Funding for this research was provided by:
Foundation for Innovative Research Groups of the National Nature Science Foundation of China (51521003)
Chinese National Natural Science Foundation (61571153, 51173034)
Self-planned Task of State Key Laboratory of Robotics and System (HIT) and the Programme of Introducing Talents of Discipline of Universities (B07108)
Article History
Received: 30 August 2017
Accepted: 17 April 2018
First Online: 23 April 2018