1. Institute of Plant Sciences, University of Bern, CH–3013 Bern, Switzerland (A.-L.R.-K., A.W., P.K., C.K., R.S.S.); Department of Mechanics, Faculty of Applied Sciences, University of West Bohemia, 306 14 Pilsen, Czech Republic (P.K.); Institute of Robotics and Intelligent Systems, Eidgenössische Technische Hochschule Zürich, CH–8092 Zurich, Switzerland (D.F., B.J.N.)