{"id":"https://openalex.org/W4407169888","doi":"https://doi.org/10.1109/cbs61689.2024.10860417","title":"Learning to Turn: Deformation Control of a Novel Flexible Fishtail Actuated by Artificial Muscles","display_name":"Learning to Turn: Deformation Control of a Novel Flexible Fishtail Actuated by Artificial Muscles","publication_year":2024,"publication_date":"2024-11-20","ids":{"openalex":"https://openalex.org/W4407169888","doi":"https://doi.org/10.1109/cbs61689.2024.10860417"},"language":"en","primary_location":{"id":"doi:10.1109/cbs61689.2024.10860417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs61689.2024.10860417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cyborg and Bionic Systems (CBS)","raw_type":"proceedings-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/A5086970886","display_name":"Junwen Gu","orcid":"https://orcid.org/0000-0002-2185-9346"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junwen Gu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014555721","display_name":"Yukai Feng","orcid":"https://orcid.org/0009-0005-3766-3793"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukai Feng","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxing Wu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370574","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-3742-9671"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences,Key Laboratory of Cognition and Decision Intelligence for Complex Systems,Beijing,China,100190","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086970886"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2442475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"171","last_page":"176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9817000031471252,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9817000031471252,"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"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9696000218391418,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9537000060081482,"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/artificial-muscle","display_name":"Artificial muscle","score":0.6154280304908752},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.5207198262214661},{"id":"https://openalex.org/keywords/turn","display_name":"Turn (biochemistry)","score":0.5059468150138855},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.43868139386177063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4090147018432617},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.36492785811424255},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36413541436195374},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34798622131347656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3262976408004761},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.2775823771953583},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13569936156272888},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.11226204037666321}],"concepts":[{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.6154280304908752},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5207198262214661},{"id":"https://openalex.org/C85641259","wikidata":"https://www.wikidata.org/wiki/Q290042","display_name":"Turn (biochemistry)","level":2,"score":0.5059468150138855},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.43868139386177063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4090147018432617},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.36492785811424255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36413541436195374},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34798622131347656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3262976408004761},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2775823771953583},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13569936156272888},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.11226204037666321},{"id":"https://openalex.org/C46141821","wikidata":"https://www.wikidata.org/wiki/Q209402","display_name":"Nuclear magnetic resonance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cbs61689.2024.10860417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cbs61689.2024.10860417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cyborg and Bionic Systems (CBS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335892","display_name":"Youth Innovation Promotion Association","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1971356227","https://openalex.org/W2007220367","https://openalex.org/W2061253966","https://openalex.org/W2117289015","https://openalex.org/W2893266862","https://openalex.org/W2947665220","https://openalex.org/W3131711566","https://openalex.org/W3190977849","https://openalex.org/W3207723366","https://openalex.org/W4214805596","https://openalex.org/W4226303274","https://openalex.org/W4312065132","https://openalex.org/W4313116302","https://openalex.org/W4378802705","https://openalex.org/W4387397725","https://openalex.org/W6684921986","https://openalex.org/W6747473740"],"related_works":["https://openalex.org/W2646796998","https://openalex.org/W1977524617","https://openalex.org/W2288267393","https://openalex.org/W4231070408","https://openalex.org/W943151747","https://openalex.org/W2048981943","https://openalex.org/W2532652555","https://openalex.org/W2753901553","https://openalex.org/W2804368879","https://openalex.org/W4245567755"],"abstract_inverted_index":{"Achieving":[0],"agile,":[1],"fish-like":[2],"turning":[3,25,70,168,184],"remains":[4],"a":[5,18,45,80,108,138],"critical":[6],"challenge":[7],"in":[8],"the":[9,35,51,60,69,95,112,146,159,163,173,189,192],"development":[10],"of":[11,17,39,54,62,72,79,111,162,191],"robotic":[12,40,73,193],"fish.":[13,41,74,194],"The":[14,75,151],"flexible":[15,47,64,164],"deformation":[16,61,106,139,160],"fish\u2019s":[19],"body":[20],"significantly":[21],"contributes":[22],"to":[23,33,99,136,175,181],"its":[24,63],"ability.":[26],"Consequently,":[27,186],"researchers":[28],"have":[29],"devoted":[30],"substantial":[31],"efforts":[32],"enhancing":[34],"compliance":[36,178],"and":[37,92,101,131,149,170],"agility":[38,190],"This":[42],"paper":[43],"presents":[44],"novel":[46],"fishtail,":[48],"inspired":[49],"by":[50],"musculoskeletal":[52],"structure":[53],"real":[55],"fish,":[56],"which":[57],"can":[58,90],"control":[59,161],"components":[65],"during":[66,183],"turns,":[67],"improving":[68],"performance":[71],"fishtail":[76,113,174],"primarily":[77],"consists":[78],"carbon":[81,96],"fiber":[82,97],"plate":[83],"with":[84],"attached":[85],"artificial":[86],"muscles.":[87],"These":[88],"muscles":[89],"contract":[91],"stretch,":[93],"causing":[94],"tail":[98,165],"bend":[100],"deform.":[102],"To":[103],"enable":[104],"precise":[105],"control,":[107],"dynamic":[109],"model":[110],"is":[114],"established":[115],"based":[116],"on":[117],"Hamilton\u2019s":[118],"principle.":[119],"Subsequently,":[120],"deep":[121,127],"reinforcement":[122],"learning":[123],"methods":[124],"such":[125],"as":[126],"deterministic":[128],"policy":[129],"gradient":[130],"soft":[132],"actor-critic":[133],"are":[134],"employed":[135],"develop":[137],"controller":[140,157],"under":[141],"joint":[142],"deflection.":[143],"Cross-validation":[144],"ensures":[145],"controller\u2019s":[147],"accuracy":[148],"robustness.":[150],"experimental":[152],"results":[153],"demonstrate":[154],"that":[155],"this":[156,187],"facilitates":[158],"across":[166],"various":[167],"amplitudes":[169],"speeds,":[171],"allowing":[172],"exhibit":[176],"adjustable":[177],"or":[179],"resistance":[180],"fluids":[182],"motion.":[185],"enhances":[188]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}