1. The State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Department of Mechanical Engineering (DME), Tsinghua University, Beijing 100084, China
2. The State Key Laboratory of Tribology & Tsinghua University (DME)-Siemens Joint Research Center for Advanced Robotics, Department of Mechanical Engineering (DME), Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084, China
3. Robot Phoenix, Shandong 250000, China