[Zhang, Guocheng;Fan, Na;Jiang, Hai;Guo, Jian;Peng, Bei] Univ Elect Sci & Technol China, Sch Mechatron Engn, Chengdu, Sichuan, Peoples R China.^[Zhang, Guocheng;Fan, Na;Jiang, Hai;Peng, Bei] Univ Elect Sci & Technol China, Ctr Robot, Chengdu, Sichuan, Peoples R China.^[Guo, Jian] Univ South China, Sch Mech Engn, Hengyang, Hunan, Peoples R China.