1. School of Mechatronical Engineering, Beijing Institute of Technology, National Key Laboratory of Autonomous Intelligent Unmanned Systems (KAIUS, ) Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education, Beijing, China
2. China Academy of Space Technology (CAST), Beijing, China
3. Laboratory of Robot Mechatronics, Department of Industrial Engineering, University of Rome Tor Vergata Via del Politecnico, Rome, Italy