{HEAD ~ An additionally attractive feature} of my single arm adaptive controllers is {TAIL ~ an ability} to compensate for dynamic cross couplings that exist between the position and force control loops in the hybrid control architecture 
is
{ HEAD ~ An additionally attractive feature } of my single arm adaptive controllers is { TAIL ~ an ability } to compensate for dynamic cross couplings that exist between the position and force control loops in the hybrid control architecture
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH