The hosts were made to wait for their 10th wicket due to a battling innings from MS Dhoni, but after tea, Stuart Broad was able to strike and send the Indian skipper packing having hit 82 runs from 140 balls.
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The captain should have been heading back to the pavilion after Bhuvneshwar Kumar's delivery resulted in lbw, but the umpire declared not out with the idea that the outswinger pitched outside leg.
However, replays showed that Cook, who impressed in Southampton and Old Trafford, should have been out as it would have taken middle and off.
Cook (24 not out) and Robson (33 not out) will return to the crease tomorrow as England trail by 86 runs.