1. Department of Mechanical Engineering Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15213 USA
2. Robotics Institute Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15213 USA
3. Arieca Inc. 201 N Braddock Ave Suite 334 Pittsburgh PA 15208 USA
4. Human Computer Interaction Institute Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15213 USA
5. Department of Mechanical Engineering University of Washington 3900 E Stevens Way NE Seattle WA 98195 USA
6. Department of Mechanical Engineering Seoul National University 1 Gwanak‐ro, Gwanak‐gu Seoul 08826 South Korea