1. School of Mechanical and Aerospace Engineering, Kingston University; London SW15 3DW United Kingdom
2. School of Mechanical and Aerospace Engineering, Kingston University, London SW15 3DW, United Kingdom Visiting Associate Professor, Robotics Institute, Khalifa University of Science and Technology; P.O. Box 127788, Abu Dhabi United Arab Emirates
3. Robotics Institute, Khalifa University of Science and Technology; P.O. Box 127788, Abu Dhabi United Arab Emirates