Transform the words given in capitals into the appropriate parts of speech. Type your answers in CAPITAL letters.

| Atlas uses its whole body – legs, arms, torso – to perform a sequence of dynamic maneuvers that form a _____ \(GYMNAST\) routine. | |
| ``````----------------------------------- | --- |
| We created the maneuvers using new techniques that streamline the _____ \(DEVELOP\) process. | |
| First, an _____ \(OPTIMIZE\) algorithm transforms high-level descriptions of each maneuver into dynamically-feasible reference motions. | |
| Then Atlas tracks the motions using a model predictive _____ \(CONTROL\) that smoothly blends from one maneuver to the next. | |
| Using this approach, we developed the routine _____ \(SIGNIFICANT\) faster than previous Atlas routines, | |
| with a _____ \(PERFORM\) success rate of about 80%. | |