1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3. University of Chinese Academy of Sciences, Beijing 100049, China
4. Shenyang Ligong University, School of Automation and Electrical Engineering, Shenyang 110159, China