1. Laboratory for Embedded System and Intelligent Robot, Wuhan University of Science and Technology, Wuhan 430000, China
2. Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
3. School of Engineering and Technology, China University of Geoscience (Beijing), Beijing 100083, China
4. Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinghuangdao 066000, China
5. Anhui Province Key Laboratory of Special Heavy Load Robot, Anhui University of Technology, Ma’anshan 243000, China
6. Faculty of Information and Technology, Beijing University of Technology, Beijing 100124, China