1. State Key Laboratory of Robotics and Systems (HIT), Harbin, China
2. Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, China
3. Research Center of Intelligent Control and Systems, Yongjiang Laboratory, Ningbo, China
4. School of Electronics and Information Engineering, Harbin Institute of Technology, Harbin, China
5. Ningbo University of Technology, Ningbo, China