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Current soft robots equipped with cutting\u2010edge actuators have demonstrated inherent benefits in navigating pipeline environments due to their material compliance and morphological adaptability. However, achieving inner\u2010pipe detection for pipeline\u2010climbing robots challenges the integration of sensors without compromising the robot's flexibility and operational functionalities. Herein, a soft robot that locomotes within pipelines and performs exteroception is presented. The main body of the robot is fabricated based on origami designs, powered by pneumatic actuators for locomotion and incorporates triboelectric nanogenerators as tactile sensors (T\u2010TENGs). Physical experiments have demonstrated the soft robot's capacity in crawling in various pipeline conditions such as the horizontal, vertical, and curved configurations. The T\u2010TENG\u2010based sensory system outputs distinct voltage signals upon exposed to different material and structural conditions, for which a 1D\u2010convolutional neutral network algorithm is exposed to process with the sequential signals. The robot achieves an overall recognition accuracy of 99% for distinguishing between eight distinct pipe inner surface structures and four different types of materials.<\/jats:p>","DOI":"10.1002\/aisy.202400643","type":"journal-article","created":{"date-parts":[[2024,12,12]],"date-time":"2024-12-12T00:54:16Z","timestamp":1733964856000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A Motion\u2010Sensing Integrated Soft Robot with Triboelectric Nanogenerator for Pipeline Inspection"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1641-8562","authenticated-orcid":false,"given":"Rui","family":"Chen","sequence":"first","affiliation":[{"name":"State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University  Chongqing 400044 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4603-7277","authenticated-orcid":false,"given":"Huigang","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical &amp; Aerospace Engineering Case Western Reserve University  10900 Euclid Avenue Cleveland OH 44106 USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haoji","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University  Chongqing 400044 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huijiang","family":"Wang","sequence":"additional","affiliation":[{"name":"Bio\u2010Inspired Robotics Lab Department of Engineering University of Cambridge  Trumpington Street Cambridge CB2 1PZ UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li","family":"Bai","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University  Chongqing 400044 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinpei","family":"Ai","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University  Chongqing 400044 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lifu","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University  Chongqing 400044 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhihao","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Physics Chongqing University  Chongqing 400044 China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zean","family":"Yuan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Transmission for Advanced Equipment Chongqing University  Chongqing 400044 China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,12,11]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.09.012"},{"key":"e_1_2_9_3_1","doi-asserted-by":"crossref","unstructured":"L.Yu E.Yang P.Ren C.Luo G.Dobie D.Gu X.Yan in2019 25th Int. 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