[1] Keio Univ, Dept Mech Engn, Kohoku Ku, 3-14-1 Hiyoshi, Yokohama, Kanagawa 2238522, Japan
[2] Kyushu Inst Technol, Dept Mech & Control Engn, Tobata Ku, 1-1 Sensui Cho, Kitakyushu, Fukuoka 8048550, Japan
[3] Univ Tokyo, Grad Sch Informat Sci & Technol, Dept Mechanoinformat, Bunkyo Ku, 7-3-1 Hongo, Tokyo 1138656, Japan
[4] Univ Tokyo, IIS, Meguro Ku, 4-6-1 Komaba, Tokyo 1538505, Japan