1. Key Laboratory of Bionic Engineering (Ministry of Education) Jilin University Changchun 130022 P. R. China
2. School of Mechanical Aerospace and Civil Engineering University of Manchester Manchester M13 9PL UK
3. School of Mechanics and Aerospace Jilin University Changchun 130022 P. R. China
4. Weihai Institute of Bionics Jilin University Weihai 264400 P. R. China