id	sid	tid	token	lemma	pos
sn009w06p6z	1	1	nature	nature	NOUN
sn009w06p6z	1	2	provides	provide	VERB
sn009w06p6z	1	3	exceptional	exceptional	ADJ
sn009w06p6z	1	4	examples	example	NOUN
sn009w06p6z	1	5	of	of	ADP
sn009w06p6z	1	6	the	the	DET
sn009w06p6z	1	7	mobility	mobility	NOUN
sn009w06p6z	1	8	and	and	CCONJ
sn009w06p6z	1	9	dexterity	dexterity	NOUN
sn009w06p6z	1	10	capabilities	capability	NOUN
sn009w06p6z	1	11	of	of	ADP
sn009w06p6z	1	12	animals	animal	NOUN
sn009w06p6z	1	13	.	.	PUNCT
sn009w06p6z	2	1	from	from	ADP
sn009w06p6z	2	2	cheetahs	cheetah	NOUN
sn009w06p6z	2	3	running	run	VERB
sn009w06p6z	2	4	at	at	ADP
sn009w06p6z	2	5	top	top	ADJ
sn009w06p6z	2	6	speeds	speed	NOUN
sn009w06p6z	2	7	of	of	ADP
sn009w06p6z	2	8	130	130	NUM
sn009w06p6z	2	9	kph	kph	NOUN
sn009w06p6z	2	10	to	to	ADP
sn009w06p6z	2	11	giant	giant	ADJ
sn009w06p6z	2	12	squids	squid	NOUN
sn009w06p6z	2	13	with	with	ADP
sn009w06p6z	2	14	over	over	ADP
sn009w06p6z	2	15	five	five	NUM
sn009w06p6z	2	16	-	-	PUNCT
sn009w06p6z	2	17	meter	meter	NOUN
sn009w06p6z	2	18	tentacles	tentacle	NOUN
sn009w06p6z	2	19	hunting	hunt	VERB
sn009w06p6z	2	20	at	at	ADP
sn009w06p6z	2	21	extreme	extreme	ADJ
sn009w06p6z	2	22	ocean	ocean	NOUN
sn009w06p6z	2	23	depths	depths	PROPN
sn009w06p6z	2	24	,	,	PUNCT
sn009w06p6z	2	25	evolution	evolution	NOUN
sn009w06p6z	2	26	and	and	CCONJ
sn009w06p6z	2	27	time	time	NOUN
sn009w06p6z	2	28	have	have	AUX
sn009w06p6z	2	29	enabled	enable	VERB
sn009w06p6z	2	30	animals	animal	NOUN
sn009w06p6z	2	31	to	to	PART
sn009w06p6z	2	32	navigate	navigate	VERB
sn009w06p6z	2	33	their	their	PRON
sn009w06p6z	2	34	habitats	habitat	NOUN
sn009w06p6z	2	35	through	through	ADP
sn009w06p6z	2	36	an	an	DET
sn009w06p6z	2	37	almost	almost	ADV
sn009w06p6z	2	38	effortless	effortless	ADJ
sn009w06p6z	2	39	interplay	interplay	NOUN
sn009w06p6z	2	40	with	with	ADP
sn009w06p6z	2	41	the	the	DET
sn009w06p6z	2	42	surrounding	surround	VERB
sn009w06p6z	2	43	environment	environment	NOUN
sn009w06p6z	2	44	.	.	PUNCT
sn009w06p6z	3	1	it	it	PRON
sn009w06p6z	3	2	is	be	AUX
sn009w06p6z	3	3	that	that	PRON
sn009w06p6z	3	4	,	,	PUNCT
sn009w06p6z	3	5	for	for	ADP
sn009w06p6z	3	6	animals	animal	NOUN
sn009w06p6z	3	7	,	,	PUNCT
sn009w06p6z	3	8	the	the	DET
sn009w06p6z	3	9	ability	ability	NOUN
sn009w06p6z	3	10	to	to	PART
sn009w06p6z	3	11	move	move	VERB
sn009w06p6z	3	12	through	through	ADP
sn009w06p6z	3	13	the	the	DET
sn009w06p6z	3	14	world	world	NOUN
sn009w06p6z	3	15	is	be	AUX
sn009w06p6z	3	16	intrinsic	intrinsic	ADJ
sn009w06p6z	3	17	to	to	ADP
sn009w06p6z	3	18	the	the	DET
sn009w06p6z	3	19	design	design	NOUN
sn009w06p6z	3	20	of	of	ADP
sn009w06p6z	3	21	their	their	PRON
sn009w06p6z	3	22	bodies	body	NOUN
sn009w06p6z	3	23	and	and	CCONJ
sn009w06p6z	3	24	brains	brain	NOUN
sn009w06p6z	3	25	,	,	PUNCT
sn009w06p6z	3	26	which	which	PRON
sn009w06p6z	3	27	have	have	AUX
sn009w06p6z	3	28	evolved	evolve	VERB
sn009w06p6z	3	29	in	in	ADP
sn009w06p6z	3	30	unison	unison	NOUN
sn009w06p6z	3	31	to	to	PART
sn009w06p6z	3	32	achieve	achieve	VERB
sn009w06p6z	3	33	energy	energy	NOUN
sn009w06p6z	3	34	efficiency	efficiency	NOUN
sn009w06p6z	3	35	and	and	CCONJ
sn009w06p6z	3	36	robustness	robustness	NOUN
sn009w06p6z	3	37	to	to	ADP
sn009w06p6z	3	38	unexpected	unexpected	ADJ
sn009w06p6z	3	39	events	event	NOUN
sn009w06p6z	3	40	.	.	PUNCT
sn009w06p6z	4	1	the	the	DET
sn009w06p6z	4	2	role	role	NOUN
sn009w06p6z	4	3	of	of	ADP
sn009w06p6z	4	4	the	the	DET
sn009w06p6z	4	5	passive	passive	ADJ
sn009w06p6z	4	6	dynamics	dynamic	NOUN
sn009w06p6z	4	7	of	of	ADP
sn009w06p6z	4	8	the	the	DET
sn009w06p6z	4	9	body	body	NOUN
sn009w06p6z	4	10	in	in	ADP
sn009w06p6z	4	11	biological	biological	ADJ
sn009w06p6z	4	12	locomotion	locomotion	NOUN
sn009w06p6z	4	13	is	be	AUX
sn009w06p6z	4	14	envisioned	envision	VERB
sn009w06p6z	4	15	as	as	ADP
sn009w06p6z	4	16	a	a	DET
sn009w06p6z	4	17	form	form	NOUN
sn009w06p6z	4	18	of	of	ADP
sn009w06p6z	4	19	embodied	embody	VERB
sn009w06p6z	4	20	intelligence	intelligence	NOUN
sn009w06p6z	4	21	triggered	trigger	VERB
sn009w06p6z	4	22	by	by	ADP
sn009w06p6z	4	23	physical	physical	ADJ
sn009w06p6z	4	24	interaction	interaction	NOUN
sn009w06p6z	4	25	with	with	ADP
sn009w06p6z	4	26	the	the	DET
sn009w06p6z	4	27	world	world	NOUN
sn009w06p6z	4	28	.	.	PUNCT
sn009w06p6z	5	1	this	this	DET
sn009w06p6z	5	2	dissertation	dissertation	NOUN
sn009w06p6z	5	3	aims	aim	VERB
sn009w06p6z	5	4	to	to	PART
sn009w06p6z	5	5	contribute	contribute	VERB
sn009w06p6z	5	6	toward	toward	ADP
sn009w06p6z	5	7	the	the	DET
sn009w06p6z	5	8	design	design	NOUN
sn009w06p6z	5	9	of	of	ADP
sn009w06p6z	5	10	legged	legged	ADJ
sn009w06p6z	5	11	robots	robot	NOUN
sn009w06p6z	5	12	embodied	embody	VERB
sn009w06p6z	5	13	with	with	ADP
sn009w06p6z	5	14	mechanical	mechanical	ADJ
sn009w06p6z	5	15	intelligence	intelligence	NOUN
sn009w06p6z	5	16	via	via	ADP
sn009w06p6z	5	17	the	the	DET
sn009w06p6z	5	18	concurrent	concurrent	ADJ
sn009w06p6z	5	19	design	design	NOUN
sn009w06p6z	5	20	(	(	PUNCT
sn009w06p6z	5	21	co	co	NOUN
sn009w06p6z	5	22	-	-	NOUN
sn009w06p6z	5	23	design	design	NOUN
sn009w06p6z	5	24	)	)	PUNCT
sn009w06p6z	5	25	of	of	ADP
sn009w06p6z	5	26	their	their	PRON
sn009w06p6z	5	27	mechanical	mechanical	ADJ
sn009w06p6z	5	28	and	and	CCONJ
sn009w06p6z	5	29	control	control	NOUN
sn009w06p6z	5	30	systems	system	NOUN
sn009w06p6z	5	31	.	.	PUNCT
sn009w06p6z	6	1	the	the	DET
sn009w06p6z	6	2	challenge	challenge	NOUN
sn009w06p6z	6	3	for	for	ADP
sn009w06p6z	6	4	the	the	DET
sn009w06p6z	6	5	design	design	NOUN
sn009w06p6z	6	6	of	of	ADP
sn009w06p6z	6	7	legged	legged	ADJ
sn009w06p6z	6	8	robots	robot	NOUN
sn009w06p6z	6	9	is	be	AUX
sn009w06p6z	6	10	on	on	ADP
sn009w06p6z	6	11	achieving	achieve	VERB
sn009w06p6z	6	12	a	a	DET
sn009w06p6z	6	13	synergy	synergy	NOUN
sn009w06p6z	6	14	between	between	ADP
sn009w06p6z	6	15	body	body	NOUN
sn009w06p6z	6	16	(	(	PUNCT
sn009w06p6z	6	17	hardware	hardware	NOUN
sn009w06p6z	6	18	)	)	PUNCT
sn009w06p6z	6	19	and	and	CCONJ
sn009w06p6z	6	20	brain	brain	NOUN
sn009w06p6z	6	21	(	(	PUNCT
sn009w06p6z	6	22	control	control	NOUN
sn009w06p6z	6	23	)	)	PUNCT
sn009w06p6z	6	24	as	as	SCONJ
sn009w06p6z	6	25	observed	observe	VERB
sn009w06p6z	6	26	in	in	ADP
sn009w06p6z	6	27	animals	animal	NOUN
sn009w06p6z	6	28	.	.	PUNCT
sn009w06p6z	7	1	this	this	DET
sn009w06p6z	7	2	challenge	challenge	NOUN
sn009w06p6z	7	3	is	be	AUX
sn009w06p6z	7	4	accentuated	accentuate	VERB
sn009w06p6z	7	5	by	by	ADP
sn009w06p6z	7	6	the	the	DET
sn009w06p6z	7	7	lack	lack	NOUN
sn009w06p6z	7	8	of	of	ADP
sn009w06p6z	7	9	computational	computational	ADJ
sn009w06p6z	7	10	co	co	NOUN
sn009w06p6z	7	11	-	-	ADJ
sn009w06p6z	7	12	design	design	ADJ
sn009w06p6z	7	13	tools	tool	NOUN
sn009w06p6z	7	14	,	,	PUNCT
sn009w06p6z	7	15	and	and	CCONJ
sn009w06p6z	7	16	the	the	DET
sn009w06p6z	7	17	complexity	complexity	NOUN
sn009w06p6z	7	18	of	of	ADP
sn009w06p6z	7	19	jointly	jointly	ADV
sn009w06p6z	7	20	modelling	model	VERB
sn009w06p6z	7	21	dynamics	dynamic	NOUN
sn009w06p6z	7	22	,	,	PUNCT
sn009w06p6z	7	23	hardware	hardware	NOUN
sn009w06p6z	7	24	,	,	PUNCT
sn009w06p6z	7	25	and	and	CCONJ
sn009w06p6z	7	26	control	control	NOUN
sn009w06p6z	7	27	systems	system	NOUN
sn009w06p6z	7	28	.	.	PUNCT
sn009w06p6z	8	1	traditionally	traditionally	ADV
sn009w06p6z	8	2	,	,	PUNCT
sn009w06p6z	8	3	tasks	task	NOUN
sn009w06p6z	8	4	of	of	ADP
sn009w06p6z	8	5	mechanical	mechanical	ADJ
sn009w06p6z	8	6	and	and	CCONJ
sn009w06p6z	8	7	control	control	NOUN
sn009w06p6z	8	8	design	design	NOUN
sn009w06p6z	8	9	are	be	AUX
sn009w06p6z	8	10	executed	execute	VERB
sn009w06p6z	8	11	separately	separately	ADV
sn009w06p6z	8	12	,	,	PUNCT
sn009w06p6z	8	13	with	with	ADP
sn009w06p6z	8	14	the	the	DET
sn009w06p6z	8	15	controller	controller	NOUN
sn009w06p6z	8	16	primarily	primarily	ADV
sn009w06p6z	8	17	responsible	responsible	ADJ
sn009w06p6z	8	18	for	for	ADP
sn009w06p6z	8	19	forcing	force	VERB
sn009w06p6z	8	20	behaviors	behavior	NOUN
sn009w06p6z	8	21	through	through	ADP
sn009w06p6z	8	22	non	non	ADJ
sn009w06p6z	8	23	compliant	compliant	ADJ
sn009w06p6z	8	24	morphologies	morphology	NOUN
sn009w06p6z	8	25	.	.	PUNCT
sn009w06p6z	9	1	moreover	moreover	ADV
sn009w06p6z	9	2	,	,	PUNCT
sn009w06p6z	9	3	often	often	ADV
sn009w06p6z	9	4	to	to	PART
sn009w06p6z	9	5	alleviate	alleviate	VERB
sn009w06p6z	9	6	the	the	DET
sn009w06p6z	9	7	computational	computational	ADJ
sn009w06p6z	9	8	complexity	complexity	NOUN
sn009w06p6z	9	9	,	,	PUNCT
sn009w06p6z	9	10	the	the	DET
sn009w06p6z	9	11	consideration	consideration	NOUN
sn009w06p6z	9	12	of	of	ADP
sn009w06p6z	9	13	isolated	isolated	ADJ
sn009w06p6z	9	14	scenarios	scenario	NOUN
sn009w06p6z	9	15	(	(	PUNCT
sn009w06p6z	9	16	i.e.	i.e.	X
sn009w06p6z	9	17	,	,	PUNCT
sn009w06p6z	9	18	tasks	task	NOUN
sn009w06p6z	9	19	and	and	CCONJ
sn009w06p6z	9	20	environments	environment	NOUN
sn009w06p6z	9	21	)	)	PUNCT
sn009w06p6z	9	22	at	at	ADP
sn009w06p6z	9	23	design	design	NOUN
sn009w06p6z	9	24	time	time	NOUN
sn009w06p6z	9	25	ignores	ignore	VERB
sn009w06p6z	9	26	the	the	DET
sn009w06p6z	9	27	uncertainty	uncertainty	NOUN
sn009w06p6z	9	28	that	that	SCONJ
sn009w06p6z	9	29	legged	legged	ADJ
sn009w06p6z	9	30	robots	robot	NOUN
sn009w06p6z	9	31	need	need	VERB
sn009w06p6z	9	32	to	to	PART
sn009w06p6z	9	33	face	face	VERB
sn009w06p6z	9	34	to	to	PART
sn009w06p6z	9	35	operate	operate	VERB
sn009w06p6z	9	36	in	in	ADP
sn009w06p6z	9	37	the	the	DET
sn009w06p6z	9	38	real	real	ADJ
sn009w06p6z	9	39	world	world	NOUN
sn009w06p6z	9	40	.	.	PUNCT
sn009w06p6z	10	1	this	this	DET
sn009w06p6z	10	2	dissertation	dissertation	NOUN
sn009w06p6z	10	3	proposes	propose	VERB
sn009w06p6z	10	4	a	a	DET
sn009w06p6z	10	5	co	co	ADJ
sn009w06p6z	10	6	-	-	ADJ
sn009w06p6z	10	7	design	design	ADJ
sn009w06p6z	10	8	framework	framework	NOUN
sn009w06p6z	10	9	rooted	root	VERB
sn009w06p6z	10	10	in	in	ADP
sn009w06p6z	10	11	trajectory	trajectory	NOUN
sn009w06p6z	10	12	optimization	optimization	NOUN
sn009w06p6z	10	13	(	(	PUNCT
sn009w06p6z	10	14	to	to	PART
sn009w06p6z	10	15	)	)	PUNCT
sn009w06p6z	10	16	that	that	PRON
sn009w06p6z	10	17	produces	produce	VERB
sn009w06p6z	10	18	robots	robot	NOUN
sn009w06p6z	10	19	while	while	SCONJ
sn009w06p6z	10	20	considering	consider	VERB
sn009w06p6z	10	21	uncertainty	uncertainty	NOUN
sn009w06p6z	10	22	at	at	ADP
sn009w06p6z	10	23	design	design	NOUN
sn009w06p6z	10	24	time.the	time.the	DET
sn009w06p6z	10	25	contributions	contribution	NOUN
sn009w06p6z	10	26	of	of	ADP
sn009w06p6z	10	27	this	this	DET
sn009w06p6z	10	28	dissertation	dissertation	NOUN
sn009w06p6z	10	29	are	be	AUX
sn009w06p6z	10	30	reflected	reflect	VERB
sn009w06p6z	10	31	along	along	ADP
sn009w06p6z	10	32	three	three	NUM
sn009w06p6z	10	33	main	main	ADJ
sn009w06p6z	10	34	axes	axis	NOUN
sn009w06p6z	10	35	,	,	PUNCT
sn009w06p6z	10	36	increasing	increase	VERB
sn009w06p6z	10	37	versatility	versatility	NOUN
sn009w06p6z	10	38	,	,	PUNCT
sn009w06p6z	10	39	improving	improve	VERB
sn009w06p6z	10	40	energy	energy	NOUN
sn009w06p6z	10	41	efficiency	efficiency	NOUN
sn009w06p6z	10	42	,	,	PUNCT
sn009w06p6z	10	43	and	and	CCONJ
sn009w06p6z	10	44	adding	add	VERB
sn009w06p6z	10	45	robustness	robustness	ADJ
sn009w06p6z	10	46	reasoning	reasoning	NOUN
sn009w06p6z	10	47	to	to	ADP
sn009w06p6z	10	48	a	a	DET
sn009w06p6z	10	49	design	design	NOUN
sn009w06p6z	10	50	,	,	PUNCT
sn009w06p6z	10	51	all	all	PRON
sn009w06p6z	10	52	made	make	VERB
sn009w06p6z	10	53	possible	possible	ADJ
sn009w06p6z	10	54	via	via	ADP
sn009w06p6z	10	55	algorithms	algorithm	NOUN
sn009w06p6z	10	56	that	that	PRON
sn009w06p6z	10	57	address	address	VERB
sn009w06p6z	10	58	computational	computational	ADJ
sn009w06p6z	10	59	scalability	scalability	NOUN
sn009w06p6z	10	60	.	.	PUNCT
sn009w06p6z	11	1	to	to	PART
sn009w06p6z	11	2	ensure	ensure	VERB
sn009w06p6z	11	3	versatility	versatility	NOUN
sn009w06p6z	11	4	,	,	PUNCT
sn009w06p6z	11	5	the	the	DET
sn009w06p6z	11	6	presented	present	VERB
sn009w06p6z	11	7	framework	framework	NOUN
sn009w06p6z	11	8	models	model	NOUN
sn009w06p6z	11	9	scenarios	scenario	VERB
sn009w06p6z	11	10	that	that	SCONJ
sn009w06p6z	11	11	a	a	DET
sn009w06p6z	11	12	robot	robot	NOUN
sn009w06p6z	11	13	could	could	AUX
sn009w06p6z	11	14	face	face	VERB
sn009w06p6z	11	15	using	use	VERB
sn009w06p6z	11	16	probability	probability	NOUN
sn009w06p6z	11	17	measures	measure	NOUN
sn009w06p6z	11	18	for	for	ADP
sn009w06p6z	11	19	the	the	DET
sn009w06p6z	11	20	description	description	NOUN
sn009w06p6z	11	21	of	of	ADP
sn009w06p6z	11	22	potential	potential	ADJ
sn009w06p6z	11	23	tasks	task	NOUN
sn009w06p6z	11	24	and	and	CCONJ
sn009w06p6z	11	25	environments	environment	NOUN
sn009w06p6z	11	26	.	.	PUNCT
sn009w06p6z	12	1	these	these	DET
sn009w06p6z	12	2	probability	probability	NOUN
sn009w06p6z	12	3	measures	measure	NOUN
sn009w06p6z	12	4	are	be	AUX
sn009w06p6z	12	5	accounted	account	VERB
sn009w06p6z	12	6	for	for	ADP
sn009w06p6z	12	7	in	in	ADP
sn009w06p6z	12	8	the	the	DET
sn009w06p6z	12	9	design	design	NOUN
sn009w06p6z	12	10	formulation	formulation	NOUN
sn009w06p6z	12	11	through	through	ADP
sn009w06p6z	12	12	the	the	DET
sn009w06p6z	12	13	use	use	NOUN
sn009w06p6z	12	14	of	of	ADP
sn009w06p6z	12	15	stochastic	stochastic	ADJ
sn009w06p6z	12	16	programming	programming	NOUN
sn009w06p6z	12	17	(	(	PUNCT
sn009w06p6z	12	18	sp	sp	NOUN
sn009w06p6z	12	19	)	)	PUNCT
sn009w06p6z	12	20	constructs	construct	VERB
sn009w06p6z	12	21	.	.	PUNCT
sn009w06p6z	13	1	combining	combine	VERB
sn009w06p6z	13	2	sp	sp	NOUN
sn009w06p6z	13	3	with	with	ADP
sn009w06p6z	13	4	to	to	PART
sn009w06p6z	13	5	ensures	ensure	VERB
sn009w06p6z	13	6	that	that	SCONJ
sn009w06p6z	13	7	a	a	DET
sn009w06p6z	13	8	design	design	NOUN
sn009w06p6z	13	9	excels	excel	VERB
sn009w06p6z	13	10	in	in	ADP
sn009w06p6z	13	11	a	a	DET
sn009w06p6z	13	12	range	range	NOUN
sn009w06p6z	13	13	of	of	ADP
sn009w06p6z	13	14	scenarios	scenario	NOUN
sn009w06p6z	13	15	,	,	PUNCT
sn009w06p6z	13	16	with	with	ADP
sn009w06p6z	13	17	the	the	DET
sn009w06p6z	13	18	controller	controller	NOUN
sn009w06p6z	13	19	enabling	enable	VERB
sn009w06p6z	13	20	adaptability	adaptability	NOUN
sn009w06p6z	13	21	and	and	CCONJ
sn009w06p6z	13	22	the	the	DET
sn009w06p6z	13	23	morphology	morphology	NOUN
sn009w06p6z	13	24	promoting	promote	VERB
sn009w06p6z	13	25	energy	energy	NOUN
sn009w06p6z	13	26	efficiency	efficiency	NOUN
sn009w06p6z	13	27	.	.	PUNCT
sn009w06p6z	14	1	in	in	ADP
sn009w06p6z	14	2	that	that	DET
sn009w06p6z	14	3	sense	sense	NOUN
sn009w06p6z	14	4	,	,	PUNCT
sn009w06p6z	14	5	mechanical	mechanical	ADJ
sn009w06p6z	14	6	intelligence	intelligence	NOUN
sn009w06p6z	14	7	arises	arise	VERB
sn009w06p6z	14	8	from	from	ADP
sn009w06p6z	14	9	the	the	DET
sn009w06p6z	14	10	morphology	morphology	NOUN
sn009w06p6z	14	11	relieving	relieve	VERB
sn009w06p6z	14	12	the	the	DET
sn009w06p6z	14	13	control	control	NOUN
sn009w06p6z	14	14	effort	effort	NOUN
sn009w06p6z	14	15	when	when	SCONJ
sn009w06p6z	14	16	the	the	DET
sn009w06p6z	14	17	natural	natural	ADJ
sn009w06p6z	14	18	dynamics	dynamic	NOUN
sn009w06p6z	14	19	of	of	ADP
sn009w06p6z	14	20	the	the	DET
sn009w06p6z	14	21	robot	robot	NOUN
sn009w06p6z	14	22	contribute	contribute	VERB
sn009w06p6z	14	23	productively	productively	ADV
sn009w06p6z	14	24	to	to	ADP
sn009w06p6z	14	25	accomplishing	accomplish	VERB
sn009w06p6z	14	26	a	a	DET
sn009w06p6z	14	27	task	task	NOUN
sn009w06p6z	14	28	.	.	PUNCT
sn009w06p6z	15	1	the	the	DET
sn009w06p6z	15	2	benefits	benefit	NOUN
sn009w06p6z	15	3	of	of	ADP
sn009w06p6z	15	4	co	co	NOUN
sn009w06p6z	15	5	-	-	NOUN
sn009w06p6z	15	6	design	design	NOUN
sn009w06p6z	15	7	are	be	AUX
sn009w06p6z	15	8	shown	show	VERB
sn009w06p6z	15	9	on	on	ADP
sn009w06p6z	15	10	monopod	monopod	ADJ
sn009w06p6z	15	11	and	and	CCONJ
sn009w06p6z	15	12	quadruped	quadruped	ADJ
sn009w06p6z	15	13	robots	robot	NOUN
sn009w06p6z	15	14	that	that	PRON
sn009w06p6z	15	15	exhibit	exhibit	VERB
sn009w06p6z	15	16	fast	fast	ADJ
sn009w06p6z	15	17	and	and	CCONJ
sn009w06p6z	15	18	robust	robust	ADJ
sn009w06p6z	15	19	performance	performance	NOUN
sn009w06p6z	15	20	completing	complete	VERB
sn009w06p6z	15	21	a	a	DET
sn009w06p6z	15	22	locomotion	locomotion	NOUN
sn009w06p6z	15	23	task	task	NOUN
sn009w06p6z	15	24	(	(	PUNCT
sn009w06p6z	15	25	e.g.	e.g.	ADV
sn009w06p6z	15	26	,	,	PUNCT
sn009w06p6z	15	27	jumping	jump	VERB
sn009w06p6z	15	28	)	)	PUNCT
sn009w06p6z	15	29	,	,	PUNCT
sn009w06p6z	15	30	while	while	SCONJ
sn009w06p6z	15	31	reducing	reduce	VERB
sn009w06p6z	15	32	the	the	DET
sn009w06p6z	15	33	energy	energy	NOUN
sn009w06p6z	15	34	use	use	NOUN
sn009w06p6z	15	35	from	from	ADP
sn009w06p6z	15	36	their	their	PRON
sn009w06p6z	15	37	actuators	actuator	NOUN
sn009w06p6z	15	38	.	.	PUNCT
sn009w06p6z	16	1	robustness	robustness	NOUN
sn009w06p6z	16	2	is	be	AUX
sn009w06p6z	16	3	assessed	assess	VERB
sn009w06p6z	16	4	from	from	ADP
sn009w06p6z	16	5	the	the	DET
sn009w06p6z	16	6	perspective	perspective	NOUN
sn009w06p6z	16	7	of	of	ADP
sn009w06p6z	16	8	a	a	DET
sn009w06p6z	16	9	robot	robot	NOUN
sn009w06p6z	16	10	withstanding	withstand	VERB
sn009w06p6z	16	11	disturbances	disturbance	NOUN
sn009w06p6z	16	12	while	while	SCONJ
sn009w06p6z	16	13	still	still	ADV
sn009w06p6z	16	14	showcasing	showcase	VERB
sn009w06p6z	16	15	fast	fast	ADJ
sn009w06p6z	16	16	performance	performance	NOUN
sn009w06p6z	16	17	and	and	CCONJ
sn009w06p6z	16	18	energy	energy	NOUN
sn009w06p6z	16	19	efficiency	efficiency	NOUN
sn009w06p6z	16	20	.	.	PUNCT
sn009w06p6z	17	1	to	to	PART
sn009w06p6z	17	2	achieve	achieve	VERB
sn009w06p6z	17	3	robustness	robustness	NOUN
sn009w06p6z	17	4	,	,	PUNCT
sn009w06p6z	17	5	this	this	DET
sn009w06p6z	17	6	dissertation	dissertation	NOUN
sn009w06p6z	17	7	is	be	AUX
sn009w06p6z	17	8	aligned	align	VERB
sn009w06p6z	17	9	with	with	ADP
sn009w06p6z	17	10	efforts	effort	NOUN
sn009w06p6z	17	11	in	in	ADP
sn009w06p6z	17	12	the	the	DET
sn009w06p6z	17	13	robotics	robotic	NOUN
sn009w06p6z	17	14	community	community	NOUN
sn009w06p6z	17	15	developing	develop	VERB
sn009w06p6z	17	16	feedback	feedback	NOUN
sn009w06p6z	17	17	controllers	controller	NOUN
sn009w06p6z	17	18	for	for	ADP
sn009w06p6z	17	19	motion	motion	NOUN
sn009w06p6z	17	20	planning	planning	NOUN
sn009w06p6z	17	21	.	.	PUNCT
sn009w06p6z	18	1	the	the	DET
sn009w06p6z	18	2	proposed	propose	VERB
sn009w06p6z	18	3	co	co	ADJ
sn009w06p6z	18	4	-	-	ADJ
sn009w06p6z	18	5	design	design	ADJ
sn009w06p6z	18	6	framework	framework	NOUN
sn009w06p6z	18	7	is	be	AUX
sn009w06p6z	18	8	the	the	DET
sn009w06p6z	18	9	first	first	ADJ
sn009w06p6z	18	10	to	to	PART
sn009w06p6z	18	11	consider	consider	VERB
sn009w06p6z	18	12	the	the	DET
sn009w06p6z	18	13	co	co	NOUN
sn009w06p6z	18	14	-	-	NOUN
sn009w06p6z	18	15	optimization	optimization	NOUN
sn009w06p6z	18	16	of	of	ADP
sn009w06p6z	18	17	the	the	DET
sn009w06p6z	18	18	morphology	morphology	NOUN
sn009w06p6z	18	19	,	,	PUNCT
sn009w06p6z	18	20	a	a	DET
sn009w06p6z	18	21	nominal	nominal	ADJ
sn009w06p6z	18	22	trajectory	trajectory	NOUN
sn009w06p6z	18	23	,	,	PUNCT
sn009w06p6z	18	24	and	and	CCONJ
sn009w06p6z	18	25	a	a	DET
sn009w06p6z	18	26	feedback	feedback	NOUN
sn009w06p6z	18	27	control	control	NOUN
sn009w06p6z	18	28	policy	policy	NOUN
sn009w06p6z	18	29	for	for	ADP
sn009w06p6z	18	30	disturbance	disturbance	NOUN
sn009w06p6z	18	31	rejection	rejection	NOUN
sn009w06p6z	18	32	.	.	PUNCT
sn009w06p6z	19	1	the	the	DET
sn009w06p6z	19	2	co	co	NOUN
sn009w06p6z	19	3	-	-	NOUN
sn009w06p6z	19	4	optimization	optimization	NOUN
sn009w06p6z	19	5	of	of	ADP
sn009w06p6z	19	6	the	the	DET
sn009w06p6z	19	7	morphology	morphology	NOUN
sn009w06p6z	19	8	,	,	PUNCT
sn009w06p6z	19	9	the	the	DET
sn009w06p6z	19	10	nominal	nominal	ADJ
sn009w06p6z	19	11	trajectory	trajectory	NOUN
sn009w06p6z	19	12	,	,	PUNCT
sn009w06p6z	19	13	and	and	CCONJ
sn009w06p6z	19	14	the	the	DET
sn009w06p6z	19	15	feedback	feedback	NOUN
sn009w06p6z	19	16	control	control	NOUN
sn009w06p6z	19	17	policy	policy	NOUN
sn009w06p6z	19	18	achieved	achieve	VERB
sn009w06p6z	19	19	improved	improve	VERB
sn009w06p6z	19	20	results	result	NOUN
sn009w06p6z	19	21	in	in	ADP
sn009w06p6z	19	22	terms	term	NOUN
sn009w06p6z	19	23	of	of	ADP
sn009w06p6z	19	24	tracking	track	VERB
sn009w06p6z	19	25	performance	performance	NOUN
sn009w06p6z	19	26	,	,	PUNCT
sn009w06p6z	19	27	robustness	robustness	NOUN
sn009w06p6z	19	28	,	,	PUNCT
sn009w06p6z	19	29	and	and	CCONJ
sn009w06p6z	19	30	energy	energy	NOUN
sn009w06p6z	19	31	efficiency	efficiency	NOUN
sn009w06p6z	19	32	compared	compare	VERB
sn009w06p6z	19	33	to	to	ADP
sn009w06p6z	19	34	state	state	NOUN
sn009w06p6z	19	35	-	-	PUNCT
sn009w06p6z	19	36	of	of	ADP
sn009w06p6z	19	37	-	-	PUNCT
sn009w06p6z	19	38	the	the	DET
sn009w06p6z	19	39	-	-	PUNCT
sn009w06p6z	19	40	art	art	NOUN
sn009w06p6z	19	41	single	single	ADJ
sn009w06p6z	19	42	-	-	PUNCT
sn009w06p6z	19	43	scenario	scenario	NOUN
sn009w06p6z	19	44	co	co	NOUN
sn009w06p6z	19	45	-	-	ADJ
sn009w06p6z	19	46	design	design	ADJ
sn009w06p6z	19	47	implementations	implementation	NOUN
sn009w06p6z	19	48	.	.	PUNCT
sn009w06p6z	20	1	the	the	DET
sn009w06p6z	20	2	price	price	NOUN
sn009w06p6z	20	3	to	to	PART
sn009w06p6z	20	4	pay	pay	VERB
sn009w06p6z	20	5	,	,	PUNCT
sn009w06p6z	20	6	even	even	ADV
sn009w06p6z	20	7	with	with	ADP
sn009w06p6z	20	8	open	open	ADJ
sn009w06p6z	20	9	-	-	PUNCT
sn009w06p6z	20	10	loop	loop	NOUN
sn009w06p6z	20	11	control	control	NOUN
sn009w06p6z	20	12	strategies	strategy	NOUN
sn009w06p6z	20	13	,	,	PUNCT
sn009w06p6z	20	14	is	be	AUX
sn009w06p6z	20	15	a	a	DET
sn009w06p6z	20	16	challenge	challenge	NOUN
sn009w06p6z	20	17	to	to	ADP
sn009w06p6z	20	18	computational	computational	ADJ
sn009w06p6z	20	19	scalability	scalability	NOUN
sn009w06p6z	20	20	,	,	PUNCT
sn009w06p6z	20	21	particularly	particularly	ADV
sn009w06p6z	20	22	with	with	ADP
sn009w06p6z	20	23	respect	respect	NOUN
sn009w06p6z	20	24	to	to	ADP
sn009w06p6z	20	25	the	the	DET
sn009w06p6z	20	26	number	number	NOUN
sn009w06p6z	20	27	of	of	ADP
sn009w06p6z	20	28	scenarios	scenario	NOUN
sn009w06p6z	20	29	.	.	PUNCT
sn009w06p6z	21	1	to	to	PART
sn009w06p6z	21	2	address	address	VERB
sn009w06p6z	21	3	this	this	DET
sn009w06p6z	21	4	challenge	challenge	NOUN
sn009w06p6z	21	5	,	,	PUNCT
sn009w06p6z	21	6	this	this	DET
sn009w06p6z	21	7	dissertation	dissertation	NOUN
sn009w06p6z	21	8	proposes	propose	VERB
sn009w06p6z	21	9	parallelizable	parallelizable	ADJ
sn009w06p6z	21	10	algorithms	algorithm	NOUN
sn009w06p6z	21	11	for	for	ADP
sn009w06p6z	21	12	large	large	ADJ
sn009w06p6z	21	13	-	-	PUNCT
sn009w06p6z	21	14	scale	scale	NOUN
sn009w06p6z	21	15	co	co	NOUN
sn009w06p6z	21	16	-	-	NOUN
sn009w06p6z	21	17	design	design	ADJ
sn009w06p6z	21	18	problems	problem	NOUN
sn009w06p6z	21	19	(	(	PUNCT
sn009w06p6z	21	20	i.e.	i.e.	X
sn009w06p6z	21	21	,	,	PUNCT
sn009w06p6z	21	22	including	include	VERB
sn009w06p6z	21	23	30	30	NUM
sn009w06p6z	21	24	scenarios	scenario	NOUN
sn009w06p6z	21	25	)	)	PUNCT
sn009w06p6z	21	26	using	use	VERB
sn009w06p6z	21	27	the	the	DET
sn009w06p6z	21	28	alternating	alternate	VERB
sn009w06p6z	21	29	direction	direction	NOUN
sn009w06p6z	21	30	method	method	NOUN
sn009w06p6z	21	31	of	of	ADP
sn009w06p6z	21	32	multipliers	multiplier	NOUN
sn009w06p6z	21	33	(	(	PUNCT
sn009w06p6z	21	34	admm	admm	PROPN
sn009w06p6z	21	35	)	)	PUNCT
sn009w06p6z	21	36	.	.	PUNCT
sn009w06p6z	22	1	the	the	DET
sn009w06p6z	22	2	scalability	scalability	NOUN
sn009w06p6z	22	3	gained	gain	VERB
sn009w06p6z	22	4	through	through	ADP
sn009w06p6z	22	5	the	the	DET
sn009w06p6z	22	6	admm	admm	NOUN
sn009w06p6z	22	7	supported	support	VERB
sn009w06p6z	22	8	the	the	DET
sn009w06p6z	22	9	engineering	engineering	NOUN
sn009w06p6z	22	10	of	of	ADP
sn009w06p6z	22	11	mechanical	mechanical	ADJ
sn009w06p6z	22	12	intelligence	intelligence	NOUN
sn009w06p6z	22	13	in	in	ADP
sn009w06p6z	22	14	a	a	DET
sn009w06p6z	22	15	quadruped	quadruped	ADJ
sn009w06p6z	22	16	robot	robot	NOUN
sn009w06p6z	22	17	equipped	equip	VERB
sn009w06p6z	22	18	with	with	ADP
sn009w06p6z	22	19	pneumatic	pneumatic	ADJ
sn009w06p6z	22	20	cylinders	cylinder	NOUN
sn009w06p6z	22	21	as	as	ADP
sn009w06p6z	22	22	parallel	parallel	ADJ
sn009w06p6z	22	23	elastic	elastic	ADJ
sn009w06p6z	22	24	actuators	actuator	NOUN
sn009w06p6z	22	25	(	(	PUNCT
sn009w06p6z	22	26	peas	peas	PROPN
sn009w06p6z	22	27	)	)	PUNCT
sn009w06p6z	22	28	.	.	PUNCT
sn009w06p6z	23	1	compared	compare	VERB
sn009w06p6z	23	2	to	to	ADP
sn009w06p6z	23	3	the	the	DET
sn009w06p6z	23	4	case	case	NOUN
sn009w06p6z	23	5	without	without	ADP
sn009w06p6z	23	6	peas	pea	NOUN
sn009w06p6z	23	7	,	,	PUNCT
sn009w06p6z	23	8	the	the	DET
sn009w06p6z	23	9	design	design	NOUN
sn009w06p6z	23	10	with	with	ADP
sn009w06p6z	23	11	added	add	VERB
sn009w06p6z	23	12	compliance	compliance	NOUN
sn009w06p6z	23	13	reduced	reduce	VERB
sn009w06p6z	23	14	its	its	PRON
sn009w06p6z	23	15	cost	cost	NOUN
sn009w06p6z	23	16	of	of	ADP
sn009w06p6z	23	17	transport	transport	NOUN
sn009w06p6z	23	18	(	(	PUNCT
sn009w06p6z	23	19	cot	cot	NOUN
sn009w06p6z	23	20	)	)	PUNCT
sn009w06p6z	23	21	by	by	ADP
sn009w06p6z	23	22	61	61	NUM
sn009w06p6z	23	23	%	%	NOUN
sn009w06p6z	23	24	and	and	CCONJ
sn009w06p6z	23	25	required	require	VERB
sn009w06p6z	23	26	less	less	ADJ
sn009w06p6z	23	27	time	time	NOUN
sn009w06p6z	23	28	to	to	PART
sn009w06p6z	23	29	cover	cover	VERB
sn009w06p6z	23	30	larger	large	ADJ
sn009w06p6z	23	31	jump	jump	NOUN
sn009w06p6z	23	32	distances	distance	NOUN
sn009w06p6z	23	33	.	.	PUNCT
sn009w06p6z	24	1	to	to	PART
sn009w06p6z	24	2	support	support	VERB
sn009w06p6z	24	3	the	the	DET
sn009w06p6z	24	4	optimization	optimization	NOUN
sn009w06p6z	24	5	findings	finding	NOUN
sn009w06p6z	24	6	,	,	PUNCT
sn009w06p6z	24	7	experimental	experimental	ADJ
sn009w06p6z	24	8	results	result	NOUN
sn009w06p6z	24	9	with	with	ADP
sn009w06p6z	24	10	the	the	DET
sn009w06p6z	24	11	mit	mit	PROPN
sn009w06p6z	24	12	mini	mini	ADJ
sn009w06p6z	24	13	cheetah	cheetah	NOUN
sn009w06p6z	24	14	validated	validate	VERB
sn009w06p6z	24	15	the	the	DET
sn009w06p6z	24	16	co	co	NOUN
sn009w06p6z	24	17	-	-	ADJ
sn009w06p6z	24	18	design	design	ADJ
sn009w06p6z	24	19	principles	principle	NOUN
sn009w06p6z	24	20	in	in	ADP
sn009w06p6z	24	21	this	this	DET
sn009w06p6z	24	22	dissertation	dissertation	NOUN
sn009w06p6z	24	23	,	,	PUNCT
sn009w06p6z	24	24	demonstrating	demonstrate	VERB
sn009w06p6z	24	25	the	the	DET
sn009w06p6z	24	26	engineering	engineering	NOUN
sn009w06p6z	24	27	of	of	ADP
sn009w06p6z	24	28	mechanical	mechanical	ADJ
sn009w06p6z	24	29	intelligence	intelligence	NOUN
sn009w06p6z	24	30	via	via	ADP
sn009w06p6z	24	31	the	the	DET
sn009w06p6z	24	32	reduction	reduction	NOUN
sn009w06p6z	24	33	of	of	ADP
sn009w06p6z	24	34	the	the	DET
sn009w06p6z	24	35	cot	cot	NOUN
sn009w06p6z	24	36	(	(	PUNCT
sn009w06p6z	24	37	up	up	ADP
sn009w06p6z	24	38	to	to	PART
sn009w06p6z	24	39	19	19	NUM
sn009w06p6z	24	40	%	%	NOUN
sn009w06p6z	24	41	)	)	PUNCT
sn009w06p6z	24	42	with	with	ADP
sn009w06p6z	24	43	the	the	DET
sn009w06p6z	24	44	robot	robot	NOUN
sn009w06p6z	24	45	executing	execute	VERB
sn009w06p6z	24	46	trotting	trotting	NOUN
sn009w06p6z	24	47	gaits	gait	NOUN
sn009w06p6z	24	48	and	and	CCONJ
sn009w06p6z	24	49	using	use	VERB
sn009w06p6z	24	50	a	a	DET
sn009w06p6z	24	51	standard	standard	ADJ
sn009w06p6z	24	52	controller	controller	NOUN
sn009w06p6z	24	53	not	not	PART
sn009w06p6z	24	54	co	co	VERB
sn009w06p6z	24	55	-	-	VERB
sn009w06p6z	24	56	optimized	optimize	VERB
sn009w06p6z	24	57	for	for	ADP
sn009w06p6z	24	58	exploiting	exploit	VERB
sn009w06p6z	24	59	passive	passive	ADJ
sn009w06p6z	24	60	dynamics	dynamic	NOUN
sn009w06p6z	24	61	.	.	PUNCT