This is due to the fact that {HEAD ~ the controller gains} are adapted rapidly on {TAIL ~ the basis} of the manipulators Cartesian space performance 
are adapted rapidly on
This is due to the fact that { HEAD ~ the controller gains } are adapted rapidly on { TAIL ~ the basis } of the manipulators Cartesian space performance
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH