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