{TAIL ~ Gripper arms} 52, 54 have {HEAD ~ bases} 80, 82, respectively, connected to segments 56, 58, respectively 
{ TAIL ~ Gripper arms } 52 , 54 have { HEAD ~ bases } 80 , 82 , respectively , connected to segments 56 , 58 , respectively
TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH