In the hybrid hybrid control strategy, the adaptive controllers ensure that both end effectors track reference position trajectories while simultaneously applying {HEAD ~ desired forces} on {TAIL ~ the load} 
In the hybrid hybrid control strategy , the adaptive controllers ensure that both end effectors track reference position trajectories while simultaneously applying { HEAD ~ desired forces } on { TAIL ~ the load }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL