{"id":"https://openalex.org/W2152580493","doi":"https://doi.org/10.1109/robio.2009.4913276","title":"High stiffness pneumatic actuating scheme and improved position control strategy realization of a pneumatic climbing robot","display_name":"High stiffness pneumatic actuating scheme and improved position control strategy realization of a pneumatic climbing robot","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2152580493","doi":"https://doi.org/10.1109/robio.2009.4913276","mag":"2152580493"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-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/A5109776160","display_name":"H. X. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"H.X. Zhang","raw_affiliation_strings":["Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076045068","display_name":"W. Wang","orcid":"https://orcid.org/0000-0001-8727-1572"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"W. Wang","raw_affiliation_strings":["Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Mechanical Engineering and Automation, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040608723","display_name":"Jinran Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"J.W. Zhang","raw_affiliation_strings":["Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany","Shenzhen Institute of Advanced Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Institute of Technical Aspects of Multimodal Systems, Department of Computer Science, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]},{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5109776160"],"corresponding_institution_ids":["https://openalex.org/I159176309"],"apc_list":null,"apc_paid":null,"fwci":0.9167,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.77235321,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1806","last_page":"1811"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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":0.9997000098228455,"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/T14011","display_name":"Elevator Systems and Control","score":0.9957000017166138,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9945999979972839,"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/pneumatic-cylinder","display_name":"Pneumatic cylinder","score":0.8498455286026001},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.7450202703475952},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6823462247848511},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5382897853851318},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5359160900115967},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5145975351333618},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5085242986679077},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4926183819770813},{"id":"https://openalex.org/keywords/telescopic-cylinder","display_name":"Telescopic cylinder","score":0.47260409593582153},{"id":"https://openalex.org/keywords/cylinder","display_name":"Cylinder","score":0.4577547311782837},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4446064531803131},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42798030376434326},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.42574116587638855},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.4253949522972107},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36771029233932495},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.29940760135650635},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.29493892192840576},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.21311527490615845},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14751681685447693},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1444844901561737},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11788743734359741},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09714394807815552}],"concepts":[{"id":"https://openalex.org/C109217959","wikidata":"https://www.wikidata.org/wiki/Q4567087","display_name":"Pneumatic cylinder","level":3,"score":0.8498455286026001},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.7450202703475952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6823462247848511},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5382897853851318},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5359160900115967},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5145975351333618},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5085242986679077},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4926183819770813},{"id":"https://openalex.org/C44357349","wikidata":"https://www.wikidata.org/wiki/Q2401966","display_name":"Telescopic cylinder","level":2,"score":0.47260409593582153},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.4577547311782837},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4446064531803131},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42798030376434326},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.42574116587638855},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.4253949522972107},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36771029233932495},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.29940760135650635},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.29493892192840576},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.21311527490615845},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14751681685447693},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1444844901561737},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11788743734359741},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09714394807815552},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4913276","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913276","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W5359740","https://openalex.org/W121598722","https://openalex.org/W1494262371","https://openalex.org/W2013022747","https://openalex.org/W2037307877","https://openalex.org/W2093061150","https://openalex.org/W2099202608","https://openalex.org/W2108591132","https://openalex.org/W2157723668","https://openalex.org/W2164930643","https://openalex.org/W2166924469","https://openalex.org/W2334639969","https://openalex.org/W2513719848","https://openalex.org/W2544258806","https://openalex.org/W3126980372","https://openalex.org/W4255372135","https://openalex.org/W6790040118"],"related_works":["https://openalex.org/W2324087852","https://openalex.org/W582504364","https://openalex.org/W2063741831","https://openalex.org/W2577297426","https://openalex.org/W4211062887","https://openalex.org/W2187636690","https://openalex.org/W824130432","https://openalex.org/W3162171919","https://openalex.org/W2283286834","https://openalex.org/W3147657092"],"abstract_inverted_index":{"The":[0,40,60,171],"improved":[1,105],"full":[2],"pneumatic":[3,41,65,94,106,133],"climbing":[4],"robot":[5,45],"Sky":[6],"Cleaner":[7],"IV":[8],"has":[9],"recently":[10],"been":[11],"developed":[12],"as":[13],"an":[14,104],"intelligent":[15],"demonstrator":[16],"and":[17,36,49,57,79,100,145,163,185],"test":[18],"bed":[19],"for":[20],"the":[21,30,44,64,74,83,93,98,121,124,132,136,141,149,160,165,169,176,182],"implementation":[22],"of":[23,43,63,73,112,127,135,143,148],"nonlinear":[24],"locomotion":[25],"control.":[26],"Pneumatic":[27],"actuators":[28],"control":[29,72,159,186],"robot's":[31],"movement,":[32],"reducing":[33],"its":[34,38,187],"weight":[35],"increasing":[37],"dexterity.":[39],"system":[42,66,84],"includes":[46],"X,":[47],"Y":[48,80,101],"Z":[50],"cylinders,":[51],"a":[52,151],"waist":[53],"cylinder,":[54,150],"brush":[55],"cylinders":[56,81,102,137],"vacuum":[58],"suckers.":[59],"major":[61],"challenge":[62],"is":[67,85,156],"to":[68,92,119,158],"achieve":[69],"precise":[70],"position":[71],"two":[75,110,125,177],"rodless":[76],"linear":[77],"X":[78,99],"since":[82],"nonlinear.":[86],"Two":[87],"novel":[88],"ideas":[89],"are":[90],"introduced":[91],"actuating":[95],"system.":[96],"Firstly,":[97],"feature":[103],"scheme":[107],"that":[108,175],"drives":[109],"groups":[111],"four":[113],"2-position-2-port":[114],"high":[115],"speed":[116],"on-off":[117],"valves":[118],"adjust":[120],"pressure":[122],"in":[123],"chambers":[126],"each":[128],"cylinder.":[129],"This":[130],"improves":[131],"stiffness":[134,184],"remarkably.":[138],"Secondly,":[139],"considering":[140],"effects":[142],"friction":[144],"movement":[146,162],"acceleration":[147],"compensating":[152],"variable":[153],"bang-bang":[154],"controller":[155],"presented":[157],"cylinders'":[161],"keep":[164],"merits":[166],"while":[167],"eliminating":[168],"oscillation.":[170],"experimental":[172],"results":[173],"prove":[174],"approaches":[178],"can":[179],"effectively":[180],"improve":[181],"system's":[183],"quality.":[188]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-22T08:38:42.863108","created_date":"2025-10-10T00:00:00"}
