76x29	2	18	rigorous	rigorous	ADJ
gx41mg76x29	2	19	investigation	investigation	NOUN
gx41mg76x29	2	20	of	of	ADP
gx41mg76x29	2	21	the	the	DET
gx41mg76x29	2	22	influence	influence	NOUN
gx41mg76x29	2	23	of	of	ADP
gx41mg76x29	2	24	foot	foot	NOUN
gx41mg76x29	2	25	design	design	NOUN
gx41mg76x29	2	26	difficult	difficult	ADJ
gx41mg76x29	2	27	.	.	PUNCT
gx41mg76x29	3	1	further	far	ADV
gx41mg76x29	3	2	,	,	PUNCT
gx41mg76x29	3	3	it	it	PRON
gx41mg76x29	3	4	is	be	AUX
gx41mg76x29	3	5	not	not	PART
gx41mg76x29	3	6	known	know	VERB
gx41mg76x29	3	7	how	how	SCONJ
gx41mg76x29	3	8	to	to	PART
gx41mg76x29	3	9	predict	predict	VERB
gx41mg76x29	3	10	even	even	ADV
gx41mg76x29	3	11	normal	normal	ADJ
gx41mg76x29	3	12	human	human	ADJ
gx41mg76x29	3	13	walking	walking	NOUN
gx41mg76x29	3	14	across	across	ADP
gx41mg76x29	3	15	a	a	DET
gx41mg76x29	3	16	range	range	NOUN
gx41mg76x29	3	17	of	of	ADP
gx41mg76x29	3	18	speeds	speed	NOUN
gx41mg76x29	3	19	.	.	PUNCT
gx41mg76x29	4	1	this	this	DET
gx41mg76x29	4	2	work	work	NOUN
gx41mg76x29	4	3	extends	extend	VERB
gx41mg76x29	4	4	a	a	DET
gx41mg76x29	4	5	robot	robot	NOUN
gx41mg76x29	4	6	modeling	modeling	NOUN
gx41mg76x29	4	7	and	and	CCONJ
gx41mg76x29	4	8	control	control	NOUN
gx41mg76x29	4	9	technique	technique	NOUN
gx41mg76x29	4	10	to	to	PART
gx41mg76x29	4	11	create	create	VERB
gx41mg76x29	4	12	highly	highly	ADV
gx41mg76x29	4	13	accurate	accurate	ADJ
gx41mg76x29	4	14	,	,	PUNCT
gx41mg76x29	4	15	yet	yet	CCONJ
gx41mg76x29	4	16	computationally	computationally	ADV
gx41mg76x29	4	17	inexpensive	inexpensive	ADJ
gx41mg76x29	4	18	,	,	PUNCT
gx41mg76x29	4	19	predictive	predictive	ADJ
gx41mg76x29	4	20	models	model	NOUN
gx41mg76x29	4	21	of	of	ADP
gx41mg76x29	4	22	human	human	ADJ
gx41mg76x29	4	23	walking	walking	NOUN
gx41mg76x29	4	24	.	.	PUNCT
gx41mg76x29	5	1	the	the	DET
gx41mg76x29	5	2	models	model	NOUN
gx41mg76x29	5	3	were	be	AUX
gx41mg76x29	5	4	validated	validate	VERB
gx41mg76x29	5	5	using	use	VERB
gx41mg76x29	5	6	new	new	ADJ
gx41mg76x29	5	7	robotic	robotic	ADJ
gx41mg76x29	5	8	hardware	hardware	NOUN
gx41mg76x29	5	9	experiments	experiment	NOUN
gx41mg76x29	5	10	and	and	CCONJ
gx41mg76x29	5	11	existing	exist	VERB
gx41mg76x29	5	12	data	datum	NOUN
gx41mg76x29	5	13	from	from	ADP
gx41mg76x29	5	14	human	human	ADJ
gx41mg76x29	5	15	subject	subject	NOUN
gx41mg76x29	5	16	studies	study	NOUN
gx41mg76x29	5	17	.	.	PUNCT
gx41mg76x29	6	1	the	the	DET
gx41mg76x29	6	2	results	result	NOUN
gx41mg76x29	6	3	have	have	VERB
gx41mg76x29	6	4	implications	implication	NOUN
gx41mg76x29	6	5	both	both	CCONJ
gx41mg76x29	6	6	for	for	ADP
gx41mg76x29	6	7	the	the	DET
gx41mg76x29	6	8	design	design	NOUN
gx41mg76x29	6	9	and	and	CCONJ
gx41mg76x29	6	10	control	control	NOUN
gx41mg76x29	6	11	of	of	ADP
gx41mg76x29	6	12	robots	robot	NOUN
gx41mg76x29	6	13	and	and	CCONJ
gx41mg76x29	6	14	for	for	ADP
gx41mg76x29	6	15	models	model	NOUN
gx41mg76x29	6	16	of	of	ADP
gx41mg76x29	6	17	amputee	amputee	NOUN
gx41mg76x29	6	18	gait	gait	NOUN
gx41mg76x29	6	19	.	.	PUNCT
gx41mg76x29	7	1	the	the	DET
gx41mg76x29	7	2	models	model	NOUN
gx41mg76x29	7	3	are	be	AUX
gx41mg76x29	7	4	grounded	ground	VERB
gx41mg76x29	7	5	on	on	ADP
gx41mg76x29	7	6	a	a	DET
gx41mg76x29	7	7	hybrid	hybrid	ADJ
gx41mg76x29	7	8	zero	zero	NUM
gx41mg76x29	7	9	dynamics	dynamic	NOUN
gx41mg76x29	7	10	(	(	PUNCT
gx41mg76x29	7	11	hzd)-based	hzd)-based	ADJ
gx41mg76x29	7	12	control	control	NOUN
gx41mg76x29	7	13	technique	technique	NOUN
gx41mg76x29	7	14	originally	originally	ADV
gx41mg76x29	7	15	developed	develop	VERB
gx41mg76x29	7	16	for	for	ADP
gx41mg76x29	7	17	planar	planar	ADJ
gx41mg76x29	7	18	bipedal	bipedal	ADJ
gx41mg76x29	7	19	robots	robot	NOUN
gx41mg76x29	7	20	with	with	ADP
gx41mg76x29	7	21	point	point	NOUN
gx41mg76x29	7	22	feet	foot	NOUN
gx41mg76x29	7	23	and	and	CCONJ
gx41mg76x29	7	24	instantaneous	instantaneous	ADJ
gx41mg76x29	7	25	transfer	transfer	NOUN
gx41mg76x29	7	26	of	of	ADP
gx41mg76x29	7	27	support	support	NOUN
gx41mg76x29	7	28	.	.	PUNCT
gx41mg76x29	8	1	to	to	PART
gx41mg76x29	8	2	account	account	VERB
gx41mg76x29	8	3	for	for	ADP
gx41mg76x29	8	4	the	the	DET
gx41mg76x29	8	5	function	function	NOUN
gx41mg76x29	8	6	of	of	ADP
gx41mg76x29	8	7	the	the	DET
gx41mg76x29	8	8	human	human	ADJ
gx41mg76x29	8	9	foot	foot	NOUN
gx41mg76x29	8	10	,	,	PUNCT
gx41mg76x29	8	11	curved	curved	ADJ
gx41mg76x29	8	12	feet	foot	NOUN
gx41mg76x29	8	13	were	be	AUX
gx41mg76x29	8	14	incorporated	incorporate	VERB
gx41mg76x29	8	15	into	into	ADP
gx41mg76x29	8	16	the	the	DET
gx41mg76x29	8	17	hzd	hzd	NOUN
gx41mg76x29	8	18	framework	framework	NOUN
gx41mg76x29	8	19	,	,	PUNCT
gx41mg76x29	8	20	which	which	PRON
gx41mg76x29	8	21	required	require	VERB
gx41mg76x29	8	22	rederiving	rederive	VERB
gx41mg76x29	8	23	the	the	DET
gx41mg76x29	8	24	model	model	NOUN
gx41mg76x29	8	25	of	of	ADP
gx41mg76x29	8	26	the	the	DET
gx41mg76x29	8	27	transfer	transfer	NOUN
gx41mg76x29	8	28	of	of	ADP
gx41mg76x29	8	29	support	support	NOUN
gx41mg76x29	8	30	and	and	CCONJ
gx41mg76x29	8	31	the	the	DET
gx41mg76x29	8	32	stability	stability	NOUN
gx41mg76x29	8	33	criteria	criterion	NOUN
gx41mg76x29	8	34	.	.	PUNCT
gx41mg76x29	9	1	the	the	DET
gx41mg76x29	9	2	effects	effect	NOUN
gx41mg76x29	9	3	of	of	ADP
gx41mg76x29	9	4	foot	foot	NOUN
gx41mg76x29	9	5	design	design	NOUN
gx41mg76x29	9	6	on	on	ADP
gx41mg76x29	9	7	gait	gait	NOUN
gx41mg76x29	9	8	were	be	AUX
gx41mg76x29	9	9	systematically	systematically	ADV
gx41mg76x29	9	10	investigated	investigate	VERB
gx41mg76x29	9	11	in	in	ADP
gx41mg76x29	9	12	both	both	DET
gx41mg76x29	9	13	simulation	simulation	NOUN
gx41mg76x29	9	14	and	and	CCONJ
gx41mg76x29	9	15	hardware	hardware	NOUN
gx41mg76x29	9	16	.	.	PUNCT
gx41mg76x29	10	1	due	due	ADP
gx41mg76x29	10	2	to	to	ADP
gx41mg76x29	10	3	interaction	interaction	NOUN
gx41mg76x29	10	4	effects	effect	NOUN
gx41mg76x29	10	5	between	between	ADP
gx41mg76x29	10	6	foot	foot	NOUN
gx41mg76x29	10	7	radius	radius	NOUN
gx41mg76x29	10	8	and	and	CCONJ
gx41mg76x29	10	9	center	center	NOUN
gx41mg76x29	10	10	of	of	ADP
gx41mg76x29	10	11	curvature	curvature	NOUN
gx41mg76x29	10	12	location	location	NOUN
gx41mg76x29	10	13	,	,	PUNCT
gx41mg76x29	10	14	there	there	PRON
gx41mg76x29	10	15	are	be	VERB
gx41mg76x29	10	16	two	two	NUM
gx41mg76x29	10	17	distinct	distinct	ADJ
gx41mg76x29	10	18	design	design	NOUN
gx41mg76x29	10	19	strategies	strategy	NOUN
gx41mg76x29	10	20	that	that	PRON
gx41mg76x29	10	21	yield	yield	VERB
gx41mg76x29	10	22	energetically	energetically	ADV
gx41mg76x29	10	23	efficient	efficient	ADJ
gx41mg76x29	10	24	gaits	gait	NOUN
gx41mg76x29	10	25	.	.	PUNCT
gx41mg76x29	11	1	in	in	ADP
gx41mg76x29	11	2	addition	addition	NOUN
gx41mg76x29	11	3	,	,	PUNCT
gx41mg76x29	11	4	models	model	NOUN
gx41mg76x29	11	5	of	of	ADP
gx41mg76x29	11	6	human	human	ADJ
gx41mg76x29	11	7	walking	walking	NOUN
gx41mg76x29	11	8	must	must	AUX
gx41mg76x29	11	9	also	also	ADV
gx41mg76x29	11	10	include	include	VERB
gx41mg76x29	11	11	the	the	DET
gx41mg76x29	11	12	effects	effect	NOUN
gx41mg76x29	11	13	of	of	ADP
gx41mg76x29	11	14	toe	toe	NOUN
gx41mg76x29	11	15	-	-	PUNCT
gx41mg76x29	11	16	off	off	NOUN
gx41mg76x29	11	17	.	.	PUNCT
gx41mg76x29	12	1	this	this	PRON
gx41mg76x29	12	2	can	can	AUX
gx41mg76x29	12	3	be	be	AUX
gx41mg76x29	12	4	achieved	achieve	VERB
gx41mg76x29	12	5	either	either	CCONJ
gx41mg76x29	12	6	with	with	ADP
gx41mg76x29	12	7	an	an	DET
gx41mg76x29	12	8	impulsive	impulsive	ADJ
gx41mg76x29	12	9	force	force	NOUN
gx41mg76x29	12	10	at	at	ADP
gx41mg76x29	12	11	the	the	DET
gx41mg76x29	12	12	hip	hip	NOUN
gx41mg76x29	12	13	during	during	ADP
gx41mg76x29	12	14	the	the	DET
gx41mg76x29	12	15	impact	impact	NOUN
gx41mg76x29	12	16	phase	phase	NOUN
gx41mg76x29	12	17	or	or	CCONJ
gx41mg76x29	12	18	with	with	ADP
gx41mg76x29	12	19	ankle	ankle	NOUN
gx41mg76x29	12	20	joints	joint	NOUN
gx41mg76x29	12	21	.	.	PUNCT
gx41mg76x29	13	1	using	use	VERB
gx41mg76x29	13	2	a	a	DET
gx41mg76x29	13	3	six	six	NUM
gx41mg76x29	13	4	-	-	PUNCT
gx41mg76x29	13	5	link	link	NOUN
gx41mg76x29	13	6	planar	planar	ADJ
gx41mg76x29	13	7	model	model	NOUN
gx41mg76x29	13	8	with	with	ADP
gx41mg76x29	13	9	ankle	ankle	NOUN
gx41mg76x29	13	10	joints	joint	NOUN
gx41mg76x29	13	11	and	and	CCONJ
gx41mg76x29	13	12	curved	curved	ADJ
gx41mg76x29	13	13	feet	foot	NOUN
gx41mg76x29	13	14	,	,	PUNCT
gx41mg76x29	13	15	normal	normal	ADJ
gx41mg76x29	13	16	human	human	ADJ
gx41mg76x29	13	17	joint	joint	ADJ
gx41mg76x29	13	18	kinematics	kinematic	NOUN
gx41mg76x29	13	19	and	and	CCONJ
gx41mg76x29	13	20	energy	energy	NOUN
gx41mg76x29	13	21	expenditures	expenditure	NOUN
gx41mg76x29	13	22	can	can	AUX
gx41mg76x29	13	23	be	be	AUX
gx41mg76x29	13	24	predicted	predict	VERB
gx41mg76x29	13	25	very	very	ADV
gx41mg76x29	13	26	accurately	accurately	ADV
gx41mg76x29	13	27	at	at	ADP
gx41mg76x29	13	28	walking	walk	VERB
gx41mg76x29	13	29	speeds	speed	NOUN
gx41mg76x29	13	30	ranging	range	VERB
gx41mg76x29	13	31	from	from	ADP
gx41mg76x29	13	32	very	very	ADV
gx41mg76x29	13	33	slow	slow	ADJ
gx41mg76x29	13	34	to	to	PART
gx41mg76x29	13	35	very	very	ADV
gx41mg76x29	13	36	fast	fast	ADV
gx41mg76x29	13	37	using	use	VERB
gx41mg76x29	13	38	a	a	DET
gx41mg76x29	13	39	torque	torque	NOUN
gx41mg76x29	13	40	-	-	PUNCT
gx41mg76x29	13	41	squared	square	VERB
gx41mg76x29	13	42	-	-	PUNCT
gx41mg76x29	13	43	based	base	VERB
gx41mg76x29	13	44	objective	objective	ADJ
gx41mg76x29	13	45	function	function	NOUN
gx41mg76x29	13	46	.	.	PUNCT
gx41mg76x29	14	1	by	by	ADP
gx41mg76x29	14	2	removing	remove	VERB
gx41mg76x29	14	3	one	one	NUM
gx41mg76x29	14	4	of	of	ADP
gx41mg76x29	14	5	the	the	DET
gx41mg76x29	14	6	ankle	ankle	NOUN
gx41mg76x29	14	7	joints	joint	NOUN
gx41mg76x29	14	8	from	from	ADP
gx41mg76x29	14	9	the	the	DET
gx41mg76x29	14	10	symmetric	symmetric	ADJ
gx41mg76x29	14	11	human	human	ADJ
gx41mg76x29	14	12	model	model	NOUN
gx41mg76x29	14	13	,	,	PUNCT
gx41mg76x29	14	14	asymmetric	asymmetric	ADJ
gx41mg76x29	14	15	amputee	amputee	PROPN
gx41mg76x29	14	16	gait	gait	NOUN
gx41mg76x29	14	17	can	can	AUX
gx41mg76x29	14	18	be	be	AUX
gx41mg76x29	14	19	investigated	investigate	VERB
gx41mg76x29	14	20	.	.	PUNCT
gx41mg76x29	15	1	it	it	PRON
gx41mg76x29	15	2	is	be	AUX
gx41mg76x29	15	3	shown	show	VERB
gx41mg76x29	15	4	that	that	SCONJ
gx41mg76x29	15	5	small	small	ADJ
gx41mg76x29	15	6	reductions	reduction	NOUN
gx41mg76x29	15	7	in	in	ADP
gx41mg76x29	15	8	amputated	amputate	VERB
gx41mg76x29	15	9	/	/	SYM
gx41mg76x29	15	10	contralateral	contralateral	ADJ
gx41mg76x29	15	11	leg	leg	NOUN
gx41mg76x29	15	12	symmetry	symmetry	NOUN
gx41mg76x29	15	13	lead	lead	VERB
gx41mg76x29	15	14	to	to	ADP
gx41mg76x29	15	15	large	large	ADJ
gx41mg76x29	15	16	improvements	improvement	NOUN
gx41mg76x29	15	17	in	in	ADP
gx41mg76x29	15	18	energetic	energetic	ADJ
gx41mg76x29	15	19	efficiency	efficiency	NOUN
gx41mg76x29	15	20	.	.	PUNCT