1. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Haidian, Beijing, China
2. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Haidian, Beijing, China
3. Laboratory of Robotics and Mechatronics DICeM, University of Cassino and South Latium, Cassino (Fr), Italy
4. International Joint Research Laboratory of Service Robotics, IRI-BIT and LARM-UCLAM, Beijing, China