1. School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
2. HIT Wuhu Robot Technology Research Institute, Wuhu 241000, China
3. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150001, China
4. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
5. The 41st Institute of Sixth Academy of CASIC, Hohhot 010010, China
6. Institute of Physics, Nicolaus Copernicus University, Grudziadzka 5, 87-100 Torun, Poland