[1] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Peoples R China
[2] Natl Engn Lab Robot Vis Percept & Control, Changsha 410082, Peoples R China
[3] York Univ, Dept Mech Engn, Toronto, ON M3J 1P3, Canada
[4] Guangdong Polytech Normal Univ, Coll Electromech Engn, Guangzhou 510635, Peoples R China
[5] Aluminum Corp China, Beijing 100000, Peoples R China