{HEAD ~ The description} of the invention claimed in this application will first include {TAIL ~ a summary} of the novel single arm force and position control laws and then those laws will be developed and applied to a multi arm system of this invention 
include
{ HEAD ~ The description } of the invention claimed in this application will first include { TAIL ~ a summary } of the novel single arm force and position control laws and then those laws will be developed and applied to a multi arm system of this invention
HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH 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 OTH OTH OTH OTH OTH OTH OTH