[1] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 110819, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China
[3] Harbin Inst Technol, Ctr Composite Mat & Struct, Harbin 150001, Peoples R China
[4] Univ Liverpool, Sch Engn, Brownlow St, Liverpool L69 3GQ, England