1. Department of Adaptive Machine
Systems, Graduate School of Engineering, Osaka University, Yamadaoka 2-1, Suita, Osaka, Japan
2. The Institute of Scientific
and Industrial Research (ISIR), Osaka University, Mihogaoka 8-1, Ibaraki, Osaka, Japan
3. Central Research Center, Daicel Corporation, Shinzaike 1239, Aboshi-ku, Himeji,
Hyogo, Japan