May 31, 2022
      
                  
        
  Author(s)
  John L.  Michaloski,   Craig I.  Schlenoff,   Rafael  Cardoso,   Michael  Fisher
 
       
            
    
    
        The future of robotics foresees autonomous behavior that can complete tasks intelligently, with a focus on adaptability, flexibility, and versatility. In such systems, it is critical for robots to quickly and safely perform an operation. However, such