1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, 38 Zheda Road, Hangzhou, Zhejiang 310027, China e-mail:
2. School of Mechanical Engineering, Jiangsu University of Science and Technology, 2 Mengxi Road, Zhenjiang, Jiangsu 212003, China e-mail:
3. Precision and Intelligence Laboratory, Tokyo Institute of Technology, Yokohama 226-8503, Japan e-mail: