1. Department of Mechanical Engineering and Industrial & Manufacturing Engineering, Pennsylvania State University, University Park, PA, USA
2. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA
3. Robotics Institute, University of Michigan, Ann Arbor, MI, USA
4. Automatic Control Laboratory, ETH Zürich, Zurich, Switzerland
5. Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA
6. Siemens Technology, Production Automation Engineering, Charlotte, NC, USA