{"id":"https://openalex.org/W2053252542","doi":"https://doi.org/10.1109/iros.2012.6386066","title":"Hover kinematics and distributed pressure sensing for force control of biorobotic fins","display_name":"Hover kinematics and distributed pressure sensing for force control of biorobotic fins","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2053252542","doi":"https://doi.org/10.1109/iros.2012.6386066","mag":"2053252542"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386066","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5068430841","display_name":"Jeff C. Kahn","orcid":"https://orcid.org/0000-0003-4949-8543"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeff C. Kahn","raw_affiliation_strings":["Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA, USA","Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA 19104 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA 19104 USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090376192","display_name":"Brooke E. Flammang","orcid":"https://orcid.org/0000-0003-0049-965X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brooke E. Flammang","raw_affiliation_strings":["Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, MA, USA","Department of Organismic and Evolutionary Biology Harvard University Cambridge Massachusetts USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"Department of Organismic and Evolutionary Biology Harvard University Cambridge Massachusetts USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044455194","display_name":"James L. Tangorra","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James L. Tangorra","raw_affiliation_strings":["Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA, USA","Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA 19104 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"Laboratory for Biological Systems Analysis, Drexel University, Philadelphia, PA 19104 USA","institution_ids":["https://openalex.org/I72816309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1460","last_page":"1466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.987500011920929,"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/T12014","display_name":"Fish biology, ecology, and behavior","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.9328581094741821},{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.8134448528289795},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7794709205627441},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.579022228717804},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.5029799342155457},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.33720654249191284},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3349120616912842},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3150068521499634},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2837457060813904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.27750569581985474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24195700883865356},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22004327178001404},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16168314218521118},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14956960082054138}],"concepts":[{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.9328581094741821},{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.8134448528289795},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7794709205627441},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.579022228717804},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.5029799342155457},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.33720654249191284},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3349120616912842},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3150068521499634},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2837457060813904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.27750569581985474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24195700883865356},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22004327178001404},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16168314218521118},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14956960082054138},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386066","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8700000047683716,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1989323256","https://openalex.org/W1999559686","https://openalex.org/W2072544504","https://openalex.org/W2076262162","https://openalex.org/W2082801473","https://openalex.org/W2098321919","https://openalex.org/W2099271517","https://openalex.org/W2112009694","https://openalex.org/W2117976862","https://openalex.org/W2118865437","https://openalex.org/W2119182563","https://openalex.org/W2128346910","https://openalex.org/W2129797861","https://openalex.org/W2136771515","https://openalex.org/W2138611589","https://openalex.org/W2143864592","https://openalex.org/W2152374862","https://openalex.org/W2152719076","https://openalex.org/W2153780796","https://openalex.org/W2168573819"],"related_works":["https://openalex.org/W4280504320","https://openalex.org/W4388419031","https://openalex.org/W2035299816","https://openalex.org/W2094476460","https://openalex.org/W2084903029","https://openalex.org/W2046566731","https://openalex.org/W2003843198","https://openalex.org/W4238505782","https://openalex.org/W2147491283","https://openalex.org/W3142851065"],"abstract_inverted_index":{"A":[0],"comprehensive":[1],"understanding":[2],"of":[3,24,51,63,68,97,107,140,148,153,178],"the":[4,22,29,52,64,85,93,131,136,141,156],"ways":[5],"in":[6,92,167],"which":[7,38],"fish":[8],"create":[9],"and":[10,44,57,71,88,113,135,138,170,185],"control":[11,96],"forces":[12,45,115,142,166],"is":[13],"fundamental":[14],"to":[15,39,146],"engineering":[16],"underwater":[17],"vehicles":[18],"that":[19,103,114,161,175],"maneuver":[20],"with":[21,164],"agility":[23],"fish.":[25],"In":[26],"this":[27],"study":[28,101],"sunfish":[30],"was":[31,79],"selected":[32],"as":[33,127],"a":[34,60,104],"biological":[35,53],"model":[36,62],"from":[37,119],"understand":[40],"pectoral":[41],"fin":[42,54,69,98,128,165],"motions":[43,108],"during":[46,111],"hover.":[47],"The":[48,66,100],"kinematic":[49],"patterns":[50,70],"were":[55,76],"identified":[56],"implemented":[58],"on":[59,74,84],"biorobotic":[61],"fin.":[65],"effects":[67],"mechanical":[72],"properties":[73],"force":[75,183],"evaluated.":[77],"Pressure":[78],"measured":[80],"at":[81],"multiple":[82],"points":[83],"fin's":[86,132,157],"surface":[87,158],"assessed":[89],"for":[90,123,182],"use":[91],"closed":[94],"loop":[95],"force.":[99],"revealed":[102],"wide":[105],"range":[106],"are":[109,116,180],"used":[110],"hover,":[112],"significantly":[117],"different":[118],"those":[120,147],"found":[121],"previously":[122],"steady":[124,149],"swimming.":[125,150],"However":[126],"speeds":[129],"increase,":[130],"dynamic":[133],"motions,":[134],"magnitude":[137],"direction":[139],"become":[143],"more":[144],"similar":[145],"Collective":[151],"measures":[152,177],"pressure":[154,179],"over":[155],"exhibited":[159],"trends":[160],"correlated":[162],"well":[163],"relative":[168],"magnitudes":[169],"directions.":[171],"Results":[172],"strongly":[173],"suggest":[174],"distributed":[176],"useful":[181],"prediction":[184],"control.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}