National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [41671377, 61502195]; Natural Science Foundation of Hubei ProvinceNatural Science Foundation of Hubei Province [2017CFB504]; Research Funds of CCNU from the Colleges Basic Research and Operation of MOE [CCNU17QN0003, CCNU17QN0002, CCNU2016A02020]; Foundation of Hubei Key Laboratory of Intelligent Robot [HBIR201606]