1. H2L Inc., Tokyo 106-0032, Japan
2. Future Robotics Organization, Waseda University, Tokyo 169-8050, Japan
3. Graduate School of Engineering and Science, University of the Ryukyus, Okinawa 903-0129, Japan
4. Department of Life Sciences, Graduate School of Arts and Sciences, The University of Tokyo, Tokyo 153-8902, Japan
5. Faculty of Engineering, University of the Ryukyus, Okinawa 903-0129, Japan