Institution: | 1. Department of Mechanical Engineering , Osaka University , 2-1 Yamada-oka, Suita , Osaka 565-0871 , Japan tarumi@mech.eng.osaka-u.ac.jp;3. Department of Mechanical Engineering , University of Colorado , Boulder , Colorado 80309 , USA;4. Department of Mechanical Engineering , Osaka University , 2-1 Yamada-oka, Suita , Osaka 565-0871 , Japan |