基金This material is based upon work funded by State Key Laboratory of Robotics and System (HIT) Foundation of China under Grant No. SKLRS-2012-MS-06, China Postdoctoral Science Foundation under Grant No. 2013M531022, Research project of laboratory work in universities of Zhejiang Province under Grant No. ZD201504, Educational technology research program of Zhejiang Province under Grant No. JA027.