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\section*{Acknowledgements}
I would like to express my profound gratitude to my primary supervisor, Dr. Majid Khadiv, Research Scientist at Max Planck Institute for Intelligent Systems, Tübingen, who guided me throughout this project. Special thanks to Prof. Ludovic Righetti, Max Planck Research Group Leader for Movement Generation and Control Group, for giving me the opportunity to be a member of this amazing team, which provided me insights into my future goals and career in robotics. Additionally, I wish to acknowledge the help and support that was provided by all my colleagues in this group. \par
Finally, I would like to thank Prof. Robert Seifried, Prof Norbert Hoffmann, and M.Sc. Daniel-André Dücker , who offered guidance and support to me in this project, for giving me the opportunity to work together, and extend our relationship.
