1. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
2. Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Ministry of Education, Beijing 100081, China
3. School of Mathematics and Computational Science, Xiangtan University, Xiangtan 411105, China
4. Yangtze Delta Region Academy, Beijing Institute of Technology, Jiaxing 314000, China