1. aDepartment of Mechatronics Engineering, NUST College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Islamabad 44000, Pakistan Danish.hussain@ceme.nust.edu.pk
2. bDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Islamabad 44000, Pakistan saifullahawan@ceme.nust.edu.pk
3. aDepartment of Mechatronics Engineering, NUST College of Electrical and Mechanical Engineering, National University of Sciences and Technology (NUST), Islamabad 44000, Pakistan
4. cState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, C1-507, HIT Science Park, 150080 Harbin, China