1. Department of Mechanical Engineering, College of Science and Technology, Nihon University, Tokyo, 101-8308, Japan
2. Honda R&D Co., Ltd, 4630 Shimo-Takanezawa, Haga-Machi, Haga-gun, Tochigi, 321-3321, Japan
3. Department of Mechanical Engineering, Tokyo Institute of Technology, Tokyo, 152-8551, Japan
4. Department of Mechanical Engineering, Tokyo University of Science, Noda, Chiba, 278-8510, Japan
5. Japan Aerospace Exploration Agency, 6-13-1 Osawa, Mitaka, Tokyo 181-0015, Japan