Key;
Laboratory;
of;
Robotics,;
Shenyang;
Institute;
of;
Automation,;
Chinese;
Academy;
of;
Sciences,;
Shenyang;
110016,;
China;
of;
Robotics,;
Ritsumeikan;
University,;
Shiga-ken;
525-8577,;
Japan;
of;
Chinese;
Academy;
of;
Sciences,;
Beijing;
100049,;
China;