[1] Tokyo Inst Technol, Dept Mechanomicro Engn, Midori Ku, 4259 Nagatsuta, Yokohama, Kanagawa 2268503, Japan
[2] Tokyo Inst Technol, Dept Mech & Control Engn, Meguro Ku, 2-12-1 Ookayama, Tokyo 1528550, Japan
[3] Tokyo Inst Technol, Precis & Intelligence Lab, Midori Ku, 4259 Nagatsuta, Yokohama, Kanagawa 2268503, Japan