1. a Italian Institute of Technology (IIT) Genoa 16163, Italy
2. b LIRA-Lab, University of Genoa and Italian Institute of Technology (IIT) Genoa 16163, Italy
3. c Italian Institute of Technology (IIT) Genoa 16163, Italy
4. d LIRA-Lab, University of Genoa and Italian Institute of Technology (IIT) Genoa 16163, Italy
5. e VisLab—Institute for Systems and Robotics, Instituto Superior Técnico, Lisbon 1049-001, Portugal
6. f Telerobot Srl, Genoa 16128, Italy
7. g BIRG, EPFL, CH-1015 Lausanne, Switzerland
8. h VisLab—Institute for Systems and Robotics, Instituto Superior Técnico, Lisbon 1049-001, Portugal
9. i BIRG, EPFL, CH-1015 Lausanne, Switzerland
10. j Scuola Superiore Sant'Anna, Pisa 56127, Italy
11. k Italian Institute of Technology (IIT) Genoa 16163, Italy