[1] Division of Advanced Physics, Electrical and Computer Engineering, Yokohama National University, 79-5, Tokiwadai, Hodogaya-ku, Yokohama 240-8501, Japan
[2] IEICE, Japan
[3] IEEE, Japan
[4] Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan
[5] Robotics Society of Japan, Japan
[6] Institute of Electronics, Information and Communication Engineers, Japan
[7] Society of Instrument and Control Engineering, Japan
[8] Yokohama National University, Japan