[1] Natl Tech Univ Athens, Sch Mech Engn, Control Syst Lab, Athens, Greece
[2] Canadian Space Agcy CSA, Space Explorat, Montreal, PQ, Canada
[3] Univ Cincinnati, Coll Engn & Appl Sci, Intelligent Robot & Autonomous Syst Lab, Cincinnati, OH USA
[4] German Aerosp Ctr DLR, Inst Robot & Mechatron, Cologne, Germany