IEEE Robotics & Automation Magazine - December 2020 - 2

A Publication of the IEEE ROBOTICS AND AUTOMATION SOCIETY
Vol. 27, No. 4 December 2020 ISSN 1070-9932 http://www.ieee-ras.org/publications/ram

Displacement

EDITORIAL BOARD
Editor-in-Chief
Bram Vanderborght
(ram-eic@ieee.org)
Vrije Universiteit Brussel (Belgium)

Catheter

Potential B
Actuator B

Connection
Actuator A

Potential A

COLUMNS & DEPARTMENTS
4 FROM THE EDITOR'S DESK
6 PRESIDENT'S MESSAGE
9 STUDENT'S CORNER
10 FROM THE GUEST EDITORS
75 TC SPOTLIGHT
78 WOMEN IN ENGINEERING
81 SOCIETY NEWS
88 CALENDAR

Editors
Fabio Bonsignorio
Heron Robots (Italy)
Yi Guo
Stevens Institute of Technology (USA)
Associate Editors
Pinhas Ben-Tzvi
Virginia Tech (USA)
Elena De Momi
Politecnico di Milano (Italy)
Alexander Dietrich
German Aerospace Center-DLR (Germany)
Angela Faragasso
University of Tokyo (Japan)
Xiang Li
Tsinghua University (China)
Perla Maiolino
University of Cambridge (UK)
Sören Schwertfeger
ShanghaiTech University, School of
Information Science and
Technology (China)
Yue Wang
Clemson University (USA)
Past Editor-in-Chief
Eugenio Guglielmelli
Università Campus Bio-Medico (Italy)
RAM Column Manager
Amy Reeder (USA)
RAM Editorial Assistant
Antonella Benvenuto
Università Campus Bio-Medico (Italy)
COLUMNS
Competitions: Minoru Asada (Japan)
and Yu Sun (USA)
Education: Jory Denny (USA)
Ethical, Legal, and Societal Issues:
Currently vacant
From the Editor's Desk: Bram
Vanderborght (Belgium)
Industry News: Tamas Haidegger
(Hungary)
Humanitarian Technology:
Lino Marques (Portugal)
Standards: Craig Schlenoff (USA)
President's Message: Seth Hutchinson (USA)
Regional Spotlight: Megan Emmons (USA)

Turning Point: Bram Vanderborght (Belgium)
Women in Engineering: Lydia Tapia (USA)
IEEE RAS Vice-President
of Publication Activities
Aude Billard
EPFL (Switzerland)
RAM home page:
http://www.ieee-ras.org/publications/ram
IEEE Robotics and Automation Society
Executive Office
Kathy Colabaugh
Society Operations Manager
Amy Reeder
Program Specialist
ras@ieee.org
Advertising Sales
Mark David
Director, Business Development-Media &
Advertising
Tel: +1 732 465 6473
Fax: +1 732 981 1855
m.david@ieee.org
IEEE Periodicals
Magazines Department
Mark Gallaher
Managing Editor
Geraldine Krolin-Taylor
Senior Managing Editor
Janet Dudar
Senior Art Director
Gail A. Schnitzer
Associate Art Director
Theresa L. Smith
Production Coordinator
Felicia Spagnoli
Advertising Production Manager
Peter M. Tuohy
Production Director
Kevin Lisankie
Editorial Services Director
Dawn M. Melley
Staff Director,
Publishing Operations
IEEE-RAS Membership
and Subscription Information:
+1 800 678 IEEE (4333)
Fax: +1 732 463 3657
http://www.ieee.org/membership_services/
membership/societies/ras.html

IEEE prohibits discrimination, harassment, and bullying. For more information,
visit http://www.ieee.org/web/aboutus/whatis/policies/p9-26.html.

IEEE Robotics and Automation Magazine (ISSN 1070-9932) (IRAMEB) is published quarterly by
the Institute of Electrical and Electronics Engineers, Inc. Headquarters: 3 Park Avenue, 17th Floor,
New York, NY 10016-5997 USA, Telephone: +1 212 419 7900. Responsibility for the content rests
upon the authors and not upon the IEEE, the Society or its members. IEEE Service Center
(for orders, subscriptions, address changes): 445 Hoes Lane, P.O. Box 1331, Piscataway, NJ 08855
USA. Telephone: +1 732 981 0060. Individual copies: IEEE Members US$20.00 (first copy only),
non-Members US$135 per copy. Subscription rates: Annual subscription rates included in IEEE
Robotics and Automation Society member dues. Subscription rates available on request. Copyright
and reprint permission: Abstracting is permitted with credit to the source. Libraries are permitted to

photocopy beyond the limits of U.S. Copyright law for the private use of patrons 1) those post-1977
articles that carry a code at the bottom of the first page, provided the per-copy fee indicated in the
code is paid through the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923
USA; 2) pre-1978 articles without a fee. For other copying, reprint, or republication permission, write
Copyrights and Permissions Department, IEEE Service Center, 445 Hoes Lane, Piscataway,
NJ 08854. Copyright © 2020 by the Institute of Electrical and Electronics Engineers Inc. All rights
reserved. Periodicals postage paid at New York and additional mailing offices. Postmaster: Send
address changes to IEEE Robotics and Automation Magazine, IEEE, 445 Hoes Lane, Piscataway, NJ
08854 USA. Canadian GST #125634188
PRINTED IN THE U.S.A.

SFI-01681

*

TC Spotlight: Yasuhisa Hirata (Japan)

Digital Object Identifier 10.1109/MRA.2020.3023814

Promoting Sustainable Forestry

2

Student's Corner: Marwa El Dinwiny
(The Netherlands)

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

DECEMBER 2020


http://www.ieee-ras.org/publications/ram http://www.ieee-ras.org/publications/ram http://www.ieee.org/membership_services/membership/societies/ras.html http://www.ieee.org/membership_services/membership/societies/ras.html http://www.ieee.org/web/aboutus/whatis/policies/p9-26.html

IEEE Robotics & Automation Magazine - December 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2020

Contents
IEEE Robotics & Automation Magazine - December 2020 - Cover1
IEEE Robotics & Automation Magazine - December 2020 - Cover2
IEEE Robotics & Automation Magazine - December 2020 - Contents
IEEE Robotics & Automation Magazine - December 2020 - 2
IEEE Robotics & Automation Magazine - December 2020 - 3
IEEE Robotics & Automation Magazine - December 2020 - 4
IEEE Robotics & Automation Magazine - December 2020 - 5
IEEE Robotics & Automation Magazine - December 2020 - 6
IEEE Robotics & Automation Magazine - December 2020 - 7
IEEE Robotics & Automation Magazine - December 2020 - 8
IEEE Robotics & Automation Magazine - December 2020 - 9
IEEE Robotics & Automation Magazine - December 2020 - 10
IEEE Robotics & Automation Magazine - December 2020 - 11
IEEE Robotics & Automation Magazine - December 2020 - 12
IEEE Robotics & Automation Magazine - December 2020 - 13
IEEE Robotics & Automation Magazine - December 2020 - 14
IEEE Robotics & Automation Magazine - December 2020 - 15
IEEE Robotics & Automation Magazine - December 2020 - 16
IEEE Robotics & Automation Magazine - December 2020 - 17
IEEE Robotics & Automation Magazine - December 2020 - 18
IEEE Robotics & Automation Magazine - December 2020 - 19
IEEE Robotics & Automation Magazine - December 2020 - 20
IEEE Robotics & Automation Magazine - December 2020 - 21
IEEE Robotics & Automation Magazine - December 2020 - 22
IEEE Robotics & Automation Magazine - December 2020 - 23
IEEE Robotics & Automation Magazine - December 2020 - 24
IEEE Robotics & Automation Magazine - December 2020 - 25
IEEE Robotics & Automation Magazine - December 2020 - 26
IEEE Robotics & Automation Magazine - December 2020 - 27
IEEE Robotics & Automation Magazine - December 2020 - 28
IEEE Robotics & Automation Magazine - December 2020 - 29
IEEE Robotics & Automation Magazine - December 2020 - 30
IEEE Robotics & Automation Magazine - December 2020 - 31
IEEE Robotics & Automation Magazine - December 2020 - 32
IEEE Robotics & Automation Magazine - December 2020 - 33
IEEE Robotics & Automation Magazine - December 2020 - 34
IEEE Robotics & Automation Magazine - December 2020 - 35
IEEE Robotics & Automation Magazine - December 2020 - 36
IEEE Robotics & Automation Magazine - December 2020 - 37
IEEE Robotics & Automation Magazine - December 2020 - 38
IEEE Robotics & Automation Magazine - December 2020 - 39
IEEE Robotics & Automation Magazine - December 2020 - 40
IEEE Robotics & Automation Magazine - December 2020 - 41
IEEE Robotics & Automation Magazine - December 2020 - 42
IEEE Robotics & Automation Magazine - December 2020 - 43
IEEE Robotics & Automation Magazine - December 2020 - 44
IEEE Robotics & Automation Magazine - December 2020 - 45
IEEE Robotics & Automation Magazine - December 2020 - 46
IEEE Robotics & Automation Magazine - December 2020 - 47
IEEE Robotics & Automation Magazine - December 2020 - 48
IEEE Robotics & Automation Magazine - December 2020 - 49
IEEE Robotics & Automation Magazine - December 2020 - 50
IEEE Robotics & Automation Magazine - December 2020 - 51
IEEE Robotics & Automation Magazine - December 2020 - 52
IEEE Robotics & Automation Magazine - December 2020 - 53
IEEE Robotics & Automation Magazine - December 2020 - 54
IEEE Robotics & Automation Magazine - December 2020 - 55
IEEE Robotics & Automation Magazine - December 2020 - 56
IEEE Robotics & Automation Magazine - December 2020 - 57
IEEE Robotics & Automation Magazine - December 2020 - 58
IEEE Robotics & Automation Magazine - December 2020 - 59
IEEE Robotics & Automation Magazine - December 2020 - 60
IEEE Robotics & Automation Magazine - December 2020 - 61
IEEE Robotics & Automation Magazine - December 2020 - 62
IEEE Robotics & Automation Magazine - December 2020 - 63
IEEE Robotics & Automation Magazine - December 2020 - 64
IEEE Robotics & Automation Magazine - December 2020 - 65
IEEE Robotics & Automation Magazine - December 2020 - 66
IEEE Robotics & Automation Magazine - December 2020 - 67
IEEE Robotics & Automation Magazine - December 2020 - 68
IEEE Robotics & Automation Magazine - December 2020 - 69
IEEE Robotics & Automation Magazine - December 2020 - 70
IEEE Robotics & Automation Magazine - December 2020 - 71
IEEE Robotics & Automation Magazine - December 2020 - 72
IEEE Robotics & Automation Magazine - December 2020 - 73
IEEE Robotics & Automation Magazine - December 2020 - 74
IEEE Robotics & Automation Magazine - December 2020 - 75
IEEE Robotics & Automation Magazine - December 2020 - 76
IEEE Robotics & Automation Magazine - December 2020 - 77
IEEE Robotics & Automation Magazine - December 2020 - 78
IEEE Robotics & Automation Magazine - December 2020 - 79
IEEE Robotics & Automation Magazine - December 2020 - 80
IEEE Robotics & Automation Magazine - December 2020 - 81
IEEE Robotics & Automation Magazine - December 2020 - 82
IEEE Robotics & Automation Magazine - December 2020 - 83
IEEE Robotics & Automation Magazine - December 2020 - 84
IEEE Robotics & Automation Magazine - December 2020 - 85
IEEE Robotics & Automation Magazine - December 2020 - 86
IEEE Robotics & Automation Magazine - December 2020 - 87
IEEE Robotics & Automation Magazine - December 2020 - 88
IEEE Robotics & Automation Magazine - December 2020 - Cover3
IEEE Robotics & Automation Magazine - December 2020 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com