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