[1] Univ Brescia, Dept Civil Environm Architectural Engn & Math, Via Branze 43, I-25123 Brescia, Italy
[2] Univ Trento, Dept Civil Environm & Mech Engn, Via Mesiano 77, I-38123 Trento, Italy
[3] Korea Inst Sci & Technol, Ctr Robot Res 5, Hwarang Ro,14 Gil, Seoul 02792, South Korea
[4] New York Univ, Dept Mech & Aerosp Engn, Tandon Sch Engn, MetroTech Ctr 6, Brooklyn, NY 11201 USA