[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Heilongjiang, Peoples R China
[2] City Univ Hong Kong, Dept Mech Engn, Kowloon, Hong Kong, Peoples R China
[3] City Univ Hong Kong, Dept Architecture & Civil Engn, Kowloon, Hong Kong, Peoples R China
[4] Univ Hong Kong, Dept Comp Sci, Pokfulam Rd, Hong Kong, Peoples R China