{"id":"https://openalex.org/W2006215463","doi":"https://doi.org/10.1017/s0263574709005694","title":"Experimental evaluation of open-loop swimming control for a robotic fish using electrostatic film motors","display_name":"Experimental evaluation of open-loop swimming control for a robotic fish using electrostatic film motors","publication_year":2009,"publication_date":"2009-06-03","ids":{"openalex":"https://openalex.org/W2006215463","doi":"https://doi.org/10.1017/s0263574709005694","mag":"2006215463"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709005694","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005694","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5007144174","display_name":"Norio Yamashita","orcid":"https://orcid.org/0000-0001-8044-9016"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Norio Yamashita","raw_affiliation_strings":["Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Department of pricision engineering, graduate school of engineering, the university of tokyo, tokyo, japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of pricision engineering, graduate school of engineering, the university of tokyo, tokyo, japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062398447","display_name":"Zu Guang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Zu Guang Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan","Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278\u20108510, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278-8510, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science, 2641 Yamazaki, Noda, Chiba 278\u20108510, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026158740","display_name":"Akio Yamamoto","orcid":"https://orcid.org/0000-0002-7621-0691"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akio Yamamoto","raw_affiliation_strings":["Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Department of pricision engineering, graduate school of engineering, the university of tokyo, tokyo, japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of pricision engineering, graduate school of engineering, the university of tokyo, tokyo, japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010116400","display_name":"Masahiko Gondo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Masahiko Gondo","raw_affiliation_strings":["SEIDENSHA Corporation, SIC-2-404, 5-4-21 Nishi-Hashimoto, Sagamihara, Kanagawa, Japan","Seidensha corporation, sic-2-404, 5-4-21 nishi-hashimoto, sagamihara, kanagawa, japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SEIDENSHA Corporation, SIC-2-404, 5-4-21 Nishi-Hashimoto, Sagamihara, Kanagawa, Japan","institution_ids":[]},{"raw_affiliation_string":"Seidensha corporation, sic-2-404, 5-4-21 nishi-hashimoto, sagamihara, kanagawa, japan#TAB#","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109070603","display_name":"Toshiro Higuchi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiro Higuchi","raw_affiliation_strings":["Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","Department of pricision engineering, graduate school of engineering, the university of tokyo, tokyo, japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Pricision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of pricision engineering, graduate school of engineering, the university of tokyo, tokyo, japan#TAB#","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5062398447"],"corresponding_institution_ids":["https://openalex.org/I161296585"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55188751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"28","issue":"3","first_page":"369","last_page":"379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.6261199116706848},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5876424908638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5089848041534424},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.5012776851654053},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4829527735710144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4561319947242737},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4561159312725067},{"id":"https://openalex.org/keywords/fish-locomotion","display_name":"Fish locomotion","score":0.44735538959503174},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4445869028568268},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4309570789337158},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.4201429784297943},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.41474559903144836},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3984619975090027},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29732489585876465},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2763097286224365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26713287830352783},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15598756074905396},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11808145046234131},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.09891977906227112},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09503844380378723}],"concepts":[{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.6261199116706848},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5876424908638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5089848041534424},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.5012776851654053},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4829527735710144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4561319947242737},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4561159312725067},{"id":"https://openalex.org/C63460653","wikidata":"https://www.wikidata.org/wiki/Q5454646","display_name":"Fish locomotion","level":3,"score":0.44735538959503174},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4445869028568268},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4309570789337158},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.4201429784297943},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.41474559903144836},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3984619975090027},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29732489585876465},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2763097286224365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26713287830352783},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15598756074905396},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11808145046234131},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.09891977906227112},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09503844380378723},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574709005694","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005694","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W122502465","https://openalex.org/W774034202","https://openalex.org/W2013974081","https://openalex.org/W2025846099","https://openalex.org/W2026565004","https://openalex.org/W2037410002","https://openalex.org/W2041884765","https://openalex.org/W2083120813","https://openalex.org/W2083537896","https://openalex.org/W2090614781","https://openalex.org/W2093937828","https://openalex.org/W2099181983","https://openalex.org/W2108623852","https://openalex.org/W2110976579","https://openalex.org/W2113086339","https://openalex.org/W2116901775","https://openalex.org/W2117289015","https://openalex.org/W2119605077","https://openalex.org/W2120166307","https://openalex.org/W2145432914","https://openalex.org/W2158897757","https://openalex.org/W2539682530","https://openalex.org/W3142707146","https://openalex.org/W6605004746"],"related_works":["https://openalex.org/W2094476460","https://openalex.org/W2046566731","https://openalex.org/W2035299816","https://openalex.org/W2151611532","https://openalex.org/W2112009694","https://openalex.org/W2999224801","https://openalex.org/W1978346104","https://openalex.org/W2007008727","https://openalex.org/W2904975857","https://openalex.org/W2143424433"],"abstract_inverted_index":{"SUMMARY":[0],"We":[1],"have":[2],"developed":[3],"an":[4,32],"underwater":[5],"robotic":[6,17,52,75,108,138],"fish":[7,53,109,139],"using":[8],"a":[9,23,115],"unique":[10,20,120],"three-layer":[11],"electrostatic":[12],"film":[13],"motor.":[14],"In":[15,37,59],"the":[16,19,29,38,43,47,51,57,67,74,81,90,102,107,119,137,143,170,173],"fish,":[18],"motor":[21,175],"actuates":[22],"flexible":[24],"caudal":[25,144],"fin":[26,145],"to":[27,66,113,156],"propel":[28],"robot":[30],"via":[31],"elaborate":[33],"power":[34,103],"transmission":[35,104],"system.":[36],"present":[39,62],"study,":[40],"we":[41,61,129,149,167],"describe":[42],"major":[44],"disadvantages":[45],"of":[46,50,56,73,86,94,106,136],"previous":[48],"prototype":[49],"and":[54,70,83,89,92,134,177],"improvements":[55],"prototype.":[58],"addition,":[60],"experimental":[63,165],"evaluations":[64],"related":[65],"control":[68,78,127],"parameters":[69,79],"locomotion":[71],"performance":[72],"fish.":[76,161],"These":[77],"include":[80],"frequency":[82,95],"initial":[84],"phase":[85],"AC":[87],"voltage,":[88],"amplitude":[91],"period":[93],"sweeping.":[96],"A":[97],"simple":[98],"theoretical":[99],"model":[100],"concerning":[101],"system":[105],"is":[110,146],"also":[111],"analyzed":[112],"provide":[114],"possible":[116],"explanation":[117],"for":[118],"swimming":[121],"control.":[122],"By":[123],"appropriately":[124],"adjusting":[125],"these":[126,164],"parameters,":[128],"achieve":[130],"cruising,":[131],"emerging,":[132],"submerging,":[133],"turning":[135],"even":[140],"though":[141],"only":[142],"active.":[147],"Finally,":[148],"show":[150],"smooth":[151],"human-operated":[152],"turn-around":[153],"motion":[154,178],"similar":[155],"that":[157],"seen":[158],"in":[159],"real":[160],"Based":[162],"on":[163],"results,":[166],"further":[168],"clarify":[169],"relationships":[171],"between":[172],"open-loop":[174],"pattern":[176],"parameters.":[179]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
