What are Halakhic (or Tannaitic) Midrashim?

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taken from http://www.faqs.org/faqs/judaism/FAQ/03-Torah-Halacha/section-26.html

Answer:

These are exegetical [5]midrashim on the books of Exodus, Leviticus and Deuteronomy, primarily legal. They establish the Tanakh (Hebrew bible) as the source of Halakha.