{"id":"https://openalex.org/W1991811360","doi":"https://doi.org/10.1109/iros.2012.6386240","title":"Tails in biomimetic design: Analysis, simulation, and experiment","display_name":"Tails in biomimetic design: Analysis, simulation, and experiment","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1991811360","doi":"https://doi.org/10.1109/iros.2012.6386240","mag":"1991811360"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386240","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/A5044273389","display_name":"Randall Briggs","orcid":"https://orcid.org/0000-0001-8056-9405"},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randall Briggs","raw_affiliation_strings":["Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121"},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047018985","display_name":"Matt Haberland","orcid":"https://orcid.org/0000-0003-4806-3601"},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Haberland","raw_affiliation_strings":["Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Biomimetic Robotics Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"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":113,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1473","last_page":"1480"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9968000054359436,"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/T12158","display_name":"Guidance and Control Systems","score":0.9926999807357788,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6186605095863342},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811570882797241},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5707316398620605},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5360046029090881},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.46997183561325073},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4641585946083069},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.46347296237945557},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4308064579963684},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3708702325820923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22208943963050842},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.15838971734046936},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15167543292045593},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12741127610206604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11030876636505127}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6186605095863342},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811570882797241},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5707316398620605},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5360046029090881},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.46997183561325073},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4641585946083069},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.46347296237945557},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4308064579963684},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3708702325820923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22208943963050842},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.15838971734046936},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15167543292045593},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12741127610206604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11030876636505127},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386240","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W570986332","https://openalex.org/W1530083085","https://openalex.org/W1628100432","https://openalex.org/W2008389204","https://openalex.org/W2049610417","https://openalex.org/W2057249401","https://openalex.org/W2058519223","https://openalex.org/W2077009096","https://openalex.org/W2084772888","https://openalex.org/W2112017316","https://openalex.org/W2117453669","https://openalex.org/W2123075457","https://openalex.org/W2128788324","https://openalex.org/W2134925181","https://openalex.org/W2135086169","https://openalex.org/W2143434737","https://openalex.org/W2148027354","https://openalex.org/W2148975592","https://openalex.org/W2607477920","https://openalex.org/W3139887624"],"related_works":["https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W3106065369","https://openalex.org/W2061128903","https://openalex.org/W1974683205","https://openalex.org/W2072755410","https://openalex.org/W2335813019","https://openalex.org/W2955342073","https://openalex.org/W2241953493","https://openalex.org/W2324147138"],"abstract_inverted_index":{"Animals":[0],"use":[1],"tails":[2,29],"to":[3,55],"improve":[4],"locomotion":[5,93],"performance;":[6],"here":[7],"we":[8],"assess":[9],"how":[10],"the":[11,18,39,53,85],"biomimetic":[12],"MIT":[13,63,86],"Cheetah":[14,64,87],"robot":[15],"can":[16,30],"do":[17],"same.":[19],"Analysis":[20],"proves":[21],"that":[22,80],"for":[23,38],"a":[24,72,81],"given":[25],"power":[26],"and":[27],"weight,":[28],"provide":[31],"greater":[32],"average":[33],"torque":[34],"than":[35],"reaction":[36],"wheels":[37],"short":[40],"times":[41],"of":[42,91],"interest":[43],"in":[44,60,75],"high":[45],"speed":[46],"running.":[47],"A":[48],"simple":[49],"tail":[50,66,82],"controller":[51],"enables":[52],"cheetah":[54],"perform":[56],"aerial":[57],"orientation":[58],"maneuvers":[59],"simulation.":[61],"The":[62],"robot's":[65],"rejects":[67],"an":[68],"impulsive":[69],"disturbance":[70],"from":[71],"`wrecking":[73],"ball'":[74],"experiments.":[76],"This":[77],"study":[78],"demonstrates":[79],"will":[83],"help":[84],"achieve":[88],"its":[89],"goal":[90],"30mph":[92],"by":[94],"2014.":[95]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
