{"id":"https://openalex.org/W4396661146","doi":"https://doi.org/10.1007/s10846-024-02080-9","title":"A Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish","display_name":"A Bioinspired Control Strategy Ensures Maneuverability and Adaptability for Dynamic Environments in an Underactuated Robotic Fish","publication_year":2024,"publication_date":"2024-05-06","ids":{"openalex":"https://openalex.org/W4396661146","doi":"https://doi.org/10.1007/s10846-024-02080-9"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02080-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02080-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02080-9.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02080-9.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010132273","display_name":"Gianluca Manduca","orcid":"https://orcid.org/0000-0003-0338-441X"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Gianluca Manduca","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0338-441X","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I162290304","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081566026","display_name":"Gaspare Santaera","orcid":"https://orcid.org/0009-0008-6858-4184"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gaspare Santaera","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I162290304","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069991556","display_name":"Marco Miraglia","orcid":null},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Miraglia","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I162290304","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024474788","display_name":"Godfried Jansen Van Vuuren","orcid":null},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Godfried Jansen\u00a0Van\u00a0Vuuren","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I162290304","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076392384","display_name":"Paolo Dario","orcid":"https://orcid.org/0000-0001-9489-0056"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Dario","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I162290304","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067436187","display_name":"Cesare Stefanini","orcid":"https://orcid.org/0000-0003-0989-041X"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cesare Stefanini","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I162290304","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061773642","display_name":"Donato Romano","orcid":"https://orcid.org/0000-0003-4975-3495"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Donato Romano","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Viale R. Piaggio 34, Pontedera (PI), 56025, Italy","institution_ids":["https://openalex.org/I162290304","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libert\u00e0 33, Pisa (PI), 56127, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5010132273"],"corresponding_institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I162290304"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":27.3221,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.99452237,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"110","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7439134120941162},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5632390975952148},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5589684247970581},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5386277437210083},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5272026658058167},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47759556770324707},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4323877692222595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37102222442626953},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23114609718322754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1864793300628662},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.1062670350074768}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7439134120941162},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5632390975952148},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5589684247970581},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5386277437210083},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5272026658058167},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47759556770324707},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4323877692222595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37102222442626953},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23114609718322754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1864793300628662},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.1062670350074768},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-024-02080-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02080-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02080-9.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/565772","is_oa":true,"landing_page_url":"https://hdl.handle.net/11382/565772","pdf_url":"https://www.iris.sssup.it/bitstream/11382/565772/1/Manduca%20et%20al_JINT_2024.pdf","source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10846-024-02080-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02080-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02080-9.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2258988344","display_name":null,"funder_award_id":"824043","funder_id":"https://openalex.org/F4320338337","funder_display_name":"H2020 Marie Sk\u0142odowska-Curie Actions"}],"funders":[{"id":"https://openalex.org/F4320338337","display_name":"H2020 Marie Sk\u0142odowska-Curie Actions","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4396661146.pdf"},"referenced_works_count":69,"referenced_works":["https://openalex.org/W1565023596","https://openalex.org/W1964292797","https://openalex.org/W1966112327","https://openalex.org/W1978176635","https://openalex.org/W1978862241","https://openalex.org/W1981581109","https://openalex.org/W1982508615","https://openalex.org/W1990786380","https://openalex.org/W1991353213","https://openalex.org/W1992616766","https://openalex.org/W1998874170","https://openalex.org/W1999272004","https://openalex.org/W2014546372","https://openalex.org/W2016382353","https://openalex.org/W2016910258","https://openalex.org/W2035826732","https://openalex.org/W2037767992","https://openalex.org/W2041488220","https://openalex.org/W2046127725","https://openalex.org/W2072825505","https://openalex.org/W2074752687","https://openalex.org/W2078968880","https://openalex.org/W2083537896","https://openalex.org/W2091284336","https://openalex.org/W2112608849","https://openalex.org/W2117289015","https://openalex.org/W2119217035","https://openalex.org/W2123984892","https://openalex.org/W2125546855","https://openalex.org/W2129026984","https://openalex.org/W2147170757","https://openalex.org/W2148244479","https://openalex.org/W2153745405","https://openalex.org/W2159640081","https://openalex.org/W2160238841","https://openalex.org/W2290952711","https://openalex.org/W2343854644","https://openalex.org/W2498626178","https://openalex.org/W2586705812","https://openalex.org/W2617161037","https://openalex.org/W2622106568","https://openalex.org/W2756252857","https://openalex.org/W2790313440","https://openalex.org/W2796447367","https://openalex.org/W2899129941","https://openalex.org/W2901688099","https://openalex.org/W2929961598","https://openalex.org/W2968120935","https://openalex.org/W2970787103","https://openalex.org/W2973150384","https://openalex.org/W3089363641","https://openalex.org/W3090424311","https://openalex.org/W3127549907","https://openalex.org/W3127994060","https://openalex.org/W3136862412","https://openalex.org/W3152960849","https://openalex.org/W3171951655","https://openalex.org/W3185343670","https://openalex.org/W3187474666","https://openalex.org/W3190977849","https://openalex.org/W3206182286","https://openalex.org/W3207001215","https://openalex.org/W4206332761","https://openalex.org/W4229460440","https://openalex.org/W4294253135","https://openalex.org/W4310082948","https://openalex.org/W4312720137","https://openalex.org/W4361301288","https://openalex.org/W4386372625"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W4313405128","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Abstract":[0],"Bioinspired":[1],"underwater":[2],"robots":[3,23],"can":[4,24,139,161,196],"move":[5],"efficiently,":[6],"with":[7,53,199,264],"agility,":[8],"even":[9],"in":[10,42],"complex":[11],"aquatic":[12,245],"areas,":[13],"reducing":[14],"marine":[15,265,280],"ecosystem":[16],"disturbance":[17],"during":[18],"exploration":[19],"and":[20,29,75,144,173,178,184,191,228,238,243,251,259,282],"inspection.":[21],"These":[22],"improve":[25],"animal":[26],"farming":[27],"conditions":[28],"preserve":[30],"wildlife.":[31],"This":[32,209],"study":[33],"proposes":[34],"a":[35,49,54,72,76],"muscle-like":[36],"control":[37,80,90,111,130,149,207,227,232],"for":[38,241,262],"an":[39,181,235],"underactuated":[40,217],"robot":[41],"carangiform":[43],"swimming":[44,164],"mode.":[45],"The":[46,68,79,132,148],"artifact":[47],"exploits":[48],"single":[50],"DC":[51],"motor":[52],"non-blocking":[55],"transmission":[56,69],"system":[57,70,233],"to":[58,89,102,106,117,127,141,275],"convert":[59],"the":[60,65,91,95,104,114,118,129,137,154,163,175,205,212,224,253,270,277],"motor\u2019s":[61],"oscillatory":[62],"motion":[63],"into":[64],"fishtail\u2019s":[66,119],"oscillation.":[67],"combines":[71],"magnetic":[73],"coupling":[74],"wire-driven":[77],"mechanism.":[78],"strategy":[81],"was":[82,221],"inspired":[83],"by":[84,180],"central":[85],"pattern":[86],"generators":[87],"(CPGs)":[88],"torque":[92],"exerted":[93],"on":[94],"fishtail.":[96],"It":[97],"integrates":[98],"proprioceptive":[99,133],"sensory":[100],"feedback":[101,134],"investigate":[103],"adaptability":[105],"different":[107,142],"contexts.":[108],"A":[109],"parametrized":[110],"law":[112,150],"relates":[113],"reference":[115],"target":[116],"angular":[120,182],"position.":[121],"Several":[122],"tests":[123],"were":[124],"carried":[125],"out":[126],"validate":[128],"strategy.":[131,208],"revealed":[135],"that":[136],"controller":[138],"adapt":[140],"environments":[143],"tail":[145],"structure":[146],"changes.":[147],"parameters":[151],"variation":[152],"accesses":[153],"robotic":[155,225],"fish\u2019s":[156],"multi-modal":[157],"swimming.":[158],"Our":[159,230,267],"solution":[160,240],"vary":[162],"speed":[165,183],"of":[166,188,272,279],"0.08":[167,189],"body":[168],"lengths":[169],"per":[170],"second":[171],"(BL/s),":[172],"change":[174],"steering":[176],"direction":[177],"performance":[179],"turning":[185],"curvature":[186],"radius":[187],"rad/s":[190],"0.25":[192],"m,":[193],"respectively.":[194],"Performance":[195],"be":[197],"improved":[198],"design":[200],"changes,":[201],"while":[202,247],"still":[203],"maintaining":[204],"developed":[206],"approach":[210],"ensures":[211],"robot\u2019s":[213],"maneuverability":[214],"despite":[215],"its":[216],"structure.":[218],"Energy":[219],"consumption":[220],"evaluated":[222],"under":[223],"platform\u2019s":[226],"design.":[229],"bioinspired":[231,273],"offers":[234],"effective,":[236],"reliable,":[237],"sustainable":[239],"exploring":[242],"monitoring":[244],"environments,":[246],"minimizing":[248],"human":[249],"risks":[250],"preserving":[252],"ecosystem.":[254],"Additionally,":[255],"it":[256],"creates":[257],"new":[258],"innovative":[260],"opportunities":[261],"interacting":[263],"species.":[266],"findings":[268],"demonstrate":[269],"potential":[271],"technologies":[274],"advance":[276],"field":[278],"science":[281],"conservation.":[283]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}