[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China
[2] Shanghai Univ, Shanghai Key Lab Intelligent Mfg & Robot, Shanghai, Peoples R China
[3] ShanghaiTech Univ, Ctr Innovat Teaching & Learning, Shanghai, Peoples R China
[4] Univ Leeds, Sch Elect & Elect Engn, Leeds, England
[5] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200444, Peoples R China