Affiliation: | (1) Automation and Control Institute ACIN, Vienna University of Technology, Gusshausstrasse 27–29/361, 1040 Vienna, Austria; e-mail: vincze@acin.tuwien.ac.at , AT;(2) Aalborg University, Department of Production, 9220 Aalborg, Denmark , DK;(3) Laboratory for Integrated Advanced Robotics, LIRA, University of Genova, 16145 Genova, Italy , IT |