1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
2. State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China
3. Zhengzhou Research Institute, Harbin Institute of Technology, Zhengzhou 450000, China
4. Institute of High Performance Computing (IHPC), Agency for Science Technology and Research (A*STAR), Singapore 138632, Singapore