Definition of "undertake"

This said, he sat; and expectation heldHis look suspense, awaiting who appearedTo second, or oppose, or undertakeThe perilous attempt.

1667, John Milton, “Book II”, in Paradise Lost. […], London: […] [Samuel Simmons], […]; republished as Paradise Lost in Ten Books: […], London: Basil Montagu Pickering […], 1873, lines 417-420

[…] if King Lewis vouchsafe to furnish usWith some few bands of chosen soldiers,I’ll undertake to land them on our coastAnd force the tyrant from his seat by war.

c. 1591–1592 (date written), William Shakespeare, “The Third Part of Henry the Sixt, […]”, in Mr. William Shakespeares Comedies, Histories, & Tragedies […] (First Folio), London: […] Isaac Iaggard, and Ed[ward] Blount, published 1623, [Act III, scene iii]

That is her ransom; I deliver her;And those two counties I will undertakeYour grace shall well and quietly enjoy.

1591 (date written), William Shakespeare, “The First Part of Henry the Sixt”, in Mr. William Shakespeares Comedies, Histories, & Tragedies […] (First Folio), London: […] Isaac Iaggard, and Ed[ward] Blount, published 1623, [Act V, scene iii]

[…] if those Persons who are curious in collecting either Minerals, or the Shells, Teeth, or other Parts of Animal Bodies that have been buried in the Earth, do but search the Hills after Rains, and the Sea-Shores after Storms, I dare undertake they will not lose their Labour.

1695, John Woodward, An Essay towards a Natural History of the Earth and Terrestrial Bodies‎, London: Richard Wilkin, Part 4, pp. 222-223

there came fourty knyghtes to sire Darras […] and they wold haue slayne sire Tristram and his two felawes but sire Darras wold not suffre that but kepte them in pryson […] So sire Tristram endured there grete payne for sekenesse had vndertake hym and that is the grettest payne a prysoner maye haue(please add an English translation of this quotation)

1485, Sir Thomas Malory, “xxxvij”, in Le Morte Darthur, book IX

Quince. […] you must needs play Pyramus.Bottom. Well, I will undertake it.

c. 1595–1596 (date written), William Shakespeare, “A Midsommer Nights Dreame”, in Mr. William Shakespeares Comedies, Histories, & Tragedies: Published According to the True Originall Copies (First Folio), London: […] Isaac Iaggard, and Ed[ward] Blount, published 1623, [Act I, scene ii]

Soo it happend in Spayne there was an Erles sone his name was Alphegus / and at a grete turnement in spayn this syre Vrre knyghte of Hongry and sir Alphegus of spayne encountred to gyders for veray enuy / and soo eyther vndertook other to the Vtteraunce."So it happened in Spain there was an earl’s son, his name was Alphegus, and at a great tournament in Spain this Sir Urre, knight of Hungary, and Sir Alphegus of Spain encountered together for very envy; and so either undertook other to the utterance."

1485, Thomas Malory, Le Morte Darthur Book XIX, Chapter x, leaf 394v

It is not fit your lordship should undertake every companion that you give offence to.

1611 April (first recorded performance), William Shakespeare, “The Tragedie of Cymbeline”, in Mr. William Shakespeares Comedies, Histories, & Tragedies […] (First Folio), London: […] Isaac Iaggard, and Ed[ward] Blount, published 1623, [Act II, scene i]

Ne he his mouth would open unto wight,Untill that Guyon selfe unto him spake,And called Brigadore, (so was he hight,)Whose voice so soone as he did undertake,Eftsoones he stood as still as any stake,

1596, Edmund Spenser, “Book V, Canto III”, in The Faerie Queene. […], London: […] [John Wolfe] for William Ponsonbie, page 34

To the water side I must conduct your grace;Then give my charge up to Sir Nicholas Vaux,Who undertakes you to your end.

1613 (date written), William Shakespeare, [John Fletcher], “The Famous History of the Life of King Henry the Eight”, in Mr. William Shakespeares Comedies, Histories, & Tragedies […] (First Folio), London: […] Isaac Iaggard, and Ed[ward] Blount, published 1623, [Act II, scene i]