{"id":"https://openalex.org/W4401415312","doi":"https://doi.org/10.1109/icra57147.2024.10610533","title":"Lightweight Untethered Soft Robotic Fish","display_name":"Lightweight Untethered Soft Robotic Fish","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415312","doi":"https://doi.org/10.1109/icra57147.2024.10610533"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610533","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 Robotics and Automation (ICRA)","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/A5025956972","display_name":"Xiangxing Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Xiangxing Wang","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence","Imperial College London,Department of Bioengineering"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"Imperial College London,Department of Bioengineering","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087355171","display_name":"Xuan Pei","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuan Pei","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108696289","display_name":"Xinyang Wang","orcid":"https://orcid.org/0009-0005-9136-5551"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Xinyang Wang","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence","Imperial College London,Department of Bioengineering"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"Imperial College London,Department of Bioengineering","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003369387","display_name":"Taogang Hou","orcid":"https://orcid.org/0000-0002-6992-5269"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Taogang Hou","raw_affiliation_strings":["Beijing Jiaotong University,School of Automation and Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University,School of Automation and Intelligence","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025956972"],"corresponding_institution_ids":["https://openalex.org/I21193070","https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.8986,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69994011,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"669","last_page":"675"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998000264167786,"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998000264167786,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9988999962806702,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9984999895095825,"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/computer-science","display_name":"Computer science","score":0.602374792098999},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.5662888288497925},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.13624489307403564},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06465268135070801}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.602374792098999},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.5662888288497925},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.13624489307403564},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06465268135070801}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610533","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.4099999964237213}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2006877422","https://openalex.org/W2054701839","https://openalex.org/W2070948325","https://openalex.org/W2075459747","https://openalex.org/W2103161147","https://openalex.org/W2114304634","https://openalex.org/W2143586445","https://openalex.org/W2166445683","https://openalex.org/W2313713164","https://openalex.org/W2473194771","https://openalex.org/W2565234879","https://openalex.org/W2605221221","https://openalex.org/W2771793291","https://openalex.org/W2810473562","https://openalex.org/W2957257771","https://openalex.org/W3002139285","https://openalex.org/W3175082154","https://openalex.org/W4308154475","https://openalex.org/W4384158842","https://openalex.org/W4386598048","https://openalex.org/W6726002554","https://openalex.org/W6791476868","https://openalex.org/W6809623926","https://openalex.org/W6851965539"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Aquatic":[0],"organisms,":[1],"due":[2],"to":[3,100,111,150,175,218],"soft":[4,30,228],"body":[5,124],"structure":[6,91,145],"and":[7,21,38,51,64,128,170,188,193,208,221,227],"high":[8],"agility,":[9],"have":[10],"inspired":[11],"many":[12],"biomimetic":[13],"robots.":[14,229],"However,":[15],"considering":[16],"the":[17,26,55,88,96,102,105,116,123,126,143,147,152,155,177,180,219],"issues":[18],"of":[19,29,104,125,146,154,179,185,199,203,223],"insulation":[20],"waterproofing,":[22],"as":[23,25],"well":[24],"driving":[27],"module":[28],"materials,":[31],"their":[32],"control":[33,52,134,157],"systems":[34,53],"are":[35,139,191],"usually":[36],"larger":[37],"heavier.":[39],"Therefore,":[40],"small":[41,71,167],"underwater":[42],"robots":[43],"often":[44],"tethered,":[45],"i.e.,":[46],"it":[47],"cannot":[48],"integrate":[49],"energy":[50,133,156],"onto":[54],"body,":[56],"which":[57,86],"greatly":[58],"limited":[59],"in":[60],"its":[61],"working":[62],"range":[63],"activity":[65],"mode.":[66],"This":[67,159],"paper":[68],"presents":[69],"a":[70,166,172],"untethered":[72,189],"bionic":[73],"manta":[74,106],"ray.":[75],"The":[76,136,183,196],"robotic":[77,148,181],"fish":[78,127,149,190,204],"is":[79,129],"driven":[80],"by":[81,95,165],"dielectric":[82],"elastomer":[83],"actuators":[84],"(DEA),":[85],"controls":[87],"double":[89],"wing":[90],"on":[92,142],"both":[93],"sides":[94],"central":[97],"muscle":[98],"part":[99],"simulate":[101],"process":[103],"ray\u2019s":[107],"lateral":[108],"fins":[109],"fanning":[110],"propel":[112],"itself":[113],"forward.":[114],"And":[115,211],"flexible":[117,225],"printed":[118],"circuit":[119,160],"board":[120],"(FPC)":[121],"constitutes":[122],"also":[130],"an":[131],"independent":[132],"system.":[135,158],"electronic":[137],"components":[138],"evenly":[140],"distributed":[141],"double-wing":[144],"realize":[151],"integration":[153],"system":[161],"can":[162,205,215],"be":[163,216],"powered":[164],"lithium":[168],"battery":[169],"output":[171],"periodic":[173],"voltage":[174],"drive":[176],"motion":[178],"fish.":[182],"masses":[184],"our":[186],"tethered":[187],"1.9g":[192],"5.1g":[194],"respectively.":[195],"swimming":[197],"speed":[198],"these":[200],"two":[201],"types":[202],"reach":[206],"42.5mm/s":[207],"17.0":[209],"mm/s.":[210],"this":[212],"design":[213,222],"principle":[214],"extended":[217],"research":[220],"various":[224],"devices":[226]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
