From 1984 to present, I have been engaged on robotics, including industrial robot and service robot. As person in charge of the project, I have completed following main projects: 1. Research and development of mirosot soccer robot system, 100,000C, Tianjin Education Commission; 2. Small soccer robot, 100,000RMB, 2001AA 422270, 863 Project; 3. General architecture of modular robot, 150,000RMB, 2007AA041700, 863 Project; 4. Research and development of surgical mater robot with force reflection, 970,000RMB. 2007AA04Z205, 863 Project; 5. Standards system of modular robot, 200,000RMB, 2012AA041401, 863 Project. From November 2015 to present, I have been in charged in the project " Research and development of automobile paint robot " (4500,000RMB) sponsored by Tianjin Science and Technology Commission.