In the hybrid hybrid control strategy, {HEAD ~ the adaptive controllers} ensure that both end effectors track reference position trajectories while simultaneously applying desired forces on {TAIL ~ the load} 
In the hybrid hybrid control strategy , { HEAD ~ the adaptive controllers } ensure that both end effectors track reference position trajectories while simultaneously applying desired forces on { TAIL ~ the load }
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL