1. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
3. Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, Heilongjiang 150080, China