基金Supported by the National Natural Science Foundation of China(Grant No.60806037)the National Hi-Tech Research and Development Programof China(863 Program) (Grant No .2006AA04Z353)The Ph.D.Programs Foundation of Ministry of Education of China (Grant No.20070213057)
基金supported by the Self-Planned Task of State Key Laboratory of Robotics and System(SKLRS201301A01)Program for Changjiang Scholars and Innovative Research Team in University(IRT0915)