1. Department of Mechanical Engineering and Science Graduate School of Engineering, Kyoto University, Kyoto 615-8540, Japan e-mail:
2. Toyota Central R & D Labs, Nagakute 480-1192, Japan e-mail:
3. Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto 615-8540, Japan e-mail:
4. Professor Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto 615-8540, Japan e-mail: