{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T06:11:21Z","timestamp":1780726281549,"version":"3.54.1"},"reference-count":27,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T00:00:00Z","timestamp":1769904000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T00:00:00Z","timestamp":1769904000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,2,1]],"date-time":"2026-02-01T00:00:00Z","timestamp":1769904000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U23A20647"],"award-info":[{"award-number":["U23A20647"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52077001"],"award-info":[{"award-number":["52077001"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Key Project of Natural Science Research Project of Colleges and Universities in Anhui Province","award":["2022AH050094"],"award-info":[{"award-number":["2022AH050094"]}]},{"DOI":"10.13039\/501100003995","name":"Natural Science Foundation of Anhui Province","doi-asserted-by":"publisher","award":["2308085QE182"],"award-info":[{"award-number":["2308085QE182"]}],"id":[{"id":"10.13039\/501100003995","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Open Project of National Engineering Laboratory of Energy-saving Motor & Control Technique","award":["KFKT202106"],"award-info":[{"award-number":["KFKT202106"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Ind. Electron."],"published-print":{"date-parts":[[2026,2]]},"DOI":"10.1109\/tie.2025.3607981","type":"journal-article","created":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T17:24:34Z","timestamp":1761153874000},"page":"2864-2875","source":"Crossref","is-referenced-by-count":1,"title":["Identification and Compensation for Nonlinear Friction of Integrated Spherical Joint Based on Hippopotamus Optimization Algorithm"],"prefix":"10.1109","volume":"73","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-7120-7754","authenticated-orcid":false,"given":"Shen\u2019ao","family":"Li","sequence":"first","affiliation":[{"name":"School of Electrical Engineering and Automation, Anhui University, Hefei, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1916-8116","authenticated-orcid":false,"given":"Qunjing","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Anhui University, Hefei, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0595-1687","authenticated-orcid":false,"given":"Yan","family":"Wen","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Anhui University, Hefei, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8520-5854","authenticated-orcid":false,"given":"Qian","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Anhui University, Hefei, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3592-5305","authenticated-orcid":false,"given":"Guoli","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Anhui University, Hefei, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2659-2377","authenticated-orcid":false,"given":"Qiubo","family":"Ye","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Hohai University, Changzhou, Jiangsu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843623500226"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2023.124140"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3266707"},{"issue":"4","key":"ref4","first-page":"1","article-title":"Overview of the\n      development and key technologies of multi-degree-of-freedom motor","volume":"48","author":"Li","year":"2021","journal-title":"Electr. Mach. Control Appl."},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1080\/15325008.2023.2196668"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s42835-024-01946-0"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.5194\/ms-15-385-2024"},{"issue":"4","key":"ref8","first-page":"121","article-title":"Stribeck friction\n      model parameter identification for a permanent-magnet spherical motor","volume":"26","author":"Li","year":"2022","journal-title":"Electr. Mach. Control"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-023-01868-5"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/9.376053"},{"issue":"6","key":"ref11","first-page":"835","article-title":"Mathematical\n      study of the Dahl\u2019s friction model","volume":"11","author":"Bliman","year":"1992","journal-title":"Eur. J. Mech.\n      A-Solids"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104480"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104109"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.01.009"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2018.01.004"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3201283"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TEVC.2014.2360890"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1162\/106365603321828970"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-024-54910-3"},{"issue":"18","key":"ref20","doi-asserted-by":"crossref","first-page":"187","DOI":"10.3901\/JME.2019.18.187","article-title":"Control strategy\n      with adaptive friction torque compensation for radar servo system","volume":"55","author":"Jiang","year":"2019","journal-title":"J. Mech. Eng."},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.01697"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3050366"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2024.3384600"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/01423312231201676"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3094456"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/VPPC.2010.5729153"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1080\/00207721.2017.1387315"}],"container-title":["IEEE Transactions on Industrial Electronics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/41\/11385824\/11214220.pdf?arnumber=11214220","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T20:56:09Z","timestamp":1770843369000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11214220\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,2]]},"references-count":27,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tie.2025.3607981","relation":{},"ISSN":["0278-0046","1557-9948"],"issn-type":[{"value":"0278-0046","type":"print"},{"value":"1557-9948","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,2]]}}}