1. Graduate School of Science and Engineering, Ritsumeikan University, Kusatsu, Japan
2. Department of Intelligent Robotics, Faculty of Engineering, Toyama Prefectural University, Imizu, Japan
3. Department of Information Systems Engineering, Graduate School of Information Science and Technology, Information Systems Synthesis Group, Osaka University, Suita, Japan
4. Graduate School of Mechanical and Automotive Engineering, South China University of Technology, Guangdong, China
5. College of Science and Engineering, Ritsumeikan University, Kusatsu, Japan