id	sid	tid	token	lemma	pos
t722h70680z	1	1	for	for	ADP
t722h70680z	1	2	most	most	ADJ
t722h70680z	1	3	applications	application	NOUN
t722h70680z	1	4	in	in	ADP
t722h70680z	1	5	the	the	DET
t722h70680z	1	6	service	service	NOUN
t722h70680z	1	7	industry	industry	NOUN
t722h70680z	1	8	,	,	PUNCT
t722h70680z	1	9	biped	biped	ADJ
t722h70680z	1	10	robots	robot	NOUN
t722h70680z	1	11	have	have	VERB
t722h70680z	1	12	advantages	advantage	NOUN
t722h70680z	1	13	over	over	ADP
t722h70680z	1	14	other	other	ADJ
t722h70680z	1	15	legged	legged	ADJ
t722h70680z	1	16	or	or	CCONJ
t722h70680z	1	17	wheeled	wheeled	ADJ
t722h70680z	1	18	robots	robot	NOUN
t722h70680z	1	19	to	to	PART
t722h70680z	1	20	operate	operate	VERB
t722h70680z	1	21	in	in	ADP
t722h70680z	1	22	human	human	ADJ
t722h70680z	1	23	-	-	PUNCT
t722h70680z	1	24	centric	centric	ADJ
t722h70680z	1	25	environments	environment	NOUN
t722h70680z	1	26	.	.	PUNCT
t722h70680z	2	1	as	as	SCONJ
t722h70680z	2	2	they	they	PRON
t722h70680z	2	3	transition	transition	VERB
t722h70680z	2	4	from	from	ADP
t722h70680z	2	5	the	the	DET
t722h70680z	2	6	research	research	NOUN
t722h70680z	2	7	lab	lab	NOUN
t722h70680z	2	8	to	to	ADP
t722h70680z	2	9	the	the	DET
t722h70680z	2	10	real	real	ADJ
t722h70680z	2	11	world	world	NOUN
t722h70680z	2	12	,	,	PUNCT
t722h70680z	2	13	however	however	ADV
t722h70680z	2	14	,	,	PUNCT
t722h70680z	2	15	biped	biped	ADJ
t722h70680z	2	16	robots	robot	NOUN
t722h70680z	2	17	experience	experience	VERB
t722h70680z	2	18	major	major	ADJ
t722h70680z	2	19	uncertainties	uncertainty	NOUN
t722h70680z	2	20	in	in	ADP
t722h70680z	2	21	unfamiliar	unfamiliar	ADJ
t722h70680z	2	22	environments	environment	NOUN
t722h70680z	2	23	.	.	PUNCT
t722h70680z	3	1	to	to	PART
t722h70680z	3	2	reach	reach	VERB
t722h70680z	3	3	their	their	PRON
t722h70680z	3	4	full	full	ADJ
t722h70680z	3	5	potential	potential	NOUN
t722h70680z	3	6	in	in	ADP
t722h70680z	3	7	these	these	DET
t722h70680z	3	8	domains	domain	NOUN
t722h70680z	3	9	,	,	PUNCT
t722h70680z	3	10	biped	biped	ADJ
t722h70680z	3	11	robots	robot	NOUN
t722h70680z	3	12	must	must	AUX
t722h70680z	3	13	be	be	AUX
t722h70680z	3	14	both	both	CCONJ
t722h70680z	3	15	robust	robust	ADJ
t722h70680z	3	16	to	to	ADP
t722h70680z	3	17	disturbances	disturbance	NOUN
t722h70680z	3	18	and	and	CCONJ
t722h70680z	3	19	energetically	energetically	ADV
t722h70680z	3	20	efficient	efficient	ADJ
t722h70680z	3	21	.	.	PUNCT
t722h70680z	4	1	underactuated	underactuated	ADJ
t722h70680z	4	2	dynamic	dynamic	ADJ
t722h70680z	4	3	biped	biped	ADJ
t722h70680z	4	4	robots	robot	NOUN
t722h70680z	4	5	exploit	exploit	VERB
t722h70680z	4	6	the	the	DET
t722h70680z	4	7	natural	natural	ADJ
t722h70680z	4	8	dynamics	dynamic	NOUN
t722h70680z	4	9	of	of	ADP
t722h70680z	4	10	human	human	ADJ
t722h70680z	4	11	locomotion	locomotion	NOUN
t722h70680z	4	12	to	to	PART
t722h70680z	4	13	achieve	achieve	VERB
t722h70680z	4	14	highly	highly	ADV
t722h70680z	4	15	efficient	efficient	ADJ
t722h70680z	4	16	gaits	gait	NOUN
t722h70680z	4	17	.	.	PUNCT
t722h70680z	5	1	while	while	SCONJ
t722h70680z	5	2	practical	practical	ADJ
t722h70680z	5	3	for	for	ADP
t722h70680z	5	4	tasks	task	NOUN
t722h70680z	5	5	requiring	require	VERB
t722h70680z	5	6	long	long	ADJ
t722h70680z	5	7	autonomy	autonomy	NOUN
t722h70680z	5	8	,	,	PUNCT
t722h70680z	5	9	such	such	ADJ
t722h70680z	5	10	robots	robot	NOUN
t722h70680z	5	11	face	face	VERB
t722h70680z	5	12	complex	complex	ADJ
t722h70680z	5	13	control	control	NOUN
t722h70680z	5	14	challenges	challenge	NOUN
t722h70680z	5	15	that	that	PRON
t722h70680z	5	16	stem	stem	VERB
t722h70680z	5	17	from	from	ADP
t722h70680z	5	18	their	their	PRON
t722h70680z	5	19	unactuated	unactuated	ADJ
t722h70680z	5	20	dynamics	dynamic	NOUN
t722h70680z	5	21	and	and	CCONJ
t722h70680z	5	22	limited	limited	ADJ
t722h70680z	5	23	ability	ability	NOUN
t722h70680z	5	24	to	to	PART
t722h70680z	5	25	reject	reject	VERB
t722h70680z	5	26	large	large	ADJ
t722h70680z	5	27	external	external	ADJ
t722h70680z	5	28	disturbances	disturbance	NOUN
t722h70680z	5	29	in	in	ADP
t722h70680z	5	30	the	the	DET
t722h70680z	5	31	unactuated	unactuated	ADJ
t722h70680z	5	32	degrees	degree	NOUN
t722h70680z	5	33	of	of	ADP
t722h70680z	5	34	freedom	freedom	NOUN
t722h70680z	5	35	(	(	PUNCT
t722h70680z	5	36	dofs	dofs	PROPN
t722h70680z	5	37	)	)	PUNCT
t722h70680z	5	38	.	.	PUNCT
t722h70680z	6	1	some	some	DET
t722h70680z	6	2	groundbreaking	groundbreaking	ADJ
t722h70680z	6	3	advances	advance	NOUN
t722h70680z	6	4	provide	provide	VERB
t722h70680z	6	5	glimpses	glimpse	NOUN
t722h70680z	6	6	of	of	ADP
t722h70680z	6	7	natural	natural	ADJ
t722h70680z	6	8	agility	agility	NOUN
t722h70680z	6	9	and	and	CCONJ
t722h70680z	6	10	efficiency	efficiency	NOUN
t722h70680z	6	11	,	,	PUNCT
t722h70680z	6	12	but	but	CCONJ
t722h70680z	6	13	practical	practical	ADJ
t722h70680z	6	14	challenges	challenge	NOUN
t722h70680z	6	15	still	still	ADV
t722h70680z	6	16	limit	limit	VERB
t722h70680z	6	17	the	the	DET
t722h70680z	6	18	ability	ability	NOUN
t722h70680z	6	19	of	of	ADP
t722h70680z	6	20	dynamic	dynamic	ADJ
t722h70680z	6	21	biped	biped	ADJ
t722h70680z	6	22	robots	robot	NOUN
t722h70680z	6	23	to	to	PART
t722h70680z	6	24	achieve	achieve	VERB
t722h70680z	6	25	their	their	PRON
t722h70680z	6	26	envisioned	envision	VERB
t722h70680z	6	27	potential.this	potential.this	PRON
t722h70680z	6	28	dissertation	dissertation	NOUN
t722h70680z	6	29	uses	use	VERB
t722h70680z	6	30	the	the	DET
t722h70680z	6	31	hybrid	hybrid	ADJ
t722h70680z	6	32	zero	zero	NUM
t722h70680z	6	33	dynamics	dynamic	NOUN
t722h70680z	6	34	(	(	PUNCT
t722h70680z	6	35	hzd	hzd	PROPN
t722h70680z	6	36	)	)	PUNCT
t722h70680z	6	37	control	control	NOUN
t722h70680z	6	38	framework	framework	NOUN
t722h70680z	6	39	to	to	PART
t722h70680z	6	40	develop	develop	VERB
t722h70680z	6	41	tropic	tropic	ADJ
t722h70680z	6	42	,	,	PUNCT
t722h70680z	6	43	a	a	DET
t722h70680z	6	44	gait	gait	NOUN
t722h70680z	6	45	optimization	optimization	NOUN
t722h70680z	6	46	package	package	NOUN
t722h70680z	6	47	that	that	PRON
t722h70680z	6	48	unites	unite	VERB
t722h70680z	6	49	the	the	DET
t722h70680z	6	50	motion	motion	NOUN
t722h70680z	6	51	planning	planning	NOUN
t722h70680z	6	52	and	and	CCONJ
t722h70680z	6	53	controller	controller	NOUN
t722h70680z	6	54	synthesis	synthesis	NOUN
t722h70680z	6	55	problems	problem	NOUN
t722h70680z	6	56	.	.	PUNCT
t722h70680z	7	1	hzd	hzd	PROPN
t722h70680z	7	2	-	-	PUNCT
t722h70680z	7	3	based	base	VERB
t722h70680z	7	4	control	control	NOUN
t722h70680z	7	5	,	,	PUNCT
t722h70680z	7	6	however	however	ADV
t722h70680z	7	7	,	,	PUNCT
t722h70680z	7	8	is	be	AUX
t722h70680z	7	9	susceptible	susceptible	ADJ
t722h70680z	7	10	to	to	ADP
t722h70680z	7	11	velocity	velocity	NOUN
t722h70680z	7	12	errors	error	NOUN
t722h70680z	7	13	when	when	SCONJ
t722h70680z	7	14	the	the	DET
t722h70680z	7	15	robot	robot	NOUN
t722h70680z	7	16	is	be	AUX
t722h70680z	7	17	pushed	push	VERB
t722h70680z	7	18	off	off	ADP
t722h70680z	7	19	the	the	DET
t722h70680z	7	20	periodic	periodic	ADJ
t722h70680z	7	21	orbit	orbit	NOUN
t722h70680z	7	22	,	,	PUNCT
t722h70680z	7	23	so	so	CCONJ
t722h70680z	7	24	the	the	DET
t722h70680z	7	25	resulting	result	VERB
t722h70680z	7	26	gaits	gait	NOUN
t722h70680z	7	27	are	be	AUX
t722h70680z	7	28	sensitive	sensitive	ADJ
t722h70680z	7	29	to	to	ADP
t722h70680z	7	30	perturbations	perturbation	NOUN
t722h70680z	7	31	in	in	ADP
t722h70680z	7	32	the	the	DET
t722h70680z	7	33	unactuated	unactuated	ADJ
t722h70680z	7	34	dofs	dof	NOUN
t722h70680z	7	35	.	.	PUNCT
t722h70680z	8	1	robust	robust	ADJ
t722h70680z	8	2	bipedal	bipedal	ADJ
t722h70680z	8	3	gaits	gait	NOUN
t722h70680z	8	4	are	be	AUX
t722h70680z	8	5	generated	generate	VERB
t722h70680z	8	6	by	by	ADP
t722h70680z	8	7	optimizing	optimize	VERB
t722h70680z	8	8	the	the	DET
t722h70680z	8	9	dynamic	dynamic	ADJ
t722h70680z	8	10	coupling	coupling	NOUN
t722h70680z	8	11	between	between	ADP
t722h70680z	8	12	the	the	DET
t722h70680z	8	13	actuated	actuate	VERB
t722h70680z	8	14	and	and	CCONJ
t722h70680z	8	15	unactuated	unactuated	ADJ
t722h70680z	8	16	dofs	dof	NOUN
t722h70680z	8	17	.	.	PUNCT
t722h70680z	9	1	the	the	DET
t722h70680z	9	2	dynamic	dynamic	ADJ
t722h70680z	9	3	coupling	coupling	NOUN
t722h70680z	9	4	quantifies	quantifie	NOUN
t722h70680z	9	5	the	the	DET
t722h70680z	9	6	amount	amount	NOUN
t722h70680z	9	7	of	of	ADP
t722h70680z	9	8	control	control	PROPN
t722h70680z	9	9	authority	authority	PROPN
t722h70680z	9	10	the	the	DET
t722h70680z	9	11	robot	robot	NOUN
t722h70680z	9	12	has	have	VERB
t722h70680z	9	13	over	over	ADP
t722h70680z	9	14	the	the	DET
t722h70680z	9	15	unactuated	unactuated	ADJ
t722h70680z	9	16	dof	dof	PROPN
t722h70680z	9	17	,	,	PUNCT
t722h70680z	9	18	which	which	PRON
t722h70680z	9	19	is	be	AUX
t722h70680z	9	20	shown	show	VERB
t722h70680z	9	21	to	to	PART
t722h70680z	9	22	be	be	AUX
t722h70680z	9	23	strongly	strongly	ADV
t722h70680z	9	24	correlated	correlate	VERB
t722h70680z	9	25	to	to	ADP
t722h70680z	9	26	robustness	robustness	NOUN
t722h70680z	9	27	.	.	PUNCT
t722h70680z	10	1	the	the	DET
t722h70680z	10	2	hzd	hzd	PROPN
t722h70680z	10	3	formulation	formulation	NOUN
t722h70680z	10	4	is	be	AUX
t722h70680z	10	5	also	also	ADV
t722h70680z	10	6	enhanced	enhance	VERB
t722h70680z	10	7	using	use	VERB
t722h70680z	10	8	heuristics	heuristic	NOUN
t722h70680z	10	9	derived	derive	VERB
t722h70680z	10	10	from	from	ADP
t722h70680z	10	11	transverse	transverse	ADJ
t722h70680z	10	12	linearization	linearization	NOUN
t722h70680z	10	13	feedback	feedback	NOUN
t722h70680z	10	14	control	control	NOUN
t722h70680z	10	15	.	.	PUNCT
t722h70680z	11	1	the	the	DET
t722h70680z	11	2	heuristics	heuristic	NOUN
t722h70680z	11	3	improve	improve	VERB
t722h70680z	11	4	disturbance	disturbance	NOUN
t722h70680z	11	5	rejection	rejection	NOUN
t722h70680z	11	6	performance	performance	NOUN
t722h70680z	11	7	of	of	ADP
t722h70680z	11	8	underactuated	underactuated	ADJ
t722h70680z	11	9	biped	biped	ADJ
t722h70680z	11	10	robots	robot	NOUN
t722h70680z	11	11	across	across	ADP
t722h70680z	11	12	a	a	DET
t722h70680z	11	13	range	range	NOUN
t722h70680z	11	14	of	of	ADP
t722h70680z	11	15	perturbations	perturbation	NOUN
t722h70680z	11	16	while	while	SCONJ
t722h70680z	11	17	maintaining	maintain	VERB
t722h70680z	11	18	simplicity	simplicity	NOUN
t722h70680z	11	19	of	of	ADP
t722h70680z	11	20	implementation	implementation	NOUN
t722h70680z	11	21	for	for	ADP
t722h70680z	11	22	practical	practical	ADJ
t722h70680z	11	23	robots	robot	NOUN
t722h70680z	11	24	.	.	PUNCT
t722h70680z	12	1	the	the	DET
t722h70680z	12	2	resulting	result	VERB
t722h70680z	12	3	controller	controller	NOUN
t722h70680z	12	4	is	be	AUX
t722h70680z	12	5	tested	test	VERB
t722h70680z	12	6	extensively	extensively	ADV
t722h70680z	12	7	in	in	ADP
t722h70680z	12	8	simulation	simulation	NOUN
t722h70680z	12	9	and	and	CCONJ
t722h70680z	12	10	validated	validate	VERB
t722h70680z	12	11	in	in	ADP
t722h70680z	12	12	experiment	experiment	NOUN
t722h70680z	12	13	on	on	ADP
t722h70680z	12	14	the	the	DET
t722h70680z	12	15	five	five	NUM
t722h70680z	12	16	-	-	PUNCT
t722h70680z	12	17	link	link	NOUN
t722h70680z	12	18	biped	biped	ADJ
t722h70680z	12	19	robot	robot	NOUN
t722h70680z	12	20	ernie	ernie	NOUN
t722h70680z	12	21	.	.	PUNCT
t722h70680z	13	1	finally	finally	ADV
t722h70680z	13	2	,	,	PUNCT
t722h70680z	13	3	robustness	robustness	NOUN
t722h70680z	13	4	is	be	AUX
t722h70680z	13	5	improved	improve	VERB
t722h70680z	13	6	using	use	VERB
t722h70680z	13	7	a	a	DET
t722h70680z	13	8	novel	novel	ADJ
t722h70680z	13	9	gait	gait	NOUN
t722h70680z	13	10	switching	switching	NOUN
t722h70680z	13	11	method	method	NOUN
t722h70680z	13	12	that	that	PRON
t722h70680z	13	13	enables	enable	VERB
t722h70680z	13	14	dynamic	dynamic	ADJ
t722h70680z	13	15	biped	biped	ADJ
t722h70680z	13	16	robots	robot	NOUN
t722h70680z	13	17	to	to	PART
t722h70680z	13	18	switch	switch	VERB
t722h70680z	13	19	gaits	gait	NOUN
t722h70680z	13	20	autonomously	autonomously	ADV
t722h70680z	13	21	following	follow	VERB
t722h70680z	13	22	unexpected	unexpected	ADJ
t722h70680z	13	23	disturbances	disturbance	NOUN
t722h70680z	13	24	.	.	PUNCT
t722h70680z	14	1	while	while	SCONJ
t722h70680z	14	2	the	the	DET
t722h70680z	14	3	main	main	ADJ
t722h70680z	14	4	focus	focus	NOUN
t722h70680z	14	5	of	of	ADP
t722h70680z	14	6	this	this	DET
t722h70680z	14	7	dissertation	dissertation	NOUN
t722h70680z	14	8	is	be	AUX
t722h70680z	14	9	on	on	ADP
t722h70680z	14	10	robustness	robustness	ADJ
t722h70680z	14	11	improvement	improvement	NOUN
t722h70680z	14	12	for	for	ADP
t722h70680z	14	13	efficient	efficient	ADJ
t722h70680z	14	14	dynamic	dynamic	ADJ
t722h70680z	14	15	biped	biped	ADJ
t722h70680z	14	16	robots	robot	NOUN
t722h70680z	14	17	,	,	PUNCT
t722h70680z	14	18	this	this	DET
t722h70680z	14	19	work	work	NOUN
t722h70680z	14	20	also	also	ADV
t722h70680z	14	21	addresses	address	VERB
t722h70680z	14	22	another	another	DET
t722h70680z	14	23	challenge	challenge	NOUN
t722h70680z	14	24	that	that	PRON
t722h70680z	14	25	limits	limit	VERB
t722h70680z	14	26	their	their	PRON
t722h70680z	14	27	practicality	practicality	NOUN
t722h70680z	14	28	:	:	PUNCT
t722h70680z	14	29	scalability	scalability	NOUN
t722h70680z	14	30	to	to	ADP
t722h70680z	14	31	high	high	ADJ
t722h70680z	14	32	-	-	PUNCT
t722h70680z	14	33	dimensional	dimensional	ADJ
t722h70680z	14	34	systems	system	NOUN
t722h70680z	14	35	.	.	PUNCT