1. State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China
2. Department of Mechanical Engineering, City University of Hong Kong, Kowloon, Hong Kong, China
3. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China
4. City University of Hong Kong Shenzhen Research Institute, Shenzhen 518057, China