[1] Univ Calif Berkeley, Berkeley Sensor & Actuator Ctr, Berkeley, CA 94720 USA
[2] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
[3] Italian Inst Technol Polito, Ctr Space Human Robot, I-10129 Turin, Italy
[4] Politecn Torino, Dept Phys, I-10129 Turin, Italy