{"id":"https://openalex.org/W2139020000","doi":"https://doi.org/10.1109/iros.2003.1249186","title":"Undulatory tadpole robot (TadRob) using ionic polymer metal composite (IPMC) actuator","display_name":"Undulatory tadpole robot (TadRob) using ionic polymer metal composite (IPMC) actuator","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2139020000","doi":"https://doi.org/10.1109/iros.2003.1249186","mag":"2139020000"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101531997","display_name":"Jaehoon Jung","orcid":"https://orcid.org/0000-0003-4089-2210"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaehoon Jung","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea","Korea institute of science and technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Korea institute of science and technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049516631","display_name":"Byungkyu Kim","orcid":"https://orcid.org/0000-0002-2659-6952"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byungkyu Kim","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea","Korea institute of science and technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Korea institute of science and technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011071460","display_name":"Younghun Tak","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Younghun Tak","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea","Korea institute of science and technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Korea institute of science and technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109184548","display_name":"Jong-Oh Park","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Oh Park","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea","Korea institute of science and technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Korea institute of science and technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":17.951,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.99586176,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"2133","last_page":"2138"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":0.9952999949455261,"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/T11608","display_name":"Dielectric materials and actuators","score":0.9952999949455261,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937000274658203,"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":0.992900013923645,"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/actuator","display_name":"Actuator","score":0.7346294522285461},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5833714008331299},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.5470855236053467},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.490716814994812},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.48069530725479126},{"id":"https://openalex.org/keywords/duty-cycle","display_name":"Duty cycle","score":0.47987785935401917},{"id":"https://openalex.org/keywords/composite-number","display_name":"Composite number","score":0.43949761986732483},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.4133490324020386},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38892534375190735},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3791190981864929},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3546362519264221},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25844258069992065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2399275302886963},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.17998698353767395},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.12515398859977722},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.09263920783996582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07055121660232544}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7346294522285461},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5833714008331299},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.5470855236053467},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.490716814994812},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.48069530725479126},{"id":"https://openalex.org/C199822604","wikidata":"https://www.wikidata.org/wiki/Q557120","display_name":"Duty cycle","level":3,"score":0.47987785935401917},{"id":"https://openalex.org/C104779481","wikidata":"https://www.wikidata.org/wiki/Q50707","display_name":"Composite number","level":2,"score":0.43949761986732483},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.4133490324020386},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38892534375190735},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3791190981864929},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3546362519264221},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25844258069992065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2399275302886963},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.17998698353767395},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.12515398859977722},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.09263920783996582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07055121660232544},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1249186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8399999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W185128714","https://openalex.org/W1604973597","https://openalex.org/W1841116295","https://openalex.org/W2136577297","https://openalex.org/W2166164263","https://openalex.org/W2187844586","https://openalex.org/W2543920999","https://openalex.org/W4231129650","https://openalex.org/W6638922718"],"related_works":["https://openalex.org/W2092177242","https://openalex.org/W4295791167","https://openalex.org/W2000473227","https://openalex.org/W2019513361","https://openalex.org/W2900105712","https://openalex.org/W4385507351","https://openalex.org/W881306924","https://openalex.org/W2389541158","https://openalex.org/W2885118911","https://openalex.org/W3155023655"],"abstract_inverted_index":{"We":[0],"have":[1],"developed":[2],"the":[3,16,39,47,51,62,68,72,78,98,112,120],"wireless":[4],"tadpole":[5],"robot":[6,52],"that":[7,97],"has":[8],"simple":[9],"geometry,":[10],"driven":[11],"by":[12,105],"low":[13],"voltage":[14,110],"and":[15,30,44,58,111],"undulatory":[17],"fin-motion":[18,70],"using":[19],"IPMC(Ionic":[20],"Polymer":[21],"Metal":[22],"Composite)":[23],"actuator.":[24],"Behavior":[25],"of":[26,46,61,87,100,108],"TadRob":[27,101],"is":[28,64,83],"tested":[29,84],"analyzed":[31],"under":[32,85],"various":[33],"frequencies(1/spl":[34],"sim/8":[35],"Hz)":[36],"to":[37,66],"find":[38,67],"correlation":[40],"between":[41],"actuator":[42],"frequency":[43,107],"velocity":[45,53,75,99],"robot.":[48,79],"In":[49],"addition,":[50],"based":[54],"on":[55,91],"undulation":[56],"motion":[57,60],"oscillation":[59],"fin":[63],"compared":[65],"proper":[69],"in":[71],"viewpoint":[73],"of.":[74],"efficiency":[76],"for":[77],"Also,":[80],"steering":[81,113],"capability":[82],"variation":[86],"duty":[88,121],"ratio.":[89,122],"Based":[90],"experimental":[92],"results,":[93],"we":[94],"can":[95,102,115],"confirm":[96],"be":[103,116],"controlled":[104],"changing":[106],"input":[109],"angle":[114],"increased":[117],"with":[118],"increasing":[119]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
