1. Unconventional Computing Laboratory and Department of Architecture and Environment, University of the West of England, Bristol, BS16 1QY, United Kingdom
2. Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy
3. Escuela Politécnica Superior, Departamento de Informática, Universidad Carlos III de Madrid, Leganés, 28911, Spain
4. Unconventional Computing Laboratory, University of the West of England, Bristol, BS16 1QY, United Kingdom