{"id":"https://openalex.org/W2094369765","doi":"https://doi.org/10.1007/s10514-009-9169-0","title":"CPG-based control of a turtle-like underwater vehicle","display_name":"CPG-based control of a turtle-like underwater vehicle","publication_year":2010,"publication_date":"2010-01-21","ids":{"openalex":"https://openalex.org/W2094369765","doi":"https://doi.org/10.1007/s10514-009-9169-0","mag":"2094369765"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-009-9169-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9169-0","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","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/A5018351713","display_name":"Keehong Seo","orcid":"https://orcid.org/0000-0001-8480-9517"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Keehong Seo","raw_affiliation_strings":["Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, MA, 02139, USA","Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, USA 02139#TAB#"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, MA, 02139, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, USA 02139#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031408324","display_name":"Soon\u2010Jo Chung","orcid":"https://orcid.org/0000-0002-6657-3907"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soon-Jo Chung","raw_affiliation_strings":["Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, MA, 02139, USA","Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, USA 02139#TAB#"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, MA, 02139, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, USA 02139#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques Slotine","orcid":"https://orcid.org/0000-0002-7161-7812"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Jacques E. Slotine","raw_affiliation_strings":["Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, MA, 02139, USA","Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, USA 02139#TAB#"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, MA, 02139, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Nonlinear Systems Lab., Massachusetts Institute of Technology, Cambridge, USA 02139#TAB#","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018351713"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":29.2676,"has_fulltext":false,"cited_by_count":127,"citation_normalized_percentile":{"value":0.99795311,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"28","issue":"3","first_page":"247","last_page":"269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11187","display_name":"Nonlinear Dynamics and Pattern Formation","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9962999820709229,"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/control-theory","display_name":"Control theory (sociology)","score":0.7318868637084961},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.7081758975982666},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6940467357635498},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6768679618835449},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6298989057540894},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5538679957389832},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4789731502532959},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.46748656034469604},{"id":"https://openalex.org/keywords/feedback-loop","display_name":"Feedback loop","score":0.43583518266677856},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.42903241515159607},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36336225271224976},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.24255850911140442},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18597042560577393},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13566523790359497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13077810406684875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12369394302368164},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09169122576713562},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09085333347320557},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08456367254257202}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7318868637084961},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.7081758975982666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6940467357635498},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6768679618835449},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6298989057540894},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5538679957389832},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4789731502532959},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.46748656034469604},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.43583518266677856},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.42903241515159607},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36336225271224976},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.24255850911140442},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18597042560577393},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13566523790359497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13077810406684875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12369394302368164},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09169122576713562},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09085333347320557},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08456367254257202},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s10514-009-9169-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-009-9169-0","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:authors.library.caltech.edu:72462","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/72462/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.149.2449","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.2449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.roboticsproceedings.org/rss04/p17.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7699999809265137,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W198676126","https://openalex.org/W950991549","https://openalex.org/W1503945108","https://openalex.org/W1569209510","https://openalex.org/W1573670163","https://openalex.org/W1620414136","https://openalex.org/W1865399354","https://openalex.org/W1876456565","https://openalex.org/W1964956155","https://openalex.org/W1965549765","https://openalex.org/W1967538789","https://openalex.org/W1973698089","https://openalex.org/W2013661116","https://openalex.org/W2018567192","https://openalex.org/W2029030701","https://openalex.org/W2033226680","https://openalex.org/W2036078241","https://openalex.org/W2048963734","https://openalex.org/W2049471328","https://openalex.org/W2052578957","https://openalex.org/W2057207936","https://openalex.org/W2083120813","https://openalex.org/W2083694019","https://openalex.org/W2091086093","https://openalex.org/W2107396783","https://openalex.org/W2113404254","https://openalex.org/W2113517406","https://openalex.org/W2114372896","https://openalex.org/W2127940313","https://openalex.org/W2130518506","https://openalex.org/W2134889984","https://openalex.org/W2135234927","https://openalex.org/W2140380216","https://openalex.org/W2143314240","https://openalex.org/W2145802620","https://openalex.org/W2151379280","https://openalex.org/W2154421886","https://openalex.org/W2165861322","https://openalex.org/W2167320745","https://openalex.org/W2296741094","https://openalex.org/W4248901411","https://openalex.org/W6642015530","https://openalex.org/W6674205708"],"related_works":["https://openalex.org/W3144115730","https://openalex.org/W3140085409","https://openalex.org/W2018354788","https://openalex.org/W2626235364","https://openalex.org/W2210416146","https://openalex.org/W1604066055","https://openalex.org/W2594113200","https://openalex.org/W3150665300","https://openalex.org/W3139305181","https://openalex.org/W2355099918"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":13},{"year":2013,"cited_by_count":20},{"year":2012,"cited_by_count":10}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}