{"id":"https://openalex.org/W3133128201","doi":"https://doi.org/10.1109/icra48506.2021.9562033","title":"Docking and Undocking a Modular Underactuated Oscillating Swimming Robot","display_name":"Docking and Undocking a Modular Underactuated Oscillating Swimming Robot","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3133128201","doi":"https://doi.org/10.1109/icra48506.2021.9562033","mag":"3133128201"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.12909","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066333047","display_name":"Gedaliah Knizhnik","orcid":"https://orcid.org/0000-0003-4274-6882"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gedaliah Knizhnik","raw_affiliation_strings":["GRASP Laboratory, University of Pensylvannia, Philadelphia, PA","University of Pensylvannia,GRASP Laboratory,Philadelphia,PA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pensylvannia, Philadelphia, PA","institution_ids":[]},{"raw_affiliation_string":"University of Pensylvannia,GRASP Laboratory,Philadelphia,PA,19104","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["GRASP Laboratory, University of Pensylvannia, Philadelphia, PA","University of Pensylvannia,GRASP Laboratory,Philadelphia,PA,19104"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pensylvannia, Philadelphia, PA","institution_ids":[]},{"raw_affiliation_string":"University of Pensylvannia,GRASP Laboratory,Philadelphia,PA,19104","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6754","last_page":"6760"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9969000220298767,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8873201012611389},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8673116564750671},{"id":"https://openalex.org/keywords/docking","display_name":"Docking (animal)","score":0.7634434700012207},{"id":"https://openalex.org/keywords/dock","display_name":"DOCK","score":0.7517507076263428},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5576274394989014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5380610227584839},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5138719081878662},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4457566738128662},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43305402994155884},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3909299075603485},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3226683437824249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20577365159988403},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1482188105583191},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11743631958961487}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8873201012611389},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8673116564750671},{"id":"https://openalex.org/C41685203","wikidata":"https://www.wikidata.org/wiki/Q1974042","display_name":"Docking (animal)","level":2,"score":0.7634434700012207},{"id":"https://openalex.org/C93073132","wikidata":"https://www.wikidata.org/wiki/Q24726581","display_name":"DOCK","level":2,"score":0.7517507076263428},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5576274394989014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5380610227584839},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5138719081878662},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4457566738128662},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43305402994155884},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3909299075603485},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3226683437824249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20577365159988403},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1482188105583191},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11743631958961487},{"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/C159110408","wikidata":"https://www.wikidata.org/wiki/Q121176","display_name":"Nursing","level":1,"score":0.0},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9562033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2102.12909","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.12909","pdf_url":"https://arxiv.org/pdf/2102.12909","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3133128201","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2102.12909","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2102.12909","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2102.12909","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.12909","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.12909","pdf_url":"https://arxiv.org/pdf/2102.12909","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1965551774","https://openalex.org/W1968599295","https://openalex.org/W1984426410","https://openalex.org/W2018274017","https://openalex.org/W2033146663","https://openalex.org/W2048930404","https://openalex.org/W2889738019","https://openalex.org/W2892035765","https://openalex.org/W2989661592","https://openalex.org/W3004437207","https://openalex.org/W3005818276","https://openalex.org/W3039073383","https://openalex.org/W3105846557","https://openalex.org/W6773929354"],"related_works":["https://openalex.org/W3207160555","https://openalex.org/W3132467394","https://openalex.org/W2270144118","https://openalex.org/W2002404574","https://openalex.org/W1989275571","https://openalex.org/W11588022","https://openalex.org/W2053894797","https://openalex.org/W2910696956","https://openalex.org/W2742188239","https://openalex.org/W3173186111","https://openalex.org/W3049606875","https://openalex.org/W2910316875","https://openalex.org/W2563354324","https://openalex.org/W2072128224","https://openalex.org/W2136283266","https://openalex.org/W3207768479","https://openalex.org/W1608215728","https://openalex.org/W2928820671","https://openalex.org/W2160292047","https://openalex.org/W2766907789"],"abstract_inverted_index":{"We":[0],"describe":[1],"a":[2,22,54,58],"docking":[3,55,71],"mechanism":[4],"and":[5,46,57,64,86],"strategy":[6,56,68],"to":[7],"allow":[8],"modular":[9,101],"self-assembly":[10],"for":[11,61],"the":[12,37,79],"Modboat:":[13],"an":[14],"inexpensive,":[15],"underactuated,":[16],"oscillating,":[17],"surface-swimming":[18],"robot":[19],"powered":[20],"by":[21],"single":[23],"motor.":[24],"Because":[25],"propulsion":[26],"is":[27,81,97],"achieved":[28],"through":[29],"oscillation,":[30],"orientation":[31,47],"can":[32],"be":[33],"controlled":[34],"only":[35],"in":[36,72],"average;":[38],"this":[39,67],"complicates":[40],"docking,":[41],"which":[42],"requires":[43],"precise":[44],"position":[45],"control.":[48],"Given":[49],"these":[50],"challenges,":[51],"we":[52,76],"present":[53],"motion":[59],"primitive":[60],"controlling":[62],"orientation,":[63],"show":[65],"that":[66,78],"allows":[69],"successful":[70],"multiple":[73],"configurations.":[74],"Moreover,":[75],"demonstrate":[77],"Modboat":[80],"also":[82],"capable":[83],"of":[84],"undocking":[85],"changing":[87],"its":[88],"dock":[89],"configuration,":[90],"all":[91],"without":[92],"any":[93],"additional":[94],"actuation.":[95],"This":[96],"unique":[98],"among":[99],"similar":[100],"robotic":[102],"systems.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}