1. Laboratory of Intelligent Systems, Institute of Mechanical Engineering, School of Engineering École Polytechnique Fédérale de Lausanne Lausanne 1015 Switzerland
2. Multi‐Scale Robotics Lab Tannenstrasse 3 ETH Zurich Zurich 8092 Switzerland
3. Shintake Research Group, School of Informatics and Engineering The University of Electro‐Communications 1‐5‐1 Chofugaoka Chofu Tokyo 182—8585 Japan