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