IEEE Robotics & Automation Magazine - June 2013 - 2

A Publication of the IEEE ROBOTICS AND AUTOMATION SOCIETY
Volume 20, No. 2 June 2013 ISSN 1070-9932 http://www.ieee-ras.org/publications/ram

EDITORIAL BOARD
Editor-in-Chief
Peter Corke (peter.corke@ieee.org)
School of Electrical Engineering &
Computer Science
Queensland University of Technology
Brisbane, Australia

COLUMNS & DEPARTMENTS
4 FROM THE EDITOR'S DESK
6 PRESIDENT'S MESSAGE

Associate Editors
Raffaella Carloni
University of Twente
(The Netherlands)
Antonio Franchi
Max Planck Institute for Biological
Cybernetics (Germany)
You-Fu Li
City University of Hong Kong (SAR China)

10 COMPETITIONS
14 INDUSTRIAL ACTIVITIES

Yi Guo
Stevens Institute of Technology (USA)

17 ROS TOPICS

Yu Sun
University of South Florida (USA)

20 TC SPOTLIGHT

Loredana Zollo
Universita Campus Bio-Medico, Roma
(Italy)

103 WOMEN IN ENGINEERING
106 ON THE SHELF

Past Editor-in-Chief
Stefano Stramigioli
University of Twente (The Netherlands)

108 SOCIETY NEWS
112 HISTORY

Industry Editor
Raj Madhavan
University of Maryland College Park (USA)

126 CALENDAR

Video Editor
Jonathan Roberts
CSIRO (Australia)
COLUMNS
Competitions: Stephen Balakirsky
From the Editor's Desk: Peter Corke
ROS Topics: Steve Cousins
Willow Garage (USA)
On the Shelf: Alex Simpkins
RDP Robotics (USA)
Student Corner: Laura Margheri
The BioRobotics Institute (Italy)
IFRR (International Foundation of
Robotics Research): Oussama Khatib
Stanford University

Turning Point: Peter Corke
Editor-in-Chief
IEEE RAS Vice-President
for Publications
Alessandro De Luca
Univ. of Roma
"La Sapienza" (Italy)
RAM homepage:
http://www.ieee-ras.org/publications/ram
Robotics and Automation
Society Project Specialists
Kathy Colabaugh
Rachel O. Warnick
ras@ieee.org
Advertising Sales
Susan Schneiderman
Business Development Manager
Tel: +1 732 562 3946
Fax: +1 732 981 1855
ss.ieeemedia@ieee.org
IEEE Periodicals
Magazines Department
Debby Nowicki
Managing Editor
(d.nowicki@ieee.org)
Janet Dudar
Senior Art Director
Gail A. Schnitzer
Assistant Art Director
Theresa L. Smith
Production Coordinator
Felicia Spagnoli
Advertising Production Manager
Peter M. Tuohy
Production Director
Dawn M. Melley
Editorial Director
Fran Zappulla
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

Digital Object Identifier 10.1109/MRA.2013.2255419

IEEE prohibits discrimination, harassment, and bullying. For more information,
visit http://www.ieee.org/web/aboutus/whatis/policies/p9-26.html.
IEEE Robotics & 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 $20.00 (first copy only), nonmembers US$110.00 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

2

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

JUNE 2013

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 @ 2013 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 & Automation Magazine, IEEE, 445 Hoes Lane, Piscataway, NJ
08854 USA. Canadian GST #125634188
PRINTED IN THE U.S.A.

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

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2013

IEEE Robotics & Automation Magazine - June 2013 - Cover1
IEEE Robotics & Automation Magazine - June 2013 - Cover2
IEEE Robotics & Automation Magazine - June 2013 - 1
IEEE Robotics & Automation Magazine - June 2013 - 2
IEEE Robotics & Automation Magazine - June 2013 - 3
IEEE Robotics & Automation Magazine - June 2013 - 4
IEEE Robotics & Automation Magazine - June 2013 - 5
IEEE Robotics & Automation Magazine - June 2013 - 6
IEEE Robotics & Automation Magazine - June 2013 - 7
IEEE Robotics & Automation Magazine - June 2013 - 8
IEEE Robotics & Automation Magazine - June 2013 - 9
IEEE Robotics & Automation Magazine - June 2013 - 10
IEEE Robotics & Automation Magazine - June 2013 - 11
IEEE Robotics & Automation Magazine - June 2013 - 12
IEEE Robotics & Automation Magazine - June 2013 - 13
IEEE Robotics & Automation Magazine - June 2013 - 14
IEEE Robotics & Automation Magazine - June 2013 - 15
IEEE Robotics & Automation Magazine - June 2013 - 16
IEEE Robotics & Automation Magazine - June 2013 - 17
IEEE Robotics & Automation Magazine - June 2013 - 18
IEEE Robotics & Automation Magazine - June 2013 - 19
IEEE Robotics & Automation Magazine - June 2013 - 20
IEEE Robotics & Automation Magazine - June 2013 - 21
IEEE Robotics & Automation Magazine - June 2013 - 22
IEEE Robotics & Automation Magazine - June 2013 - 23
IEEE Robotics & Automation Magazine - June 2013 - 24
IEEE Robotics & Automation Magazine - June 2013 - 25
IEEE Robotics & Automation Magazine - June 2013 - 26
IEEE Robotics & Automation Magazine - June 2013 - 27
IEEE Robotics & Automation Magazine - June 2013 - 28
IEEE Robotics & Automation Magazine - June 2013 - 29
IEEE Robotics & Automation Magazine - June 2013 - 30
IEEE Robotics & Automation Magazine - June 2013 - 31
IEEE Robotics & Automation Magazine - June 2013 - 32
IEEE Robotics & Automation Magazine - June 2013 - 33
IEEE Robotics & Automation Magazine - June 2013 - 34
IEEE Robotics & Automation Magazine - June 2013 - 35
IEEE Robotics & Automation Magazine - June 2013 - 36
IEEE Robotics & Automation Magazine - June 2013 - 37
IEEE Robotics & Automation Magazine - June 2013 - 38
IEEE Robotics & Automation Magazine - June 2013 - 39
IEEE Robotics & Automation Magazine - June 2013 - 40
IEEE Robotics & Automation Magazine - June 2013 - 41
IEEE Robotics & Automation Magazine - June 2013 - 42
IEEE Robotics & Automation Magazine - June 2013 - 43
IEEE Robotics & Automation Magazine - June 2013 - 44
IEEE Robotics & Automation Magazine - June 2013 - 45
IEEE Robotics & Automation Magazine - June 2013 - 46
IEEE Robotics & Automation Magazine - June 2013 - 47
IEEE Robotics & Automation Magazine - June 2013 - 48
IEEE Robotics & Automation Magazine - June 2013 - 49
IEEE Robotics & Automation Magazine - June 2013 - 50
IEEE Robotics & Automation Magazine - June 2013 - 51
IEEE Robotics & Automation Magazine - June 2013 - 52
IEEE Robotics & Automation Magazine - June 2013 - 53
IEEE Robotics & Automation Magazine - June 2013 - 54
IEEE Robotics & Automation Magazine - June 2013 - 55
IEEE Robotics & Automation Magazine - June 2013 - 56
IEEE Robotics & Automation Magazine - June 2013 - 57
IEEE Robotics & Automation Magazine - June 2013 - 58
IEEE Robotics & Automation Magazine - June 2013 - 59
IEEE Robotics & Automation Magazine - June 2013 - 60
IEEE Robotics & Automation Magazine - June 2013 - 61
IEEE Robotics & Automation Magazine - June 2013 - 62
IEEE Robotics & Automation Magazine - June 2013 - 63
IEEE Robotics & Automation Magazine - June 2013 - 64
IEEE Robotics & Automation Magazine - June 2013 - 65
IEEE Robotics & Automation Magazine - June 2013 - 66
IEEE Robotics & Automation Magazine - June 2013 - 67
IEEE Robotics & Automation Magazine - June 2013 - 68
IEEE Robotics & Automation Magazine - June 2013 - 69
IEEE Robotics & Automation Magazine - June 2013 - 70
IEEE Robotics & Automation Magazine - June 2013 - 71
IEEE Robotics & Automation Magazine - June 2013 - 72
IEEE Robotics & Automation Magazine - June 2013 - 73
IEEE Robotics & Automation Magazine - June 2013 - 74
IEEE Robotics & Automation Magazine - June 2013 - 75
IEEE Robotics & Automation Magazine - June 2013 - 76
IEEE Robotics & Automation Magazine - June 2013 - 77
IEEE Robotics & Automation Magazine - June 2013 - 78
IEEE Robotics & Automation Magazine - June 2013 - 79
IEEE Robotics & Automation Magazine - June 2013 - 80
IEEE Robotics & Automation Magazine - June 2013 - 81
IEEE Robotics & Automation Magazine - June 2013 - 82
IEEE Robotics & Automation Magazine - June 2013 - 83
IEEE Robotics & Automation Magazine - June 2013 - 84
IEEE Robotics & Automation Magazine - June 2013 - 85
IEEE Robotics & Automation Magazine - June 2013 - 86
IEEE Robotics & Automation Magazine - June 2013 - 87
IEEE Robotics & Automation Magazine - June 2013 - 88
IEEE Robotics & Automation Magazine - June 2013 - 89
IEEE Robotics & Automation Magazine - June 2013 - 90
IEEE Robotics & Automation Magazine - June 2013 - 91
IEEE Robotics & Automation Magazine - June 2013 - 92
IEEE Robotics & Automation Magazine - June 2013 - 93
IEEE Robotics & Automation Magazine - June 2013 - 94
IEEE Robotics & Automation Magazine - June 2013 - 95
IEEE Robotics & Automation Magazine - June 2013 - 96
IEEE Robotics & Automation Magazine - June 2013 - 97
IEEE Robotics & Automation Magazine - June 2013 - 98
IEEE Robotics & Automation Magazine - June 2013 - 99
IEEE Robotics & Automation Magazine - June 2013 - 100
IEEE Robotics & Automation Magazine - June 2013 - 101
IEEE Robotics & Automation Magazine - June 2013 - 102
IEEE Robotics & Automation Magazine - June 2013 - 103
IEEE Robotics & Automation Magazine - June 2013 - 104
IEEE Robotics & Automation Magazine - June 2013 - 105
IEEE Robotics & Automation Magazine - June 2013 - 106
IEEE Robotics & Automation Magazine - June 2013 - 107
IEEE Robotics & Automation Magazine - June 2013 - 108
IEEE Robotics & Automation Magazine - June 2013 - 109
IEEE Robotics & Automation Magazine - June 2013 - 110
IEEE Robotics & Automation Magazine - June 2013 - 111
IEEE Robotics & Automation Magazine - June 2013 - 112
IEEE Robotics & Automation Magazine - June 2013 - 113
IEEE Robotics & Automation Magazine - June 2013 - 114
IEEE Robotics & Automation Magazine - June 2013 - 115
IEEE Robotics & Automation Magazine - June 2013 - 116
IEEE Robotics & Automation Magazine - June 2013 - 117
IEEE Robotics & Automation Magazine - June 2013 - 118
IEEE Robotics & Automation Magazine - June 2013 - 119
IEEE Robotics & Automation Magazine - June 2013 - 120
IEEE Robotics & Automation Magazine - June 2013 - 121
IEEE Robotics & Automation Magazine - June 2013 - 122
IEEE Robotics & Automation Magazine - June 2013 - 123
IEEE Robotics & Automation Magazine - June 2013 - 124
IEEE Robotics & Automation Magazine - June 2013 - 125
IEEE Robotics & Automation Magazine - June 2013 - 126
IEEE Robotics & Automation Magazine - June 2013 - 127
IEEE Robotics & Automation Magazine - June 2013 - 128
IEEE Robotics & Automation Magazine - June 2013 - Cover3
IEEE Robotics & Automation Magazine - June 2013 - 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