{"id":"https://openalex.org/W4312975081","doi":"https://doi.org/10.1109/tie.2022.3210545","title":"Study of the Velocity and Direction of Piezoelectric Robot Driven by Traveling Waves","display_name":"Study of the Velocity and Direction of Piezoelectric Robot Driven by Traveling Waves","publication_year":2022,"publication_date":"2022-10-06","ids":{"openalex":"https://openalex.org/W4312975081","doi":"https://doi.org/10.1109/tie.2022.3210545"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3210545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3210545","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041382996","display_name":"Guanyu Mu","orcid":"https://orcid.org/0000-0001-5299-4199"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanyu Mu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-5299-4199","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003849480","display_name":"Huijuan Dong","orcid":"https://orcid.org/0000-0002-0690-4540"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huijuan Dong","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-0690-4540","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100372581","display_name":"Tong Sun","orcid":"https://orcid.org/0000-0003-3861-8933"},"institutions":[{"id":"https://openalex.org/I180825142","display_name":"City, University of London","ror":"https://ror.org/04489at23","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I180825142"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tong Sun","raw_affiliation_strings":["City University of London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of London, London, U.K","institution_ids":["https://openalex.org/I180825142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084766358","display_name":"K. T. V. Grattan","orcid":"https://orcid.org/0000-0003-2250-3832"},"institutions":[{"id":"https://openalex.org/I180825142","display_name":"City, University of London","ror":"https://ror.org/04489at23","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I180825142"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kenneth Thomas Victor Grattan","raw_affiliation_strings":["City University of London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2250-3832","affiliations":[{"raw_affiliation_string":"City University of London, London, U.K","institution_ids":["https://openalex.org/I180825142"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5528,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.89697673,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"70","issue":"9","first_page":"9260","last_page":"9269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10369","display_name":"Advanced MEMS and NEMS Technologies","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/traveling-wave","display_name":"Traveling wave","score":0.7715869545936584},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.6367255449295044},{"id":"https://openalex.org/keywords/piezoelectricity","display_name":"Piezoelectricity","score":0.6222600936889648},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5731710195541382},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4297177493572235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3433094918727875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3238967955112457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1983180046081543},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14827901124954224},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14774873852729797}],"concepts":[{"id":"https://openalex.org/C2988173416","wikidata":"https://www.wikidata.org/wiki/Q37172","display_name":"Traveling wave","level":2,"score":0.7715869545936584},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.6367255449295044},{"id":"https://openalex.org/C100082104","wikidata":"https://www.wikidata.org/wiki/Q183759","display_name":"Piezoelectricity","level":2,"score":0.6222600936889648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5731710195541382},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4297177493572235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3433094918727875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3238967955112457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1983180046081543},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14827901124954224},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14774873852729797}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2022.3210545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3210545","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:openaccess.city.ac.uk:28823","is_oa":false,"landing_page_url":"https://openaccess.city.ac.uk/view/creators_id/t=2Esun.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4306401940","display_name":"City Research Online (City University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I180825142","host_organization_name":"City, University of London","host_organization_lineage":["https://openalex.org/I180825142"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2262960036","display_name":null,"funder_award_id":"52275014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320320025","display_name":"British Council","ror":"https://ror.org/00t3pr326"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1579900883","https://openalex.org/W1593272008","https://openalex.org/W1970284202","https://openalex.org/W1981183491","https://openalex.org/W1983023354","https://openalex.org/W1988906280","https://openalex.org/W1992876445","https://openalex.org/W2001300659","https://openalex.org/W2003308292","https://openalex.org/W2003551760","https://openalex.org/W2016590661","https://openalex.org/W2026665176","https://openalex.org/W2026819895","https://openalex.org/W2034937536","https://openalex.org/W2038579638","https://openalex.org/W2050257809","https://openalex.org/W2054686180","https://openalex.org/W2061697827","https://openalex.org/W2089450344","https://openalex.org/W2117843083","https://openalex.org/W2137700630","https://openalex.org/W2144208995","https://openalex.org/W2144979430","https://openalex.org/W2171373206","https://openalex.org/W2323191115","https://openalex.org/W2343172058","https://openalex.org/W2401349437","https://openalex.org/W2417298877","https://openalex.org/W2417869995","https://openalex.org/W2522829840","https://openalex.org/W2783899135","https://openalex.org/W2784186685","https://openalex.org/W2809495758","https://openalex.org/W2902727915","https://openalex.org/W2939201550","https://openalex.org/W2968709362","https://openalex.org/W3127352069","https://openalex.org/W3178395971","https://openalex.org/W3197718605","https://openalex.org/W4200314031","https://openalex.org/W4285209257","https://openalex.org/W4300596816"],"related_works":["https://openalex.org/W120386264","https://openalex.org/W2369514825","https://openalex.org/W4309764133","https://openalex.org/W3094386287","https://openalex.org/W2031123327","https://openalex.org/W4389328717","https://openalex.org/W2132160072","https://openalex.org/W3210408447","https://openalex.org/W2761298569","https://openalex.org/W597924346"],"abstract_inverted_index":{"Self-running":[0],"piezoelectric":[1],"robots":[2,38],"have":[3,126,189],"the":[4,32,41,47,51,57,66,69,78,81,90,97,110,113,118,134,144,156,166,171],"advantages":[5],"of":[6,16,34,36,50,68,80,117,129,155,195],"being":[7],"low":[8],"cost,":[9],"high":[10],"load":[11,179],"ratio":[12,44],"and":[13,152,181,199],"fast":[14],"speed":[15,33,158],"operation,":[17],"as":[18,20,177],"well":[19],"showing":[21],"few":[22],"limitations":[23],"in":[24],"confined":[25],"spaces":[26],"or":[27,123],"for":[28],"underwater":[29],"applications.":[30],"Controlling":[31],"motion":[35,151,157,174],"such":[37,176],"by":[39,89,108,124,164],"adjusting":[40],"standing":[42],"wave":[43,99,147],"(SWR)":[45],"along":[46],"vibration":[48],"plate":[49],"robot":[52],"is":[53,63,159],"important.":[54],"Compared":[55],"to":[56,133,169,183],"conventional":[58],"dual-mode":[59],"excitation":[60,70],"method":[61,168],"which":[62],"based":[64],"on":[65,185],"adjustment":[67,79],"frequency,f,":[71],"a":[72,127,193],"novel":[73],"SWR-based":[74],"control":[75,148],"method,":[76,149],"using":[77,104,143,165],"temporal":[82],"phase":[83,136],"shift,\u03b8,":[84],"has":[85,93],"been":[86,94,190],"first":[87],"derived":[88],"authors.":[91],"It":[92,138],"found":[95],"that":[96,142],"traveling":[98,146],"component":[100],"could":[101],"be":[102,140],"maximized":[103],"both":[105],"methods,":[106],"either":[107],"setting":[109],"value":[111],"offto":[112],"root":[114],"mean":[115],"square":[116],"two":[119],"adjacent":[120],"modal":[121],"frequencies,":[122],"programming\u03b8to":[125],"sum":[128],"\u03c0":[130],"when":[131],"added":[132],"spatial":[135],"difference.":[137],"can":[139],"seen":[141],"\u201c\u03b8-based\u201d":[145],"smoother":[150],"higher":[153],"resolution":[154],"achieved.":[160],"In":[161],"this":[162],"article,":[163],"novel\u03b8-based":[167],"drive":[170],"robot,":[172],"its":[173],"characteristics,":[175],"voltage-speed,":[178],"capacity":[180],"ability":[182],"move":[184],"different":[186],"surface":[187],"materials,":[188],"tested":[191],"through":[192],"series":[194],"experiments":[196],"carried":[197],"out":[198],"reported.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
