{"id":"https://openalex.org/W4385325262","doi":"https://doi.org/10.1109/tie.2023.3294599","title":"Smooth Motion Control Policy of Wall-Pressing Pipeline Robots","display_name":"Smooth Motion Control Policy of Wall-Pressing Pipeline Robots","publication_year":2023,"publication_date":"2023-07-27","ids":{"openalex":"https://openalex.org/W4385325262","doi":"https://doi.org/10.1109/tie.2023.3294599"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3294599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3294599","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/A5101922976","display_name":"Tao Zheng","orcid":"https://orcid.org/0000-0001-6655-7037"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zheng","raw_affiliation_strings":["School of Instrument and Electronics Engineering, North University of China, Taiyuan, China","Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6655-7037","affiliations":[{"raw_affiliation_string":"School of Instrument and Electronics Engineering, North University of China, Taiyuan, China","institution_ids":["https://openalex.org/I135714990"]},{"raw_affiliation_string":"Key Laboratory of Instrumentation Science and Dynamic Measurement, Ministry of Education, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100774722","display_name":"Hui Li","orcid":"https://orcid.org/0000-0003-1132-3238"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Li","raw_affiliation_strings":["School of Mechatronical Engineering, the Beijing Advanced Innovation Center for Intelligent Robots and systems, Beijing Institute of Technology, Beijing, China","Key Laboratory of Biomimetic Robots and systems (Beijing Institute Technology), Ministry of Education, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, the Beijing Advanced Innovation Center for Intelligent Robots and systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and systems (Beijing Institute Technology), Ministry of Education, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389021","display_name":"Xiang Wang","orcid":"https://orcid.org/0000-0002-3355-6262"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Wang","raw_affiliation_strings":["China Academy of Space Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Academy of Space Technology, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102897874","display_name":"Zhihong Jiang","orcid":"https://orcid.org/0000-0001-8133-6312"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihong Jiang","raw_affiliation_strings":["School of Mechatronical Engineering, the Beijing Advanced Innovation Center for Intelligent Robots and systems, Beijing Institute of Technology, Beijing, China","Key Laboratory of Biomimetic Robots and systems (Beijing Institute Technology), Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8133-6312","affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, the Beijing Advanced Innovation Center for Intelligent Robots and systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and systems (Beijing Institute Technology), Ministry of Education, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055397718","display_name":"Marco Ceccarelli","orcid":"https://orcid.org/0000-0001-9388-4391"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ceccarelli","raw_affiliation_strings":["Laboratory of Robot Mechatronics, Department of Industrial Engineering, University of Rome Tor Vergata, Roma, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9388-4391","affiliations":[{"raw_affiliation_string":"Laboratory of Robot Mechatronics, Department of Industrial Engineering, University of Rome Tor Vergata, Roma, Italy","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["School of Mechatronical Engineering, the Beijing Advanced Innovation Center for Intelligent Robots and systems, Beijing Institute of Technology, Beijing, China","Key Laboratory of Biomimetic Robots and systems (Beijing Institute Technology), Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5269-4161","affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, the Beijing Advanced Innovation Center for Intelligent Robots and systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and systems (Beijing Institute Technology), Ministry of Education, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5125,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.60074725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"71","issue":"6","first_page":"6005","last_page":"6012"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T13715","display_name":"Power Line Inspection Robots","score":0.9925000071525574,"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/T13341","display_name":"Belt Conveyor Systems Engineering","score":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7023342847824097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6555320024490356},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5096745491027832},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4745042026042938},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.46946728229522705},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45127880573272705},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.44133463501930237},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4396669864654541},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4104583263397217},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3509310483932495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3476178050041199},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3466000556945801},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1756713092327118},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.167636901140213},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11715474724769592},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11203211545944214}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7023342847824097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6555320024490356},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5096745491027832},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4745042026042938},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.46946728229522705},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45127880573272705},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.44133463501930237},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4396669864654541},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4104583263397217},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3509310483932495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3476178050041199},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3466000556945801},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1756713092327118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.167636901140213},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11715474724769592},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11203211545944214},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3294599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3294599","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G108476746","display_name":null,"funder_award_id":"U22B2079","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1662243915","display_name":null,"funder_award_id":"62103054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2196165363","display_name":null,"funder_award_id":"62273049","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G478387158","display_name":null,"funder_award_id":"U2013602","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5855685461","display_name":null,"funder_award_id":"4232054","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G880745377","display_name":null,"funder_award_id":"U1913211","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1979699036","https://openalex.org/W2116932110","https://openalex.org/W2135446023","https://openalex.org/W2142604655","https://openalex.org/W2157893028","https://openalex.org/W2542475276","https://openalex.org/W2610967334","https://openalex.org/W2790959928","https://openalex.org/W2892324338","https://openalex.org/W2974577080","https://openalex.org/W3000544341","https://openalex.org/W3028910754","https://openalex.org/W3111295657","https://openalex.org/W3113487340","https://openalex.org/W3129287030","https://openalex.org/W3129329873","https://openalex.org/W3130389452","https://openalex.org/W3158676135","https://openalex.org/W3160084878","https://openalex.org/W3175678770","https://openalex.org/W3176940123","https://openalex.org/W3184675229","https://openalex.org/W3210205057","https://openalex.org/W4200304760","https://openalex.org/W4226497564","https://openalex.org/W4283031983","https://openalex.org/W4289712478","https://openalex.org/W4293704401","https://openalex.org/W4313026672"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W2023324176","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W3212795132","https://openalex.org/W2121097709"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"several":[2],"key":[3],"problems,":[4],"such":[5],"as":[6],"motion":[7,18,35],"discontinuity,":[8],"getting":[9],"stuck":[10],"and":[11,14,57,66,127,154,183],"body":[12,99],"deformation,":[13],"appearing":[15],"in":[16,30],"the":[17,26,43,46,48,51,58,62,77,87,93,97,104,122,125,131,137,143,147,162,165,172,175,184,187,192,195,198,203],"of":[19,45,61,130,139,164,174,186],"wall-pressing":[20],"pipeline":[21],"robots":[22],"(WPPRs)":[23],"controlled":[24],"by":[25],"differential":[27,105],"drive":[28,106],"principle,":[29],"this":[31],"article,":[32],"a":[33,67,115,149,155],"smooth":[34],"control":[36],"policy":[37],"(SMCP)":[38],"is":[39,64,83,100,108,121,133,152,158,181,189],"proposed.":[40,84],"To":[41,145],"improve":[42],"generality":[44],"SMCP,":[47,148],"relationship":[49],"between":[50,124],"walking":[52,78,176],"unit":[53,79,177],"driving":[54,80,178],"motor":[55,81,179],"load":[56],"relative":[59,69],"attitude":[60,70,89],"WPPR":[63,88,132,151,204],"analyzed,":[65],"real-time":[68],"estimation":[71],"method":[72,200],"that":[73,171],"only":[74],"relies":[75],"on":[76,114],"current":[82],"In":[85],"addition,":[86],"change":[90],"law":[91],"when":[92,191],"velocity":[94,185],"transmitted":[95],"to":[96,135,160],"robot":[98,188,193],"not":[101],"satisfied":[102],"with":[103],"mode":[107],"obtained.":[109],"Finally,":[110],"an":[111],"SMCP":[112],"based":[113],"PID":[116],"controller":[117],"whose":[118],"feedback":[119],"signal":[120],"difference":[123],"actual":[126],"ideal":[128],"attitudes":[129],"built":[134],"reduce":[136],"influence":[138],"friction":[140],"fluctuation":[141],"for":[142],"motion.":[144],"verify":[146,161],"new":[150],"designed,":[153],"comparative":[156],"experiment":[157],"performed":[159],"effect":[163],"SMCP.":[166,196],"The":[167],"experimental":[168],"results":[169],"show":[170],"variance":[173],"currents":[180],"smaller,":[182],"larger":[190],"adopts":[194],"Thus,":[197],"proposed":[199],"can":[201],"make":[202],"move":[205],"more":[206],"smoothly.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}