id	sid	tid	token	lemma	pos
q524jm23k2k	1	1	as	as	SCONJ
q524jm23k2k	1	2	robotic	robotic	ADJ
q524jm23k2k	1	3	technology	technology	NOUN
q524jm23k2k	1	4	moves	move	VERB
q524jm23k2k	1	5	out	out	ADP
q524jm23k2k	1	6	of	of	ADP
q524jm23k2k	1	7	factories	factory	NOUN
q524jm23k2k	1	8	and	and	CCONJ
q524jm23k2k	1	9	into	into	ADP
q524jm23k2k	1	10	broader	broad	ADJ
q524jm23k2k	1	11	segments	segment	NOUN
q524jm23k2k	1	12	of	of	ADP
q524jm23k2k	1	13	society	society	NOUN
q524jm23k2k	1	14	,	,	PUNCT
q524jm23k2k	1	15	it	it	PRON
q524jm23k2k	1	16	promises	promise	VERB
q524jm23k2k	1	17	to	to	PART
q524jm23k2k	1	18	support	support	VERB
q524jm23k2k	1	19	a	a	DET
q524jm23k2k	1	20	revolutionary	revolutionary	ADJ
q524jm23k2k	1	21	improvement	improvement	NOUN
q524jm23k2k	1	22	in	in	ADP
q524jm23k2k	1	23	the	the	DET
q524jm23k2k	1	24	general	general	ADJ
q524jm23k2k	1	25	standard	standard	NOUN
q524jm23k2k	1	26	of	of	ADP
q524jm23k2k	1	27	living	living	NOUN
q524jm23k2k	1	28	.	.	PUNCT
q524jm23k2k	2	1	one	one	NUM
q524jm23k2k	2	2	of	of	ADP
q524jm23k2k	2	3	the	the	DET
q524jm23k2k	2	4	largest	large	ADJ
q524jm23k2k	2	5	hurdles	hurdle	NOUN
q524jm23k2k	2	6	to	to	ADP
q524jm23k2k	2	7	this	this	DET
q524jm23k2k	2	8	increased	increase	VERB
q524jm23k2k	2	9	use	use	NOUN
q524jm23k2k	2	10	of	of	ADP
q524jm23k2k	2	11	robotic	robotic	ADJ
q524jm23k2k	2	12	technology	technology	NOUN
q524jm23k2k	2	13	,	,	PUNCT
q524jm23k2k	2	14	however	however	ADV
q524jm23k2k	2	15	,	,	PUNCT
q524jm23k2k	2	16	is	be	AUX
q524jm23k2k	2	17	the	the	DET
q524jm23k2k	2	18	inability	inability	NOUN
q524jm23k2k	2	19	of	of	ADP
q524jm23k2k	2	20	current	current	ADJ
q524jm23k2k	2	21	mobile	mobile	ADJ
q524jm23k2k	2	22	robots	robot	NOUN
q524jm23k2k	2	23	to	to	PART
q524jm23k2k	2	24	negotiate	negotiate	VERB
q524jm23k2k	2	25	difficult	difficult	ADJ
q524jm23k2k	2	26	and	and	CCONJ
q524jm23k2k	2	27	delicate	delicate	ADJ
q524jm23k2k	2	28	terrain	terrain	NOUN
q524jm23k2k	2	29	in	in	ADP
q524jm23k2k	2	30	ways	way	NOUN
q524jm23k2k	2	31	that	that	PRON
q524jm23k2k	2	32	are	be	AUX
q524jm23k2k	2	33	fast	fast	ADJ
q524jm23k2k	2	34	,	,	PUNCT
q524jm23k2k	2	35	efficient	efficient	ADJ
q524jm23k2k	2	36	,	,	PUNCT
q524jm23k2k	2	37	and	and	CCONJ
q524jm23k2k	2	38	safe	safe	ADJ
q524jm23k2k	2	39	.	.	PUNCT
q524jm23k2k	3	1	examples	example	NOUN
q524jm23k2k	3	2	in	in	ADP
q524jm23k2k	3	3	nature	nature	NOUN
q524jm23k2k	3	4	demonstrate	demonstrate	VERB
q524jm23k2k	3	5	the	the	DET
q524jm23k2k	3	6	incredible	incredible	ADJ
q524jm23k2k	3	7	potential	potential	NOUN
q524jm23k2k	3	8	of	of	ADP
q524jm23k2k	3	9	legged	legged	ADJ
q524jm23k2k	3	10	locomotion	locomotion	NOUN
q524jm23k2k	3	11	to	to	PART
q524jm23k2k	3	12	fill	fill	VERB
q524jm23k2k	3	13	this	this	DET
q524jm23k2k	3	14	need	need	NOUN
q524jm23k2k	3	15	,	,	PUNCT
q524jm23k2k	3	16	but	but	CCONJ
q524jm23k2k	3	17	legged	legged	ADJ
q524jm23k2k	3	18	robots	robot	NOUN
q524jm23k2k	3	19	have	have	AUX
q524jm23k2k	3	20	not	not	PART
q524jm23k2k	3	21	yet	yet	ADV
q524jm23k2k	3	22	reached	reach	VERB
q524jm23k2k	3	23	this	this	DET
q524jm23k2k	3	24	level	level	NOUN
q524jm23k2k	3	25	of	of	ADP
q524jm23k2k	3	26	performance	performance	NOUN
q524jm23k2k	3	27	.	.	PUNCT
q524jm23k2k	4	1	this	this	DET
q524jm23k2k	4	2	work	work	NOUN
q524jm23k2k	4	3	moves	move	VERB
q524jm23k2k	4	4	the	the	DET
q524jm23k2k	4	5	field	field	NOUN
q524jm23k2k	4	6	toward	toward	ADP
q524jm23k2k	4	7	a	a	DET
q524jm23k2k	4	8	better	well	ADJ
q524jm23k2k	4	9	understanding	understanding	NOUN
q524jm23k2k	4	10	of	of	ADP
q524jm23k2k	4	11	the	the	DET
q524jm23k2k	4	12	design	design	NOUN
q524jm23k2k	4	13	of	of	ADP
q524jm23k2k	4	14	robust	robust	ADJ
q524jm23k2k	4	15	and	and	CCONJ
q524jm23k2k	4	16	efficient	efficient	ADJ
q524jm23k2k	4	17	legged	legged	ADJ
q524jm23k2k	4	18	robots	robot	NOUN
q524jm23k2k	4	19	by	by	ADP
q524jm23k2k	4	20	exploring	explore	VERB
q524jm23k2k	4	21	the	the	DET
q524jm23k2k	4	22	concept	concept	NOUN
q524jm23k2k	4	23	of	of	ADP
q524jm23k2k	4	24	reaction	reaction	NOUN
q524jm23k2k	4	25	wheel	wheel	NOUN
q524jm23k2k	4	26	actuation	actuation	NOUN
q524jm23k2k	4	27	.	.	PUNCT
q524jm23k2k	5	1	this	this	DET
q524jm23k2k	5	2	concept	concept	NOUN
q524jm23k2k	5	3	consists	consist	VERB
q524jm23k2k	5	4	of	of	ADP
q524jm23k2k	5	5	the	the	DET
q524jm23k2k	5	6	generation	generation	NOUN
q524jm23k2k	5	7	of	of	ADP
q524jm23k2k	5	8	torques	torque	NOUN
q524jm23k2k	5	9	on	on	ADP
q524jm23k2k	5	10	the	the	DET
q524jm23k2k	5	11	robot	robot	NOUN
q524jm23k2k	5	12	's	's	PART
q524jm23k2k	5	13	body	body	NOUN
q524jm23k2k	5	14	via	via	ADP
q524jm23k2k	5	15	a	a	DET
q524jm23k2k	5	16	high	high	ADJ
q524jm23k2k	5	17	efficiency	efficiency	NOUN
q524jm23k2k	5	18	reaction	reaction	NOUN
q524jm23k2k	5	19	wheel	wheel	NOUN
q524jm23k2k	5	20	system	system	NOUN
q524jm23k2k	5	21	(	(	PUNCT
q524jm23k2k	5	22	rws	rws	PROPN
q524jm23k2k	5	23	)	)	PUNCT
q524jm23k2k	5	24	,	,	PUNCT
q524jm23k2k	5	25	which	which	PRON
q524jm23k2k	5	26	operates	operate	VERB
q524jm23k2k	5	27	by	by	ADP
q524jm23k2k	5	28	accelerating	accelerate	VERB
q524jm23k2k	5	29	an	an	DET
q524jm23k2k	5	30	internal	internal	ADJ
q524jm23k2k	5	31	reaction	reaction	NOUN
q524jm23k2k	5	32	mass	mass	PROPN
q524jm23k2k	5	33	.	.	PUNCT
q524jm23k2k	6	1	these	these	DET
q524jm23k2k	6	2	torques	torque	NOUN
q524jm23k2k	6	3	can	can	AUX
q524jm23k2k	6	4	be	be	AUX
q524jm23k2k	6	5	used	use	VERB
q524jm23k2k	6	6	to	to	PART
q524jm23k2k	6	7	both	both	PRON
q524jm23k2k	6	8	improve	improve	VERB
q524jm23k2k	6	9	the	the	DET
q524jm23k2k	6	10	stability	stability	NOUN
q524jm23k2k	6	11	of	of	ADP
q524jm23k2k	6	12	the	the	DET
q524jm23k2k	6	13	robot	robot	NOUN
q524jm23k2k	6	14	and	and	CCONJ
q524jm23k2k	6	15	increase	increase	VERB
q524jm23k2k	6	16	its	its	PRON
q524jm23k2k	6	17	walking	walk	VERB
q524jm23k2k	6	18	efficiency	efficiency	NOUN
q524jm23k2k	6	19	when	when	SCONJ
q524jm23k2k	6	20	used	use	VERB
q524jm23k2k	6	21	in	in	ADP
q524jm23k2k	6	22	a	a	DET
q524jm23k2k	6	23	coordinated	coordinated	ADJ
q524jm23k2k	6	24	manner.due	manner.due	ADJ
q524jm23k2k	6	25	to	to	ADP
q524jm23k2k	6	26	the	the	DET
q524jm23k2k	6	27	complex	complex	ADJ
q524jm23k2k	6	28	multi	multi	ADJ
q524jm23k2k	6	29	-	-	ADJ
q524jm23k2k	6	30	body	body	ADJ
q524jm23k2k	6	31	dynamics	dynamic	NOUN
q524jm23k2k	6	32	of	of	ADP
q524jm23k2k	6	33	these	these	DET
q524jm23k2k	6	34	systems	system	NOUN
q524jm23k2k	6	35	,	,	PUNCT
q524jm23k2k	6	36	the	the	DET
q524jm23k2k	6	37	effect	effect	NOUN
q524jm23k2k	6	38	of	of	ADP
q524jm23k2k	6	39	design	design	NOUN
q524jm23k2k	6	40	changes	change	NOUN
q524jm23k2k	6	41	on	on	ADP
q524jm23k2k	6	42	a	a	DET
q524jm23k2k	6	43	given	give	VERB
q524jm23k2k	6	44	performance	performance	NOUN
q524jm23k2k	6	45	metric	metric	NOUN
q524jm23k2k	6	46	are	be	AUX
q524jm23k2k	6	47	difficult	difficult	ADJ
q524jm23k2k	6	48	to	to	PART
q524jm23k2k	6	49	estimate	estimate	VERB
q524jm23k2k	6	50	.	.	PUNCT
q524jm23k2k	7	1	full	full	ADJ
q524jm23k2k	7	2	body	body	NOUN
q524jm23k2k	7	3	trajectory	trajectory	NOUN
q524jm23k2k	7	4	optimization	optimization	NOUN
q524jm23k2k	7	5	via	via	ADP
q524jm23k2k	7	6	direct	direct	ADJ
q524jm23k2k	7	7	transcription	transcription	NOUN
q524jm23k2k	7	8	was	be	AUX
q524jm23k2k	7	9	employed	employ	VERB
q524jm23k2k	7	10	as	as	SCONJ
q524jm23k2k	7	11	the	the	DET
q524jm23k2k	7	12	primary	primary	ADJ
q524jm23k2k	7	13	tool	tool	NOUN
q524jm23k2k	7	14	to	to	PART
q524jm23k2k	7	15	better	well	ADV
q524jm23k2k	7	16	understand	understand	VERB
q524jm23k2k	7	17	the	the	DET
q524jm23k2k	7	18	role	role	NOUN
q524jm23k2k	7	19	that	that	PRON
q524jm23k2k	7	20	an	an	DET
q524jm23k2k	7	21	rws	rws	NOUN
q524jm23k2k	7	22	can	can	AUX
q524jm23k2k	7	23	play	play	VERB
q524jm23k2k	7	24	in	in	ADP
q524jm23k2k	7	25	bipedal	bipedal	ADJ
q524jm23k2k	7	26	locomotion	locomotion	NOUN
q524jm23k2k	7	27	.	.	PUNCT
q524jm23k2k	8	1	the	the	DET
q524jm23k2k	8	2	five	five	NUM
q524jm23k2k	8	3	-	-	PUNCT
q524jm23k2k	8	4	link	link	NOUN
q524jm23k2k	8	5	planar	planar	ADJ
q524jm23k2k	8	6	biped	biped	ADJ
q524jm23k2k	8	7	ernie	ernie	NOUN
q524jm23k2k	8	8	was	be	AUX
q524jm23k2k	8	9	used	use	VERB
q524jm23k2k	8	10	as	as	ADP
q524jm23k2k	8	11	a	a	DET
q524jm23k2k	8	12	basis	basis	NOUN
q524jm23k2k	8	13	for	for	ADP
q524jm23k2k	8	14	this	this	DET
q524jm23k2k	8	15	analysis	analysis	NOUN
q524jm23k2k	8	16	.	.	PUNCT
q524jm23k2k	9	1	combined	combine	VERB
q524jm23k2k	9	2	with	with	ADP
q524jm23k2k	9	3	a	a	DET
q524jm23k2k	9	4	model	model	NOUN
q524jm23k2k	9	5	of	of	ADP
q524jm23k2k	9	6	motor	motor	NOUN
q524jm23k2k	9	7	and	and	CCONJ
q524jm23k2k	9	8	gear	gear	NOUN
q524jm23k2k	9	9	losses	loss	NOUN
q524jm23k2k	9	10	,	,	PUNCT
q524jm23k2k	9	11	this	this	PRON
q524jm23k2k	9	12	allowed	allow	VERB
q524jm23k2k	9	13	energetic	energetic	ADJ
q524jm23k2k	9	14	comparisons	comparison	NOUN
q524jm23k2k	9	15	between	between	ADP
q524jm23k2k	9	16	a	a	DET
q524jm23k2k	9	17	baseline	baseline	ADJ
q524jm23k2k	9	18	ernie	ernie	NOUN
q524jm23k2k	9	19	model	model	NOUN
q524jm23k2k	9	20	and	and	CCONJ
q524jm23k2k	9	21	hypothetical	hypothetical	ADJ
q524jm23k2k	9	22	rws	rws	NOUN
q524jm23k2k	9	23	-	-	PUNCT
q524jm23k2k	9	24	equipped	equip	VERB
q524jm23k2k	9	25	versions	version	NOUN
q524jm23k2k	9	26	.	.	PUNCT
q524jm23k2k	10	1	this	this	PRON
q524jm23k2k	10	2	showed	show	VERB
q524jm23k2k	10	3	for	for	ADP
q524jm23k2k	10	4	the	the	DET
q524jm23k2k	10	5	first	first	ADJ
q524jm23k2k	10	6	time	time	NOUN
q524jm23k2k	10	7	that	that	PRON
q524jm23k2k	10	8	a	a	DET
q524jm23k2k	10	9	correctly	correctly	ADV
q524jm23k2k	10	10	designed	design	VERB
q524jm23k2k	10	11	rws	rws	NOUN
q524jm23k2k	10	12	,	,	PUNCT
q524jm23k2k	10	13	requiring	require	VERB
q524jm23k2k	10	14	only	only	ADV
q524jm23k2k	10	15	a	a	DET
q524jm23k2k	10	16	modestly	modestly	ADV
q524jm23k2k	10	17	sized	sized	ADJ
q524jm23k2k	10	18	reaction	reaction	NOUN
q524jm23k2k	10	19	wheel	wheel	NOUN
q524jm23k2k	10	20	and	and	CCONJ
q524jm23k2k	10	21	a	a	DET
q524jm23k2k	10	22	motor	motor	NOUN
q524jm23k2k	10	23	with	with	ADP
q524jm23k2k	10	24	minimal	minimal	ADJ
q524jm23k2k	10	25	gear	gear	NOUN
q524jm23k2k	10	26	loss	loss	NOUN
q524jm23k2k	10	27	,	,	PUNCT
q524jm23k2k	10	28	can	can	AUX
q524jm23k2k	10	29	lead	lead	VERB
q524jm23k2k	10	30	to	to	ADP
q524jm23k2k	10	31	improved	improve	VERB
q524jm23k2k	10	32	walking	walk	VERB
q524jm23k2k	10	33	efficiency	efficiency	NOUN
q524jm23k2k	10	34	.	.	PUNCT
q524jm23k2k	11	1	extensive	extensive	ADJ
q524jm23k2k	11	2	optimization	optimization	NOUN
q524jm23k2k	11	3	over	over	ADP
q524jm23k2k	11	4	the	the	DET
q524jm23k2k	11	5	full	full	ADJ
q524jm23k2k	11	6	operational	operational	ADJ
q524jm23k2k	11	7	walking	walking	NOUN
q524jm23k2k	11	8	range	range	NOUN
q524jm23k2k	11	9	showed	show	VERB
q524jm23k2k	11	10	that	that	SCONJ
q524jm23k2k	11	11	a	a	DET
q524jm23k2k	11	12	reasonably	reasonably	ADV
q524jm23k2k	11	13	sized	sized	ADJ
q524jm23k2k	11	14	rws	rws	NOUN
q524jm23k2k	11	15	with	with	ADP
q524jm23k2k	11	16	realistic	realistic	ADJ
q524jm23k2k	11	17	levels	level	NOUN
q524jm23k2k	11	18	of	of	ADP
q524jm23k2k	11	19	regenerative	regenerative	ADJ
q524jm23k2k	11	20	efficiency	efficiency	NOUN
q524jm23k2k	11	21	can	can	AUX
q524jm23k2k	11	22	improve	improve	VERB
q524jm23k2k	11	23	walking	walk	VERB
q524jm23k2k	11	24	efficiency	efficiency	NOUN
q524jm23k2k	11	25	by	by	ADP
q524jm23k2k	11	26	5	5	NUM
q524jm23k2k	11	27	-	-	SYM
q524jm23k2k	11	28	10	10	NUM
q524jm23k2k	11	29	%	%	NOUN
q524jm23k2k	11	30	over	over	ADP
q524jm23k2k	11	31	most	most	ADJ
q524jm23k2k	11	32	gaits	gait	NOUN
q524jm23k2k	11	33	.	.	PUNCT
q524jm23k2k	12	1	comparison	comparison	NOUN
q524jm23k2k	12	2	of	of	ADP
q524jm23k2k	12	3	resulting	result	VERB
q524jm23k2k	12	4	gaits	gait	NOUN
q524jm23k2k	12	5	revealed	reveal	VERB
q524jm23k2k	12	6	that	that	SCONJ
q524jm23k2k	12	7	optimal	optimal	ADJ
q524jm23k2k	12	8	rws	rws	NOUN
q524jm23k2k	12	9	use	use	NOUN
q524jm23k2k	12	10	leads	lead	VERB
q524jm23k2k	12	11	to	to	ADP
q524jm23k2k	12	12	better	well	ADJ
q524jm23k2k	12	13	centroidal	centroidal	PROPN
q524jm23k2k	12	14	momentum	momentum	NOUN
q524jm23k2k	12	15	regulation	regulation	NOUN
q524jm23k2k	12	16	,	,	PUNCT
q524jm23k2k	12	17	which	which	PRON
q524jm23k2k	12	18	in	in	ADP
q524jm23k2k	12	19	turn	turn	NOUN
q524jm23k2k	12	20	reduces	reduce	VERB
q524jm23k2k	12	21	loads	load	NOUN
q524jm23k2k	12	22	on	on	ADP
q524jm23k2k	12	23	joint	joint	ADJ
q524jm23k2k	12	24	motors	motor	NOUN
q524jm23k2k	12	25	in	in	ADP
q524jm23k2k	12	26	the	the	DET
q524jm23k2k	12	27	legs	leg	NOUN
q524jm23k2k	12	28	.	.	PUNCT
q524jm23k2k	13	1	simulations	simulation	NOUN
q524jm23k2k	13	2	of	of	ADP
q524jm23k2k	13	3	the	the	DET
q524jm23k2k	13	4	ernie	ernie	NOUN
q524jm23k2k	13	5	model	model	NOUN
q524jm23k2k	13	6	under	under	ADP
q524jm23k2k	13	7	virtual	virtual	ADJ
q524jm23k2k	13	8	constraint	constraint	NOUN
q524jm23k2k	13	9	control	control	NOUN
q524jm23k2k	13	10	verified	verify	VERB
q524jm23k2k	13	11	these	these	DET
q524jm23k2k	13	12	results	result	NOUN
q524jm23k2k	13	13	.	.	PUNCT
q524jm23k2k	14	1	for	for	ADP
q524jm23k2k	14	2	validation	validation	NOUN
q524jm23k2k	14	3	,	,	PUNCT
q524jm23k2k	14	4	an	an	DET
q524jm23k2k	14	5	experimental	experimental	ADJ
q524jm23k2k	14	6	reaction	reaction	NOUN
q524jm23k2k	14	7	wheel	wheel	NOUN
q524jm23k2k	14	8	system	system	NOUN
q524jm23k2k	14	9	was	be	AUX
q524jm23k2k	14	10	constructed	construct	VERB
q524jm23k2k	14	11	and	and	CCONJ
q524jm23k2k	14	12	attached	attach	VERB
q524jm23k2k	14	13	to	to	ADP
q524jm23k2k	14	14	the	the	DET
q524jm23k2k	14	15	ernie	ernie	NOUN
q524jm23k2k	14	16	biped	biped	NOUN
q524jm23k2k	14	17	.	.	PUNCT
q524jm23k2k	15	1	walking	walk	VERB
q524jm23k2k	15	2	experiments	experiment	NOUN
q524jm23k2k	15	3	with	with	ADP
q524jm23k2k	15	4	ernie	ernie	NOUN
q524jm23k2k	15	5	demonstrated	demonstrate	VERB
q524jm23k2k	15	6	a	a	DET
q524jm23k2k	15	7	measurable	measurable	ADJ
q524jm23k2k	15	8	improvement	improvement	NOUN
q524jm23k2k	15	9	in	in	ADP
q524jm23k2k	15	10	walking	walk	VERB
q524jm23k2k	15	11	efficiency	efficiency	NOUN
q524jm23k2k	15	12	for	for	ADP
q524jm23k2k	15	13	gaits	gait	NOUN
q524jm23k2k	15	14	that	that	PRON
q524jm23k2k	15	15	utilize	utilize	VERB
q524jm23k2k	15	16	the	the	DET
q524jm23k2k	15	17	rws	rws	NOUN
q524jm23k2k	15	18	,	,	PUNCT
q524jm23k2k	15	19	corroborating	corroborate	VERB
q524jm23k2k	15	20	the	the	DET
q524jm23k2k	15	21	results	result	NOUN
q524jm23k2k	15	22	from	from	ADP
q524jm23k2k	15	23	both	both	DET
q524jm23k2k	15	24	optimization	optimization	NOUN
q524jm23k2k	15	25	and	and	CCONJ
q524jm23k2k	15	26	simulation	simulation	NOUN
q524jm23k2k	15	27	.	.	PUNCT
q524jm23k2k	16	1	for	for	ADP
q524jm23k2k	16	2	periodic	periodic	ADJ
q524jm23k2k	16	3	walking	walking	NOUN
q524jm23k2k	16	4	,	,	PUNCT
q524jm23k2k	16	5	optimization	optimization	NOUN
q524jm23k2k	16	6	results	result	NOUN
q524jm23k2k	16	7	showed	show	VERB
q524jm23k2k	16	8	that	that	SCONJ
q524jm23k2k	16	9	near	near	ADP
q524jm23k2k	16	10	regions	region	NOUN
q524jm23k2k	16	11	of	of	ADP
q524jm23k2k	16	12	marginal	marginal	ADJ
q524jm23k2k	16	13	dynamic	dynamic	ADJ
q524jm23k2k	16	14	feasibility	feasibility	NOUN
q524jm23k2k	16	15	,	,	PUNCT
q524jm23k2k	16	16	reaction	reaction	NOUN
q524jm23k2k	16	17	wheels	wheel	NOUN
q524jm23k2k	16	18	can	can	AUX
q524jm23k2k	16	19	lead	lead	VERB
q524jm23k2k	16	20	to	to	ADP
q524jm23k2k	16	21	much	much	ADV
q524jm23k2k	16	22	larger	large	ADJ
q524jm23k2k	16	23	efficiency	efficiency	NOUN
q524jm23k2k	16	24	gains	gain	NOUN
q524jm23k2k	16	25	than	than	ADP
q524jm23k2k	16	26	in	in	ADP
q524jm23k2k	16	27	more	more	ADV
q524jm23k2k	16	28	typical	typical	ADJ
q524jm23k2k	16	29	operating	operating	NOUN
q524jm23k2k	16	30	conditions	condition	NOUN
q524jm23k2k	16	31	.	.	PUNCT
q524jm23k2k	17	1	rws	rws	NOUN
q524jm23k2k	17	2	use	use	NOUN
q524jm23k2k	17	3	also	also	ADV
q524jm23k2k	17	4	expands	expand	VERB
q524jm23k2k	17	5	the	the	DET
q524jm23k2k	17	6	range	range	NOUN
q524jm23k2k	17	7	of	of	ADP
q524jm23k2k	17	8	dynamically	dynamically	ADV
q524jm23k2k	17	9	feasible	feasible	ADJ
q524jm23k2k	17	10	motions	motion	NOUN
q524jm23k2k	17	11	.	.	PUNCT
q524jm23k2k	18	1	in	in	ADP
q524jm23k2k	18	2	aperiodic	aperiodic	ADJ
q524jm23k2k	18	3	motions	motion	NOUN
q524jm23k2k	18	4	such	such	ADJ
q524jm23k2k	18	5	as	as	ADP
q524jm23k2k	18	6	speed	speed	NOUN
q524jm23k2k	18	7	and	and	CCONJ
q524jm23k2k	18	8	step	step	NOUN
q524jm23k2k	18	9	length	length	NOUN
q524jm23k2k	18	10	changes	change	NOUN
q524jm23k2k	18	11	,	,	PUNCT
q524jm23k2k	18	12	rws	rws	NOUN
q524jm23k2k	18	13	use	use	NOUN
q524jm23k2k	18	14	is	be	AUX
q524jm23k2k	18	15	similarly	similarly	ADV
q524jm23k2k	18	16	beneficial	beneficial	ADJ
q524jm23k2k	18	17	,	,	PUNCT
q524jm23k2k	18	18	with	with	ADP
q524jm23k2k	18	19	significant	significant	ADJ
q524jm23k2k	18	20	efficiency	efficiency	NOUN
q524jm23k2k	18	21	gains	gain	NOUN
q524jm23k2k	18	22	in	in	ADP
q524jm23k2k	18	23	very	very	ADV
q524jm23k2k	18	24	demanding	demanding	ADJ
q524jm23k2k	18	25	motions	motion	NOUN
q524jm23k2k	18	26	and	and	CCONJ
q524jm23k2k	18	27	expanded	expand	VERB
q524jm23k2k	18	28	dynamic	dynamic	ADJ
q524jm23k2k	18	29	feasibility	feasibility	NOUN
q524jm23k2k	18	30	.	.	PUNCT
q524jm23k2k	19	1	for	for	ADP
q524jm23k2k	19	2	large	large	ADJ
q524jm23k2k	19	3	,	,	PUNCT
q524jm23k2k	19	4	single	single	ADJ
q524jm23k2k	19	5	-	-	PUNCT
q524jm23k2k	19	6	step	step	NOUN
q524jm23k2k	19	7	changes	change	NOUN
q524jm23k2k	19	8	of	of	ADP
q524jm23k2k	19	9	speed	speed	NOUN
q524jm23k2k	19	10	,	,	PUNCT
q524jm23k2k	19	11	the	the	DET
q524jm23k2k	19	12	rws	rws	NOUN
q524jm23k2k	19	13	can	can	AUX
q524jm23k2k	19	14	improve	improve	VERB
q524jm23k2k	19	15	efficiency	efficiency	NOUN
q524jm23k2k	19	16	by	by	ADP
q524jm23k2k	19	17	as	as	ADV
q524jm23k2k	19	18	much	much	ADJ
q524jm23k2k	19	19	as	as	ADP
q524jm23k2k	19	20	60	60	NUM
q524jm23k2k	19	21	%	%	NOUN
q524jm23k2k	19	22	.	.	PUNCT
q524jm23k2k	20	1	when	when	SCONJ
q524jm23k2k	20	2	transitions	transition	NOUN
q524jm23k2k	20	3	are	be	AUX
q524jm23k2k	20	4	executed	execute	VERB
q524jm23k2k	20	5	over	over	ADP
q524jm23k2k	20	6	longer	long	ADJ
q524jm23k2k	20	7	,	,	PUNCT
q524jm23k2k	20	8	multi	multi	ADJ
q524jm23k2k	20	9	-	-	ADJ
q524jm23k2k	20	10	step	step	NOUN
q524jm23k2k	20	11	duration	duration	NOUN
q524jm23k2k	20	12	,	,	PUNCT
q524jm23k2k	20	13	rws	rws	NOUN
q524jm23k2k	20	14	use	use	NOUN
q524jm23k2k	20	15	provides	provide	VERB
q524jm23k2k	20	16	benefits	benefit	NOUN
q524jm23k2k	20	17	similar	similar	ADJ
q524jm23k2k	20	18	to	to	ADP
q524jm23k2k	20	19	those	those	PRON
q524jm23k2k	20	20	seen	see	VERB
q524jm23k2k	20	21	in	in	ADP
q524jm23k2k	20	22	periodic	periodic	ADJ
q524jm23k2k	20	23	walking.the	walking.the	DET
q524jm23k2k	20	24	potential	potential	ADJ
q524jm23k2k	20	25	role	role	NOUN
q524jm23k2k	20	26	of	of	ADP
q524jm23k2k	20	27	reaction	reaction	NOUN
q524jm23k2k	20	28	wheels	wheel	NOUN
q524jm23k2k	20	29	in	in	ADP
q524jm23k2k	20	30	improving	improve	VERB
q524jm23k2k	20	31	balance	balance	NOUN
q524jm23k2k	20	32	was	be	AUX
q524jm23k2k	20	33	also	also	ADV
q524jm23k2k	20	34	examined	examine	VERB
q524jm23k2k	20	35	.	.	PUNCT
q524jm23k2k	21	1	design	design	NOUN
q524jm23k2k	21	2	principles	principle	NOUN
q524jm23k2k	21	3	for	for	ADP
q524jm23k2k	21	4	efficient	efficient	ADJ
q524jm23k2k	21	5	rws	rws	NOUN
q524jm23k2k	21	6	stabilization	stabilization	NOUN
q524jm23k2k	21	7	were	be	AUX
q524jm23k2k	21	8	derived	derive	VERB
q524jm23k2k	21	9	by	by	ADP
q524jm23k2k	21	10	combining	combine	VERB
q524jm23k2k	21	11	rws	rws	NOUN
q524jm23k2k	21	12	-	-	PUNCT
q524jm23k2k	21	13	based	base	VERB
q524jm23k2k	21	14	balance	balance	NOUN
q524jm23k2k	21	15	controllers	controller	NOUN
q524jm23k2k	21	16	with	with	ADP
q524jm23k2k	21	17	accurate	accurate	ADJ
q524jm23k2k	21	18	gear	gear	NOUN
q524jm23k2k	21	19	and	and	CCONJ
q524jm23k2k	21	20	motor	motor	NOUN
q524jm23k2k	21	21	models	model	NOUN
q524jm23k2k	21	22	.	.	PUNCT
q524jm23k2k	22	1	stabilization	stabilization	NOUN
q524jm23k2k	22	2	generally	generally	ADV
q524jm23k2k	22	3	demands	demand	VERB
q524jm23k2k	22	4	more	more	ADJ
q524jm23k2k	22	5	rws	rws	NOUN
q524jm23k2k	22	6	torque	torque	NOUN
q524jm23k2k	22	7	than	than	ADP
q524jm23k2k	22	8	steady	steady	ADJ
q524jm23k2k	22	9	state	state	NOUN
q524jm23k2k	22	10	walking	walking	NOUN
q524jm23k2k	22	11	,	,	PUNCT
q524jm23k2k	22	12	but	but	CCONJ
q524jm23k2k	22	13	still	still	ADV
q524jm23k2k	22	14	favors	favor	VERB
q524jm23k2k	22	15	relatively	relatively	ADV
q524jm23k2k	22	16	light	light	ADJ
q524jm23k2k	22	17	gearing	gear	VERB
q524jm23k2k	22	18	in	in	ADP
q524jm23k2k	22	19	order	order	NOUN
q524jm23k2k	22	20	to	to	PART
q524jm23k2k	22	21	minimize	minimize	VERB
q524jm23k2k	22	22	gear	gear	NOUN
q524jm23k2k	22	23	loss	loss	NOUN
q524jm23k2k	22	24	and	and	CCONJ
q524jm23k2k	22	25	maximize	maximize	VERB
q524jm23k2k	22	26	momentum	momentum	NOUN
q524jm23k2k	22	27	storage	storage	NOUN
q524jm23k2k	22	28	potential	potential	NOUN
q524jm23k2k	22	29	.	.	PUNCT
q524jm23k2k	23	1	a	a	DET
q524jm23k2k	23	2	task	task	NOUN
q524jm23k2k	23	3	space	space	NOUN
q524jm23k2k	23	4	controller	controller	NOUN
q524jm23k2k	23	5	for	for	ADP
q524jm23k2k	23	6	underactuated	underactuated	ADJ
q524jm23k2k	23	7	balancing	balancing	NOUN
q524jm23k2k	23	8	was	be	AUX
q524jm23k2k	23	9	developed	develop	VERB
q524jm23k2k	23	10	to	to	PART
q524jm23k2k	23	11	compare	compare	VERB
q524jm23k2k	23	12	baseline	baseline	NOUN
q524jm23k2k	23	13	and	and	CCONJ
q524jm23k2k	23	14	rws	rws	NOUN
q524jm23k2k	23	15	-	-	PUNCT
q524jm23k2k	23	16	equipped	equip	VERB
q524jm23k2k	23	17	bipeds	biped	NOUN
q524jm23k2k	23	18	in	in	ADP
q524jm23k2k	23	19	terms	term	NOUN
q524jm23k2k	23	20	of	of	ADP
q524jm23k2k	23	21	balance	balance	NOUN
q524jm23k2k	23	22	performance	performance	NOUN
q524jm23k2k	23	23	.	.	PUNCT
q524jm23k2k	24	1	while	while	SCONJ
q524jm23k2k	24	2	the	the	DET
q524jm23k2k	24	3	rws	rws	NOUN
q524jm23k2k	24	4	-	-	PUNCT
q524jm23k2k	24	5	equipped	equip	VERB
q524jm23k2k	24	6	biped	biped	NOUN
q524jm23k2k	24	7	was	be	AUX
q524jm23k2k	24	8	able	able	ADJ
q524jm23k2k	24	9	to	to	PART
q524jm23k2k	24	10	balance	balance	VERB
q524jm23k2k	24	11	and	and	CCONJ
q524jm23k2k	24	12	reject	reject	VERB
q524jm23k2k	24	13	large	large	ADJ
q524jm23k2k	24	14	disturbances	disturbance	NOUN
q524jm23k2k	24	15	,	,	PUNCT
q524jm23k2k	24	16	the	the	DET
q524jm23k2k	24	17	baseline	baseline	ADJ
q524jm23k2k	24	18	biped	biped	NOUN
q524jm23k2k	24	19	was	be	AUX
q524jm23k2k	24	20	only	only	ADV
q524jm23k2k	24	21	able	able	ADJ
q524jm23k2k	24	22	to	to	PART
q524jm23k2k	24	23	balance	balance	VERB
q524jm23k2k	24	24	for	for	ADP
q524jm23k2k	24	25	short	short	ADJ
q524jm23k2k	24	26	periods	period	NOUN
q524jm23k2k	24	27	of	of	ADP
q524jm23k2k	24	28	time	time	NOUN
q524jm23k2k	24	29	.	.	PUNCT