1. College of Mechanical and Electrical Engineering, Changchun University of Science and Technology, Changchun 130022, China
2. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China
3. Weihai Institute for Bionics, Jilin University, Weihai 264402, China
4. School of Foreign Languages, Shandong University, Jinan 250100, China
5. ESIEE Paris, 93160 Noisy-le-Grand, France