Funding for this research was provided by:
Projects of Major International (Regional) Joint Research Program NSFC (61720106011)
National Natural Science Foundation of China (61573062)
National Natural Science Foundation of China (61621063)
National Natural Science Foundation of China (61673058, 61603094)
Beijing Education Committee Cooperation Building Foundation Project (2017CX02005)
Beijing Advanced Innovation Center for Intelligent Robots and Systems
Key Laboratory of Biomimetic Robots and Systems
Article History
Received: 8 June 2017
Accepted: 15 December 2017
First Online: 15 January 2018