1. Department of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, P. R. China
2. Center for Robotics, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, P. R. China
3. Institute of Electronic Engineering, China Academy of Engineering Physics, Mianyang 621900, P. R. China