Affiliation: | 1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150080 Harbin, China;2. School of Mechanical and Electrical Engineering, China University of Mining and Technology, 221116 Xuzhou, China;3. Chair of Mechanics and Robotics, University of Duisburg-Essen, 47057 Duisburg, Germany;4. Robotics Research Center, Yanshan University, 066004 Qinhuangdao, China |