The description of the invention claimed in this application will first include a summary of the novel single arm force and position control laws and then those laws will be developed and applied to {HEAD ~ a multi arm system} of {TAIL ~ this invention} 
of
The description of the invention claimed in this application will first include a summary of the novel single arm force and position control laws and then those laws will be developed and applied to { HEAD ~ a multi arm system } of { TAIL ~ this invention }
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