The Biorobotics Institute, Scuola Superiore SantAnna, Pontedera, Pisa, Italy.|Department of Neuroscience and Pharmacology, University of Copenhagen, Copenhagen, Denmark.|Ernst Strüngmann Institute (ESI) for Neuroscience in Cooperation with Max Planck Society, Frankfurt/Main, Germany.|Department of Computational Biology, School of Computer Science and Communication, Royal Institute of Technology-KTH, Stockholm, Sweden.|Neural Computation Laboratory, Center for Neuroscience and Cognitive Systems @UniTn, Istituto Italiano di Tecnologia, Rovereto, Italy.|Department of Mathematical Sciences and Technology, Norwegian University of Life Sciences, Ås, Norway.