1. School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China
2. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
3. School of Engineering and Material Science, Queen Mary University of London, London E1 4NS, UK
4. Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
5. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China