Division of Mechatronics, Chalmers University of Technology, Göteborg, Sweden. mwahde@me.chalmers.se|Division of Mechatronics, Chalmers University of Technology, Göteborg, Sweden. mwahde@me.chalmers.se|Division of Mechatronics, Chalmers University of Technology, Göteborg, Sweden. mwahde@me.chalmers.se|Division of Mechatronics, Chalmers University of Technology, Göteborg, Sweden. mwahde@me.chalmers.se|Division of Mechatronics, Chalmers University of Technology, Göteborg, Sweden. mwahde@me.chalmers.se