1. Department of Robotics, Faculty of Engineering, Kindai University, Higashi-Hiroshima, Japan
2. Faculty of Systems Engineering, Mechatronics Major, Wakayama University, Wakayama, Japan
3. Faculty of Science and Technology, Department of Electronics and Informatics, Ryukoku University, Otsu, Japan
4. Graduate School of Science and Engineering, Saitama University, Saitama, Japan
5. Faculty of Engineering, Information and Systems, University of Tsukuba, Tsukuba, Japan
6. Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
7. Faculty of Robotics and Design, Department of Robotics, Osaka Institute of Technology, Osaka, Japan
8. National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
9. Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan