State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 ChinaSchool of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou 310023 ChinaHangzhou SIASUN Robot and Automation Co. LTD. Hangzhou 311225 China;
School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou 310023 China;
State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China;