1. Key Laboratory of Metallurgical Equipment and Control of Ministry of Education, Wuhan University of Science and Technology, Wuhan, China
2. Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan, China
3. Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan, China
4. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan, China
5. School of Computing, University of Portsmouth, Portsmouth PO1 3HE, UK