[1] Faculty of Sci. and Engng., Ritsumeikan Univ., Nojihigashi, Kusatsu, 525-8577, Japan
[2] Ritsumeikan Univ., Nojihigashi, Kusatsu, 525-577, Japan
[3] Faculty of Engineering, Toyama Univ., Gofuku, Toyama, 930-8555, Japan
[4] Dept. Mech. Engng. and Int. Sys., Univ. of Etectro-Communications, Chofugaoka, Chofu, 182-8585, Japan
[5] Dept. Mech. Engng., Toyota College of Tech., Eiseicho, Toyota, 471-8525, Japan
[6] Div. Mech. Sci., Graduate School of Engng., Hokkaido Univ., Kita-ku, Sapporo, 060-8628, Japan
[7] Koyo Seiko Co., Ltd., Kokubuhisanjo-cho, Kashiwara, 582-3588, Japan