This paper describes the motion control of hyper redundant robots using a learning control scheme based on linear combination of error history. The learning control scheme is formulated with three elements: general solution of inverse kinematics with pseudo inverse of Jacobian matrix to achieve main task. condition to achieve several subtasks and compensation by linear combination of ... https://www.roneverhart.com/Globe-The-All-Time-Black-Rose-35-Kicktail-Longboard/