Kitano Symbiotic Systems Project, ERATO, Japan Science and Technology Corporation, Shibuya, Tokyo 150-0001, Japan.|Kitano Symbiotic Systems Project, ERATO, Japan Science and Technology Corporation, Shibuya, Tokyo 150-0001, Japan.|Kitano Symbiotic Systems Project, ERATO, Japan Science and Technology Corporation, Shibuya, Tokyo 150-0001, Japan.|Kitano Symbiotic Systems Project, ERATO, Japan Science and Technology Corporation, Shibuya, Tokyo 150-0001, Japan.