1. State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang110016, China
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang110016, China
3. University of Chinese Academy of Sciences, Beijing100049, China
4. Institute of Urban Rail Transportation, Southwest Jiaotong University, Chengdu610000, China
5. College of Mechanical and Electrical Engineering, Henan Agricultural University, Zhengzhou450002, China
6. Northeastern University, Shenyang110016, China