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 Program of Introducing Talents of Discipline of Universities (B07108)
Article History
Received: 25 October 2017
Accepted: 18 April 2018
First Online: 25 April 2018