1. School of Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152-8550, Japan
2. CNRS (Centre National de la Recherche Scientifique), Universite Montpellier (UM) Laboratoire de Informatique de Robotique et de Microelectronique de Montpellier (LIRMM), Montpellier, France
3. CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218, National Institute of Advanced Industrial Science and Technology, Tsukuba Central 1, 1-1-1 Umezono, Tsukuba 305-8560, Japan
4. Graduate School of Information Science and Technology, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan
5. Institute of Innovative Research, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan