1. International College of Semiconductor Technology, National Yang Ming Chiao Tung University, Hsinchu, Taiwan
2. Department of Graduate Degree Program of Robotics, National Yang Ming Chiao Tung University, Hsinchu, Taiwan
3. Mechanical and Mechatronics System Research Labs, Industrial Technology Research Institute, Zhudong, Taiwan
4. Mechanical Engineering Department, Indian Institute of Technology Kanpur, Kanpur, India
5. Department of Mechanical Engineering and International College of Semiconductor Technology, National Yang Ming Chiao Tung University, Hsinchu, Taiwan