1. Department of Robotics Engineering; DGIST-ETH Microrobot Research Center; Daegu Gyeongbuk Institute of Science and Technology (DGIST); 333 Techno Jungang-daero Hyeonpung-Myeon, Dalseong-Gun Daegu 42988 Republic of Korea
2. Department of Brain and Cognitive Science; Daegu Gyeongbuk Institute of Science and Technology (DGIST); 333 Techno Jungang-daero Hyeonpung-Myeon, Dalseong-Gun Daegu 42988 Republic of Korea
3. Institute of Robotics and Intelligent Systems; ETH Zurich; CH-8092 Zurich Switzerland