{"id":"https://openalex.org/W4415444006","doi":"https://doi.org/10.1109/access.2025.3624365","title":"Performance Evaluation Using Sim2Real of a Robotic Dolphin With Multi-Link Body Mechanism and CPG-Based Controller","display_name":"Performance Evaluation Using Sim2Real of a Robotic Dolphin With Multi-Link Body Mechanism and CPG-Based Controller","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4415444006","doi":"https://doi.org/10.1109/access.2025.3624365"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3624365","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3624365","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3624365","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071089955","display_name":"T. Asada","orcid":"https://orcid.org/0009-0001-3050-4635"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Asada","raw_affiliation_strings":["Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan"],"raw_orcid":"https://orcid.org/0009-0001-3050-4635","affiliations":[{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]},{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Takao Oki","orcid":"https://orcid.org/0009-0007-0672-6071"},"institutions":[{"id":"https://openalex.org/I190508380","display_name":"Aichi Institute of Technology","ror":"https://ror.org/02qsepw74","country_code":"JP","type":"education","lineage":["https://openalex.org/I190508380"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takao Oki","raw_affiliation_strings":["Graduate School of Engineering, Aichi Institute of Technology, Toyota, Aichi, Japan","Graduate School of Engineering, Aichi Institute of Technology, 1247 Yachigusa, Yakusa, Toyota, Aichi, Japan"],"raw_orcid":"https://orcid.org/0009-0007-0672-6071","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Aichi Institute of Technology, Toyota, Aichi, Japan","institution_ids":["https://openalex.org/I190508380"]},{"raw_affiliation_string":"Graduate School of Engineering, Aichi Institute of Technology, 1247 Yachigusa, Yakusa, Toyota, Aichi, Japan","institution_ids":["https://openalex.org/I190508380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052730210","display_name":"Hideo Furuhashi","orcid":"https://orcid.org/0000-0003-0015-7203"},"institutions":[{"id":"https://openalex.org/I190508380","display_name":"Aichi Institute of Technology","ror":"https://ror.org/02qsepw74","country_code":"JP","type":"education","lineage":["https://openalex.org/I190508380"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hideo Furuhashi","raw_affiliation_strings":["Graduate School of Engineering, Aichi Institute of Technology, Toyota, Aichi, Japan","Graduate School of Engineering, Aichi Institute of Technology, 1247 Yachigusa, Yakusa, Toyota, Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0015-7203","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Aichi Institute of Technology, Toyota, Aichi, Japan","institution_ids":["https://openalex.org/I190508380"]},{"raw_affiliation_string":"Graduate School of Engineering, Aichi Institute of Technology, 1247 Yachigusa, Yakusa, Toyota, Aichi, Japan","institution_ids":["https://openalex.org/I190508380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058489404","display_name":"Kenta Tabata","orcid":"https://orcid.org/0000-0002-7994-4957"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenta Tabata","raw_affiliation_strings":["Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7994-4957","affiliations":[{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]},{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017184377","display_name":"Renato Miyagusuku","orcid":"https://orcid.org/0000-0003-2471-2187"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Renato Miyagusuku","raw_affiliation_strings":["Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2471-2187","affiliations":[{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]},{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091284023","display_name":"Koichi OZAKI","orcid":"https://orcid.org/0000-0003-0602-5551"},"institutions":[{"id":"https://openalex.org/I207399273","display_name":"Utsunomiya University","ror":"https://ror.org/05bx1gz93","country_code":"JP","type":"education","lineage":["https://openalex.org/I207399273"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Ozaki","raw_affiliation_strings":["Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]},{"raw_affiliation_string":"Graduate School of Regional Development and Creativity, Utsunomiya University 7-1-2 Yoto, Utsunomiya, Tochigi, Japan","institution_ids":["https://openalex.org/I207399273"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.7218,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73847825,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"13","issue":null,"first_page":"190304","last_page":"190316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9350000023841858,"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":0.9350000023841858,"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/propulsion","display_name":"Propulsion","score":0.7434999942779541},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7128000259399414},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5857999920845032},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.539900004863739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5235999822616577},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4740999937057495},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.45590001344680786},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4284999966621399},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.3937000036239624}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.7434999942779541},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7128000259399414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6403999924659729},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5857999920845032},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5511999726295471},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.539900004863739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5235999822616577},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4740999937057495},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.45590001344680786},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4284999966621399},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3937000036239624},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37049999833106995},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35929998755455017},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.3571999967098236},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.34929999709129333},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.34360000491142273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3384999930858612},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3061000108718872},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.30250000953674316},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.30090001225471497},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2572999894618988},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3624365","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3624365","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:cff40af5ac99462c8f0483f75e24de8a","is_oa":true,"landing_page_url":"https://doaj.org/article/cff40af5ac99462c8f0483f75e24de8a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 190304-190316 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3624365","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3624365","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"dolphins":[1],"have":[2],"the":[3,25,47,54,93,96,101,104,128,131,169],"capabilities":[4],"of":[5,38,49,74,130,137,171],"both":[6,37,75],"propulsion":[7,15,76],"using":[8,12,142,155],"fluke":[9,26,132],"and":[10,16,32,52,57,77,79,106,126,133,163],"maneuverability":[11,17],"flippers.":[13],"High":[14],"are":[18,40],"achieved":[19],"by":[20],"attaching":[21],"multiple":[22],"motors":[23],"to":[24,35,95,103,167],"or":[27],"flipper.":[28,111,134],"However,":[29],"mechanical":[30],"designs":[31],"control":[33,55,81,113,129,140,153],"systems":[34],"achieve":[36],"these":[39],"still":[41],"difficult.":[42],"The":[43,85,112,135,152],"flexible":[44],"mechanism":[45,72],"increases":[46],"number":[48],"drive":[50],"joints":[51],"complicates":[53],"system":[56,82,114,141],"performance":[58],"evaluation.":[59],"In":[60],"this":[61],"study,":[62],"we":[63],"propose":[64],"a":[65,69,118,156,160],"robotic":[66,87,147,157],"dolphin":[67,88,148,158],"with":[68,149,159,176],"multi-link":[70,150,161,177],"body":[71,102,162],"capable":[73],"maneuverability,":[78],"its":[80],"in":[83],"Sim2Real.":[84],"proposed":[86],"has":[89],"three":[90],"axes":[91,99],"from":[92,100],"head":[94],"body,":[97],"four":[98],"fluke,":[105],"one":[107],"axis":[108],"on":[109],"each":[110],"is":[115,144,165],"designed":[116],"as":[117],"central":[119],"pattern":[120],"generator":[121],"(CPG)":[122],"based":[123],"locomotion":[124],"controller":[125],"integrates":[127],"implementation":[136],"an":[138],"integrated":[139],"Sim2Real":[143,164],"essential":[145],"for":[146,173],"structures.":[151],"approach":[154],"expected":[166],"contribute":[168],"evaluation":[170],"algorithms":[172],"underwater":[174],"robots":[175],"mechanism.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-11T23:18:09.558992","created_date":"2025-10-24T00:00:00"}
