1. State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China
2. Zhengzhou Research Institute, Harbin Institute of Technology, Zhengzhou, Henan, China
3. Shenyang Fire Science and Technology Research Institute of MEM, Shenyang, China
4. Wuhu Hit Robot Technology Research Institute Co., Ltd., Wuhu, Anhui, China