1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
2. Robotics Institute, School of Mechanical & Electrical Engineering, Nanchang Institute of Technology, Nanchang 330099, China
3. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
4. HIT Wuhu Robot Technology Research Institute of Harbin Institute of Technology, Wuhu 241007, China