Further, a lateral drive supported by the travel unit is controlled by {TAIL ~ a lateral control unit}, and a θ drive supported by {HEAD ~ the lateral drive} is controlled by a θ control unit 
Further , a lateral drive supported by the travel unit is controlled by { TAIL ~ a lateral control unit } , and a θ drive supported by { HEAD ~ the lateral drive } is controlled by a θ control unit
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH