1. Department of Mechanical Engineering, University of Melbourne, Melbourne, VIC 3010, Australia; INRIA Sophia Antipolis, BP93, 06902 Sophia Antipolis Cedex, France
2. INRIA Sophia Antipolis, BP93, 06902 Sophia Antipolis Cedex, France
3. Department of Mechanical Engineering, Monash University, Clayton, VIC 3800, Australia