* This work is accepted for presentation at the 2020 IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS). Please
find IEEE's copyright statement at the bottom of the first page. Cedric Le
Gentil and Mallikarjuna Vayugundla share the first authorship of this paper Access Paper or Ask Questions
* 7 pages, 6 figures, submission to Robotics & Automation Letters (and
IEEE/RSJ International Conference on Intelligent Robots & Systems) Access Paper or Ask Questions