1. Institute of Circuits and Systems, Faculty of Electrical and Computer Engineering Technische Universität Dresden Dresden Germany
2. Autonomous Motion Department Max Planck Institute for Intelligent Systems Tübingen‡ Germany
3. Department of Electrical Engineering and Computer Sciences University of California Berkeley Berkeley California USA
4. Fachbereich VII, Forschungslabor Neurorobotik Beuth Hochschule für Technik Berlin Berlin Germany