1. Humanoid and Cognitive Robotics Lab, Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia
2. Jožef Stefan International Postgraduate School, Jamova cesta 39, 1000 Ljubljana, Slovenia
3. Faculty of Electrical Engineering, University of Ljubljana, Tržaška cesta 25, 1000 Ljubljana, Slovenia