1. Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan e-mail:
2. Robolit LLC, 1829 Pine Street, Suite 404, Philadelphia, PA 19103 e-mail:
3. Delft Center for Systems and Control, Delft University of Technology, Delft 2628, The Netherlands e-mail:
4. Department of Mechanical Engineering, Florida State University, Tallahassee, FL 32310 e-mail:
5. Mem. ASME Department of Mechanical Engineering, National Taiwan University, Taipei 106, Taiwan e-mail: