1. 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. Fundamental Science & Advanced Technology Lab, PetroChina Petrochemical Research Institute, China National Petroleum Corporation, Beijing 102200, China
4. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China