{HEAD ~ Low computational requirements} make the control loops of the single arm invention suitable for implementation in on {TAIL ~ line hybrid control} with high sampling rates 
{ HEAD ~ Low computational requirements } make the control loops of the single arm invention suitable for implementation in on { TAIL ~ line hybrid control } with high sampling rates
HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH