[1] Graduate School of Education, Hiroshima University, Higashihiroshima-shi, 739-8524, Japan
[2] Graduate School of Engineering, Hiroshima University, Higashihiroshima-shi, 739-8527, Japan
[3] Graduate School of Education, Hiroshima University, Japan
[4] IEEE, Japan
[5] Honda Motor Company, Japan
[6] Department of Artificial Complex Systems Engineering, Hiroshima University, Japan
[7] Department of Artificial Complex Systems Engineering, Hiroshima University, Japan
[8] Robotics Society of Japan, Japan
[9] Institute of Electrical Engineering of Japan, Society of Instrumentation and Control Engineers in Japan, Japan
[10] Institute of Electrical and Electronics Engineers
[11] Japan Society of Mechanical Engineers, Japan
[12] Society of Instrumentation and Control Engineers in Japan, Japan