1. Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA
2. Electrical and Computer Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA
3. The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA
4. Department of Biomedical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA