* in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp.
2397-2404, April 2021 * Published in the IEEE Robotics and Automation Letters and presented
at the IEEE 2021 International Conference on Robotics and Automation. See
https://www.youtube.com/watch?v=_qwAoYK9iGU for accompanying video Access Paper or Ask Questions