In {HEAD ~ the position hybrid control strategy}, the adaptive controller of one arm controls end effector motions in the free directions and applied forces in {TAIL ~ the constraint directions}; while the adaptive controller of the other arm ensures that the end effector tracks desired position trajectories 
In { HEAD ~ the position hybrid control strategy } , the adaptive controller of one arm controls end effector motions in the free directions and applied forces in { TAIL ~ the constraint directions } ; while the adaptive controller of the other arm ensures that the end effector tracks desired position trajectories
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