1. School of Mechatronical Engineering, Advanced Innovation Center for Intelligent Robots and Systems, Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education,
Beijing Institute of Technology, Beijing 100081, China.
2. China Northern Vehicle Research Institute, Beijing 100071, China.
3. Department of Industrial Engineering,
University of Rome Tor Vergata, Via del Politecnico 1, 00133 Roma, Italy.