[1] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou 310027, Peoples R China
[2] Zhejiang Univ, Key Lab Soft Machines & Smart Devices Zhejiang Pr, Hangzhou 310027, Peoples R China
[3] Zhejiang Univ, Ctr X Mech, Hangzhou 310027, Peoples R China
[4] Zhejiang Univ, Dept Engn Mech, Hangzhou 310027, Peoples R China
[5] Zhejiang Lab, Res Ctr Intelligent Robot, Hangzhou 311100, Peoples R China