Changchun University of Science and Technology (CUST) National Natural Science Foundation of China (NSFC) Ministry of Science and Technology of China (MOST) Science and Technology Department of Jilin Province Science and Technology Bureau of Changchun City Tampere University of Technology Cardiff University University of Oldenburg http://www.amir.uni-oldenburg.de CNRS (National Center for Scientific Research) Technical University of Denmark University of Bedfordshire International Journal of Intelligent Mechatronics and Robotics (IJIMR)Changchun New Industries (CNI)