1School of Advanced Manufacturing and Robotics, Peking University, Beijing, 100871, China
2School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China
3Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, 100081, China
4Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing, 100081, China
5Institute for Artificial Intelligence, Peking University, Beijing, 100871, China
6School of Rehabilitation Sciences and Engineering, University of Health and Rehabilitation Sciences, Qingdao, 266071, China