1. Department of Mechanical Engineering, Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul 08826, Korea
2. Mechatronics R&D Center, Samsung Electronics, 1-1 Samsungjeonja-ro, Hwaseong, Gyeonggi-do, Korea
3. Department of Mechanical Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea
4. Institute of Advanced Machines and Design, Seoul National University, Seoul 08826, Korea
5. Institute of Engineering Research, Seoul National University, Seoul 08826, Korea