Robotics and Biology Laboratory, Department of Electrical Engineering and Computer Science, Technische Universität Berlin, Marchstraße 23, Berlin, 10587, Germany.|Robotics and Biology Laboratory, Department of Electrical Engineering and Computer Science, Technische Universität Berlin, Marchstraße 23, Berlin, 10587, Germany.|Robotics and Biology Laboratory, Department of Electrical Engineering and Computer Science, Technische Universität Berlin, Marchstraße 23, Berlin, 10587, Germany. oliver.brock@tu-berlin.de.