undertake vs stipulate

undertake and stipulate both are verbs.

Word	Noun	Adjective	Verb	Adverb
undertake	No	No	Yes	No
stipulate	No	No	Yes	No

As verbs, stipulate is a hyponym of undertake; that is, stipulate is a word with a more specific, narrower meaning than undertake:

undertake: enter into a contractual arrangement
stipulate: make an oral contract or agreement in the verbal form of question and answer that is necessary to give it legal force

Other hyponyms of undertake include sign, condition, qualify, specify, lease, rent, charter, hire, lease, rent.

undertake (verb)	stipulate (verb)
promise to do or accomplish	specify as a condition or requirement in a contract or agreement; make an express demand or provision in an agreement
enter into a contractual arrangement	give a guarantee or promise of
enter upon an activity or enterprise	make an oral contract or agreement in the verbal form of question and answer that is necessary to give it legal force
accept as a charge
accept as a challenge