id	sid	tid	token	lemma	pos
k6439z92b93	1	1	a	a	DET
k6439z92b93	1	2	new	new	ADJ
k6439z92b93	1	3	challenge	challenge	NOUN
k6439z92b93	1	4	in	in	ADP
k6439z92b93	1	5	robotics	robotic	NOUN
k6439z92b93	1	6	is	be	AUX
k6439z92b93	1	7	the	the	DET
k6439z92b93	1	8	development	development	NOUN
k6439z92b93	1	9	of	of	ADP
k6439z92b93	1	10	humanoids	humanoid	NOUN
k6439z92b93	1	11	,	,	PUNCT
k6439z92b93	1	12	which	which	PRON
k6439z92b93	1	13	are	be	AUX
k6439z92b93	1	14	robots	robot	NOUN
k6439z92b93	1	15	that	that	PRON
k6439z92b93	1	16	assume	assume	VERB
k6439z92b93	1	17	an	an	DET
k6439z92b93	1	18	anthropomorphic	anthropomorphic	ADJ
k6439z92b93	1	19	form	form	NOUN
k6439z92b93	1	20	.	.	PUNCT
k6439z92b93	2	1	a	a	DET
k6439z92b93	2	2	difficulty	difficulty	NOUN
k6439z92b93	2	3	with	with	ADP
k6439z92b93	2	4	humanoid	humanoid	ADJ
k6439z92b93	2	5	design	design	NOUN
k6439z92b93	2	6	is	be	AUX
k6439z92b93	2	7	the	the	DET
k6439z92b93	2	8	kinematic	kinematic	ADJ
k6439z92b93	2	9	interpretation	interpretation	NOUN
k6439z92b93	2	10	of	of	ADP
k6439z92b93	2	11	human	human	ADJ
k6439z92b93	2	12	joints	joint	NOUN
k6439z92b93	2	13	and	and	CCONJ
k6439z92b93	2	14	the	the	DET
k6439z92b93	2	15	development	development	NOUN
k6439z92b93	2	16	of	of	ADP
k6439z92b93	2	17	mechanisms	mechanism	NOUN
k6439z92b93	2	18	that	that	PRON
k6439z92b93	2	19	can	can	AUX
k6439z92b93	2	20	mimic	mimic	VERB
k6439z92b93	2	21	human	human	ADJ
k6439z92b93	2	22	motion	motion	NOUN
k6439z92b93	2	23	.	.	PUNCT
k6439z92b93	3	1	the	the	DET
k6439z92b93	3	2	focus	focus	NOUN
k6439z92b93	3	3	of	of	ADP
k6439z92b93	3	4	this	this	DET
k6439z92b93	3	5	work	work	NOUN
k6439z92b93	3	6	is	be	AUX
k6439z92b93	3	7	the	the	DET
k6439z92b93	3	8	development	development	NOUN
k6439z92b93	3	9	of	of	ADP
k6439z92b93	3	10	a	a	DET
k6439z92b93	3	11	kinematic	kinematic	ADJ
k6439z92b93	3	12	description	description	NOUN
k6439z92b93	3	13	of	of	ADP
k6439z92b93	3	14	the	the	DET
k6439z92b93	3	15	shoulder	shoulder	NOUN
k6439z92b93	3	16	-	-	PUNCT
k6439z92b93	3	17	elbow	elbow	NOUN
k6439z92b93	3	18	complex	complex	NOUN
k6439z92b93	3	19	.	.	PUNCT
k6439z92b93	4	1	the	the	DET
k6439z92b93	4	2	coupling	coupling	NOUN
k6439z92b93	4	3	that	that	PRON
k6439z92b93	4	4	exists	exist	VERB
k6439z92b93	4	5	between	between	ADP
k6439z92b93	4	6	the	the	DET
k6439z92b93	4	7	shoulder	shoulder	NOUN
k6439z92b93	4	8	movement	movement	NOUN
k6439z92b93	4	9	and	and	CCONJ
k6439z92b93	4	10	the	the	DET
k6439z92b93	4	11	orientation	orientation	NOUN
k6439z92b93	4	12	of	of	ADP
k6439z92b93	4	13	the	the	DET
k6439z92b93	4	14	elbow	elbow	NOUN
k6439z92b93	4	15	joint	joint	NOUN
k6439z92b93	4	16	is	be	AUX
k6439z92b93	4	17	quantified	quantify	VERB
k6439z92b93	4	18	.	.	PUNCT
k6439z92b93	5	1	a	a	DET
k6439z92b93	5	2	mechanism	mechanism	NOUN
k6439z92b93	5	3	capable	capable	ADJ
k6439z92b93	5	4	of	of	ADP
k6439z92b93	5	5	reproducing	reproduce	VERB
k6439z92b93	5	6	this	this	DET
k6439z92b93	5	7	coupling	coupling	NOUN
k6439z92b93	5	8	is	be	AUX
k6439z92b93	5	9	introduced	introduce	VERB
k6439z92b93	5	10	along	along	ADP
k6439z92b93	5	11	with	with	ADP
k6439z92b93	5	12	the	the	DET
k6439z92b93	5	13	procedural	procedural	ADJ
k6439z92b93	5	14	method	method	NOUN
k6439z92b93	5	15	utilized	utilize	VERB
k6439z92b93	5	16	to	to	PART
k6439z92b93	5	17	determine	determine	VERB
k6439z92b93	5	18	the	the	DET
k6439z92b93	5	19	variables	variable	NOUN
k6439z92b93	5	20	needed	need	VERB
k6439z92b93	5	21	to	to	PART
k6439z92b93	5	22	enforce	enforce	VERB
k6439z92b93	5	23	the	the	DET
k6439z92b93	5	24	couplings	coupling	NOUN
k6439z92b93	5	25	that	that	PRON
k6439z92b93	5	26	exist	exist	VERB
k6439z92b93	5	27	within	within	ADP
k6439z92b93	5	28	the	the	DET
k6439z92b93	5	29	human	human	ADJ
k6439z92b93	5	30	shoulder	shoulder	NOUN
k6439z92b93	5	31	-	-	PUNCT
k6439z92b93	5	32	elbow	elbow	NOUN
k6439z92b93	5	33	complex	complex	NOUN
k6439z92b93	5	34	.	.	PUNCT
k6439z92b93	6	1	experimental	experimental	ADJ
k6439z92b93	6	2	results	result	NOUN
k6439z92b93	6	3	are	be	AUX
k6439z92b93	6	4	presented	present	VERB
k6439z92b93	6	5	highlighting	highlight	VERB
k6439z92b93	6	6	the	the	DET
k6439z92b93	6	7	accuracy	accuracy	NOUN
k6439z92b93	6	8	of	of	ADP
k6439z92b93	6	9	this	this	DET
k6439z92b93	6	10	mechanism	mechanism	NOUN
k6439z92b93	6	11	along	along	ADP
k6439z92b93	6	12	with	with	ADP
k6439z92b93	6	13	the	the	DET
k6439z92b93	6	14	similarities	similarity	NOUN
k6439z92b93	6	15	to	to	ADP
k6439z92b93	6	16	human	human	ADJ
k6439z92b93	6	17	configurations	configuration	NOUN
k6439z92b93	6	18	.	.	PUNCT