There is provided {HEAD ~ a control system} which controls a link structure constructed by connecting {TAIL ~ a plurality} of rigid body links and driven by making a joint actuator generate an actuator force 
There is provided { HEAD ~ a control system } which controls a link structure constructed by connecting { TAIL ~ a plurality } of rigid body links and driven by making a joint actuator generate an actuator force
OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH