1. Waseda University, 3-4-1 Ohkubo, Shijuku-ku, 169-8555 Tokyo, Japan
2. National Institute of Informatics, 2-1-2 Hitotsubashi, Chiyoda-ku, 101-8430 Tokyo, Japan
3. System Information Co., Ltd., 1-7-3 Kachidoki, Chuo-ku, 104-0054 Tokyo, Japan
4. eXmotion Co., Ltd., 2-11-1 Osaki, Shinagawa-ku, 141-0032 Tokyo, Japan
5. Osaka Institute of Technology, 5-16-1 Omiya, Asahi-ku, Osaka, 535-8585, Japan