id	sid	tid	token	lemma	pos
nv935140x04	1	1	in	in	ADP
nv935140x04	1	2	manipulation	manipulation	NOUN
nv935140x04	1	3	tasks	task	NOUN
nv935140x04	1	4	,	,	PUNCT
nv935140x04	1	5	humans	human	NOUN
nv935140x04	1	6	have	have	VERB
nv935140x04	1	7	the	the	DET
nv935140x04	1	8	advantage	advantage	NOUN
nv935140x04	1	9	over	over	ADP
nv935140x04	1	10	machines	machine	NOUN
nv935140x04	1	11	due	due	ADP
nv935140x04	1	12	to	to	ADP
nv935140x04	1	13	an	an	DET
nv935140x04	1	14	unparalleled	unparalleled	ADJ
nv935140x04	1	15	ability	ability	NOUN
nv935140x04	1	16	to	to	PART
nv935140x04	1	17	process	process	VERB
nv935140x04	1	18	information	information	NOUN
nv935140x04	1	19	from	from	ADP
nv935140x04	1	20	various	various	ADJ
nv935140x04	1	21	inputs	input	NOUN
nv935140x04	1	22	,	,	PUNCT
nv935140x04	1	23	including	include	VERB
nv935140x04	1	24	touch	touch	NOUN
nv935140x04	1	25	.	.	PUNCT
nv935140x04	2	1	a	a	DET
nv935140x04	2	2	set	set	NOUN
nv935140x04	2	3	of	of	ADP
nv935140x04	2	4	four	four	NUM
nv935140x04	2	5	robot	robot	NOUN
nv935140x04	2	6	end	end	NOUN
nv935140x04	2	7	-	-	PUNCT
nv935140x04	2	8	effectors	effector	NOUN
nv935140x04	2	9	was	be	AUX
nv935140x04	2	10	equipped	equip	VERB
nv935140x04	2	11	with	with	ADP
nv935140x04	2	12	force	force	NOUN
nv935140x04	2	13	sensors	sensor	NOUN
nv935140x04	2	14	to	to	PART
nv935140x04	2	15	provide	provide	VERB
nv935140x04	2	16	haptic	haptic	ADJ
nv935140x04	2	17	feedback	feedback	NOUN
nv935140x04	2	18	to	to	PART
nv935140x04	2	19	aid	aid	NOUN
nv935140x04	2	20	in	in	ADP
nv935140x04	2	21	performing	perform	VERB
nv935140x04	2	22	the	the	DET
nv935140x04	2	23	manipulation	manipulation	NOUN
nv935140x04	2	24	tasks	task	NOUN
nv935140x04	2	25	of	of	ADP
nv935140x04	2	26	rotating	rotate	VERB
nv935140x04	2	27	a	a	DET
nv935140x04	2	28	sphere	sphere	NOUN
nv935140x04	2	29	and	and	CCONJ
nv935140x04	2	30	a	a	DET
nv935140x04	2	31	cube	cube	NOUN
nv935140x04	2	32	.	.	PUNCT
nv935140x04	3	1	the	the	DET
nv935140x04	3	2	motion	motion	NOUN
nv935140x04	3	3	planning	planning	NOUN
nv935140x04	3	4	algorithm	algorithm	PROPN
nv935140x04	3	5	used	use	VERB
nv935140x04	3	6	to	to	PART
nv935140x04	3	7	compute	compute	VERB
nv935140x04	3	8	the	the	DET
nv935140x04	3	9	robots	robot	NOUN
nv935140x04	3	10	'	'	PART
nv935140x04	3	11	joint	joint	ADJ
nv935140x04	3	12	angles	angle	NOUN
nv935140x04	3	13	is	be	AUX
nv935140x04	3	14	called	call	VERB
nv935140x04	3	15	steering	steering	NOUN
nv935140x04	3	16	-	-	PUNCT
nv935140x04	3	17	using	use	VERB
nv935140x04	3	18	-	-	PUNCT
nv935140x04	3	19	piecewise	piecewise	NOUN
nv935140x04	3	20	-	-	PUNCT
nv935140x04	3	21	constant	constant	ADJ
nv935140x04	3	22	-	-	PUNCT
nv935140x04	3	23	inputs	input	NOUN
nv935140x04	3	24	and	and	CCONJ
nv935140x04	3	25	is	be	AUX
nv935140x04	3	26	applicable	applicable	ADJ
nv935140x04	3	27	to	to	ADP
nv935140x04	3	28	underactuated	underactuated	ADJ
nv935140x04	3	29	,	,	PUNCT
nv935140x04	3	30	nonlinear	nonlinear	ADJ
nv935140x04	3	31	,	,	PUNCT
nv935140x04	3	32	nonholonomic	nonholonomic	ADJ
nv935140x04	3	33	,	,	PUNCT
nv935140x04	3	34	driftless	driftless	PROPN
nv935140x04	3	35	systems	system	NOUN
nv935140x04	3	36	.	.	PUNCT
nv935140x04	4	1	nonholonomic	nonholonomic	ADJ
nv935140x04	4	2	constraints	constraint	NOUN
nv935140x04	4	3	arise	arise	VERB
nv935140x04	4	4	during	during	ADP
nv935140x04	4	5	contact	contact	NOUN
nv935140x04	4	6	,	,	PUNCT
nv935140x04	4	7	requiring	require	VERB
nv935140x04	4	8	the	the	DET
nv935140x04	4	9	fingers	finger	NOUN
nv935140x04	4	10	to	to	AUX
nv935140x04	4	11	only	only	ADV
nv935140x04	4	12	roll	roll	VERB
nv935140x04	4	13	relative	relative	ADJ
nv935140x04	4	14	to	to	ADP
nv935140x04	4	15	the	the	DET
nv935140x04	4	16	object	object	NOUN
nv935140x04	4	17	.	.	PUNCT
nv935140x04	5	1	however	however	ADV
nv935140x04	5	2	,	,	PUNCT
nv935140x04	5	3	the	the	DET
nv935140x04	5	4	algorithm	algorithm	PROPN
nv935140x04	5	5	gives	give	VERB
nv935140x04	5	6	rise	rise	NOUN
nv935140x04	5	7	to	to	ADP
nv935140x04	5	8	new	new	ADJ
nv935140x04	5	9	vector	vector	NOUN
nv935140x04	5	10	fields	field	NOUN
nv935140x04	5	11	called	call	VERB
nv935140x04	5	12	lie	lie	NOUN
nv935140x04	5	13	brackets	bracket	NOUN
nv935140x04	5	14	that	that	PRON
nv935140x04	5	15	allow	allow	VERB
nv935140x04	5	16	the	the	DET
nv935140x04	5	17	fingers	finger	NOUN
nv935140x04	5	18	to	to	PART
nv935140x04	5	19	be	be	AUX
nv935140x04	5	20	reconfigured	reconfigure	VERB
nv935140x04	5	21	without	without	ADP
nv935140x04	5	22	releasing	release	VERB
nv935140x04	5	23	the	the	DET
nv935140x04	5	24	object	object	NOUN
nv935140x04	5	25	,	,	PUNCT
nv935140x04	5	26	effectively	effectively	ADV
nv935140x04	5	27	increasing	increase	VERB
nv935140x04	5	28	the	the	DET
nv935140x04	5	29	workspace	workspace	NOUN
nv935140x04	5	30	of	of	ADP
nv935140x04	5	31	the	the	DET
nv935140x04	5	32	manipulation	manipulation	NOUN
nv935140x04	5	33	system	system	NOUN
nv935140x04	5	34	.	.	PUNCT
nv935140x04	6	1	experiments	experiment	NOUN
nv935140x04	6	2	were	be	AUX
nv935140x04	6	3	conducted	conduct	VERB
nv935140x04	6	4	with	with	ADP
nv935140x04	6	5	fixed	fix	VERB
nv935140x04	6	6	-	-	PUNCT
nv935140x04	6	7	point	point	NOUN
nv935140x04	6	8	manipulation	manipulation	NOUN
nv935140x04	6	9	to	to	PART
nv935140x04	6	10	produce	produce	VERB
nv935140x04	6	11	a	a	DET
nv935140x04	6	12	baseline	baseline	NOUN
nv935140x04	6	13	for	for	ADP
nv935140x04	6	14	comparing	compare	VERB
nv935140x04	6	15	reconfigurable	reconfigurable	NOUN
nv935140x04	6	16	manipulation	manipulation	NOUN
nv935140x04	6	17	experiments	experiment	NOUN
nv935140x04	6	18	.	.	PUNCT
nv935140x04	7	1	both	both	PRON
nv935140x04	7	2	open	open	ADJ
nv935140x04	7	3	loop	loop	NOUN
nv935140x04	7	4	and	and	CCONJ
nv935140x04	7	5	closed	closed	ADJ
nv935140x04	7	6	loop	loop	NOUN
nv935140x04	7	7	,	,	PUNCT
nv935140x04	7	8	reconfigurable	reconfigurable	NOUN
nv935140x04	7	9	manipulation	manipulation	NOUN
nv935140x04	7	10	experiments	experiment	NOUN
nv935140x04	7	11	were	be	AUX
nv935140x04	7	12	conducted	conduct	VERB
nv935140x04	7	13	on	on	ADP
nv935140x04	7	14	a	a	DET
nv935140x04	7	15	spherical	spherical	ADJ
nv935140x04	7	16	object	object	NOUN
nv935140x04	7	17	.	.	PUNCT
nv935140x04	8	1	for	for	ADP
nv935140x04	8	2	the	the	DET
nv935140x04	8	3	open	open	ADJ
nv935140x04	8	4	loop	loop	NOUN
nv935140x04	8	5	cases	case	NOUN
nv935140x04	8	6	,	,	PUNCT
nv935140x04	8	7	the	the	DET
nv935140x04	8	8	entire	entire	ADJ
nv935140x04	8	9	trajectory	trajectory	NOUN
nv935140x04	8	10	was	be	AUX
nv935140x04	8	11	computed	compute	VERB
nv935140x04	8	12	offline	offline	ADJ
nv935140x04	8	13	and	and	CCONJ
nv935140x04	8	14	executed	execute	VERB
nv935140x04	8	15	on	on	ADP
nv935140x04	8	16	the	the	DET
nv935140x04	8	17	robots	robot	NOUN
nv935140x04	8	18	as	as	ADP
nv935140x04	8	19	position	position	NOUN
nv935140x04	8	20	commands	command	NOUN
nv935140x04	8	21	to	to	ADP
nv935140x04	8	22	each	each	PRON
nv935140x04	8	23	of	of	ADP
nv935140x04	8	24	the	the	DET
nv935140x04	8	25	joints	joint	NOUN
nv935140x04	8	26	.	.	PUNCT
nv935140x04	9	1	for	for	ADP
nv935140x04	9	2	the	the	DET
nv935140x04	9	3	closed	close	VERB
nv935140x04	9	4	loop	loop	NOUN
nv935140x04	9	5	cases	case	NOUN
nv935140x04	9	6	,	,	PUNCT
nv935140x04	9	7	the	the	DET
nv935140x04	9	8	force	force	NOUN
nv935140x04	9	9	sensors	sensor	NOUN
nv935140x04	9	10	provided	provide	VERB
nv935140x04	9	11	information	information	NOUN
nv935140x04	9	12	to	to	ADP
nv935140x04	9	13	a	a	DET
nv935140x04	9	14	fuzzy	fuzzy	ADJ
nv935140x04	9	15	controller	controller	NOUN
nv935140x04	9	16	which	which	PRON
nv935140x04	9	17	periodically	periodically	ADV
nv935140x04	9	18	checked	check	VERB
nv935140x04	9	19	the	the	DET
nv935140x04	9	20	grasp	grasp	NOUN
nv935140x04	9	21	's	's	PART
nv935140x04	9	22	quality	quality	NOUN
nv935140x04	9	23	.	.	PUNCT
nv935140x04	10	1	the	the	DET
nv935140x04	10	2	force	force	NOUN
nv935140x04	10	3	sensors	sensor	NOUN
nv935140x04	10	4	also	also	ADV
nv935140x04	10	5	updated	update	VERB
nv935140x04	10	6	the	the	DET
nv935140x04	10	7	algorithm	algorithm	NOUN
nv935140x04	10	8	with	with	ADP
nv935140x04	10	9	the	the	DET
nv935140x04	10	10	finger	finger	NOUN
nv935140x04	10	11	's	's	PART
nv935140x04	10	12	contact	contact	NOUN
nv935140x04	10	13	locations	location	NOUN
nv935140x04	10	14	.	.	PUNCT
nv935140x04	11	1	in	in	ADP
nv935140x04	11	2	both	both	DET
nv935140x04	11	3	forms	form	NOUN
nv935140x04	11	4	,	,	PUNCT
nv935140x04	11	5	the	the	DET
nv935140x04	11	6	reconfigurable	reconfigurable	NOUN
nv935140x04	11	7	manipulation	manipulation	NOUN
nv935140x04	11	8	experiments	experiment	NOUN
nv935140x04	11	9	increased	increase	VERB
nv935140x04	11	10	the	the	DET
nv935140x04	11	11	system	system	NOUN
nv935140x04	11	12	's	's	PART
nv935140x04	11	13	workspace	workspace	NOUN
nv935140x04	11	14	over	over	ADP
nv935140x04	11	15	that	that	PRON
nv935140x04	11	16	for	for	ADP
nv935140x04	11	17	fixed	fix	VERB
nv935140x04	11	18	-	-	PUNCT
nv935140x04	11	19	point	point	NOUN
nv935140x04	11	20	manipulation	manipulation	NOUN
nv935140x04	11	21	.	.	PUNCT
nv935140x04	12	1	furthermore	furthermore	ADV
nv935140x04	12	2	,	,	PUNCT
nv935140x04	12	3	the	the	DET
nv935140x04	12	4	closed	close	VERB
nv935140x04	12	5	loop	loop	NOUN
nv935140x04	12	6	system	system	NOUN
nv935140x04	12	7	proved	prove	VERB
nv935140x04	12	8	to	to	PART
nv935140x04	12	9	be	be	AUX
nv935140x04	12	10	more	more	ADV
nv935140x04	12	11	robust	robust	ADJ
nv935140x04	12	12	than	than	ADP
nv935140x04	12	13	the	the	DET
nv935140x04	12	14	open	open	ADJ
nv935140x04	12	15	loop	loop	NOUN
nv935140x04	12	16	system	system	NOUN
nv935140x04	12	17	.	.	PUNCT
nv935140x04	13	1	this	this	PRON
nv935140x04	13	2	was	be	AUX
nv935140x04	13	3	shown	show	VERB
nv935140x04	13	4	by	by	ADP
nv935140x04	13	5	its	its	PRON
nv935140x04	13	6	improved	improved	ADJ
nv935140x04	13	7	repeatability	repeatability	NOUN
nv935140x04	13	8	and	and	CCONJ
nv935140x04	13	9	its	its	PRON
nv935140x04	13	10	improved	improved	ADJ
nv935140x04	13	11	performance	performance	NOUN
nv935140x04	13	12	when	when	SCONJ
nv935140x04	13	13	rotating	rotate	VERB
nv935140x04	13	14	about	about	ADP
nv935140x04	13	15	an	an	DET
nv935140x04	13	16	arbitrary	arbitrary	ADJ
nv935140x04	13	17	axis	axis	NOUN
nv935140x04	13	18	.	.	PUNCT
nv935140x04	14	1	an	an	DET
nv935140x04	14	2	approach	approach	NOUN
nv935140x04	14	3	to	to	ADP
nv935140x04	14	4	switching	switch	VERB
nv935140x04	14	5	between	between	ADP
nv935140x04	14	6	faces	face	NOUN
nv935140x04	14	7	on	on	ADP
nv935140x04	14	8	a	a	DET
nv935140x04	14	9	nonsmooth	nonsmooth	NOUN
nv935140x04	14	10	polygonal	polygonal	ADJ
nv935140x04	14	11	object	object	NOUN
nv935140x04	14	12	while	while	SCONJ
nv935140x04	14	13	lie	lie	NOUN
nv935140x04	14	14	bracketing	bracket	VERB
nv935140x04	14	15	was	be	AUX
nv935140x04	14	16	verified	verify	VERB
nv935140x04	14	17	.	.	PUNCT
nv935140x04	15	1	to	to	PART
nv935140x04	15	2	do	do	AUX
nv935140x04	15	3	this	this	PRON
nv935140x04	15	4	requires	require	VERB
nv935140x04	15	5	discernment	discernment	NOUN
nv935140x04	15	6	of	of	ADP
nv935140x04	15	7	the	the	DET
nv935140x04	15	8	edge	edge	NOUN
nv935140x04	15	9	,	,	PUNCT
nv935140x04	15	10	and	and	CCONJ
nv935140x04	15	11	the	the	DET
nv935140x04	15	12	sensors	sensor	NOUN
nv935140x04	15	13	used	use	VERB
nv935140x04	15	14	were	be	AUX
nv935140x04	15	15	found	find	VERB
nv935140x04	15	16	to	to	PART
nv935140x04	15	17	be	be	AUX
nv935140x04	15	18	adequate	adequate	ADJ
nv935140x04	15	19	for	for	ADP
nv935140x04	15	20	this	this	DET
nv935140x04	15	21	task	task	NOUN
nv935140x04	15	22	.	.	PUNCT
nv935140x04	16	1	in	in	ADP
nv935140x04	16	2	addition	addition	NOUN
nv935140x04	16	3	,	,	PUNCT
nv935140x04	16	4	it	it	PRON
nv935140x04	16	5	was	be	AUX
nv935140x04	16	6	shown	show	VERB
nv935140x04	16	7	that	that	SCONJ
nv935140x04	16	8	end	end	NOUN
nv935140x04	16	9	-	-	PUNCT
nv935140x04	16	10	effectors	effector	NOUN
nv935140x04	16	11	with	with	ADP
nv935140x04	16	12	a	a	DET
nv935140x04	16	13	compliant	compliant	ADJ
nv935140x04	16	14	surface	surface	NOUN
nv935140x04	16	15	could	could	AUX
nv935140x04	16	16	be	be	AUX
nv935140x04	16	17	used	use	VERB
nv935140x04	16	18	to	to	PART
nv935140x04	16	19	grasp	grasp	VERB
nv935140x04	16	20	the	the	DET
nv935140x04	16	21	cube	cube	NOUN
nv935140x04	16	22	on	on	ADP
nv935140x04	16	23	its	its	PRON
nv935140x04	16	24	edges	edge	NOUN
nv935140x04	16	25	as	as	ADP
nv935140x04	16	26	an	an	DET
nv935140x04	16	27	aid	aid	NOUN
nv935140x04	16	28	in	in	ADP
nv935140x04	16	29	manipulation	manipulation	NOUN
nv935140x04	16	30	.	.	PUNCT
nv935140x04	17	1	while	while	SCONJ
nv935140x04	17	2	the	the	DET
nv935140x04	17	3	experiments	experiment	NOUN
nv935140x04	17	4	were	be	AUX
nv935140x04	17	5	successful	successful	ADJ
nv935140x04	17	6	,	,	PUNCT
nv935140x04	17	7	the	the	DET
nv935140x04	17	8	complexity	complexity	NOUN
nv935140x04	17	9	of	of	ADP
nv935140x04	17	10	performing	perform	VERB
nv935140x04	17	11	lie	lie	NOUN
nv935140x04	17	12	bracket	bracket	ADJ
nv935140x04	17	13	motions	motion	NOUN
nv935140x04	17	14	coupled	couple	VERB
nv935140x04	17	15	with	with	ADP
nv935140x04	17	16	the	the	DET
nv935140x04	17	17	small	small	ADJ
nv935140x04	17	18	movements	movement	NOUN
nv935140x04	17	19	they	they	PRON
nv935140x04	17	20	give	give	VERB
nv935140x04	17	21	rise	rise	NOUN
nv935140x04	17	22	to	to	ADP
nv935140x04	17	23	was	be	AUX
nv935140x04	17	24	not	not	PART
nv935140x04	17	25	conducive	conducive	ADJ
nv935140x04	17	26	to	to	ADP
nv935140x04	17	27	manipulations	manipulation	NOUN
nv935140x04	17	28	requiring	require	VERB
nv935140x04	17	29	large	large	ADJ
nv935140x04	17	30	object	object	NOUN
nv935140x04	17	31	displacements	displacement	NOUN
nv935140x04	17	32	.	.	PUNCT
nv935140x04	18	1	however	however	ADV
nv935140x04	18	2	,	,	PUNCT
nv935140x04	18	3	the	the	DET
nv935140x04	18	4	method	method	NOUN
nv935140x04	18	5	would	would	AUX
nv935140x04	18	6	be	be	AUX
nv935140x04	18	7	applicable	applicable	ADJ
nv935140x04	18	8	for	for	ADP
nv935140x04	18	9	fine	fine	ADJ
nv935140x04	18	10	-	-	PUNCT
nv935140x04	18	11	scale	scale	NOUN
nv935140x04	18	12	,	,	PUNCT
nv935140x04	18	13	dextrous	dextrous	ADJ
nv935140x04	18	14	manipulations	manipulation	NOUN
nv935140x04	18	15	.	.	PUNCT