{"id":"https://openalex.org/W4256447911","doi":"https://doi.org/10.1109/iros.2013.6696898","title":"System integration and fin trajectory Design for a robotic sea-turtle","display_name":"System integration and fin trajectory Design for a robotic sea-turtle","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W4256447911","doi":"https://doi.org/10.1109/iros.2013.6696898"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5071377493","display_name":"Cedric Siegenthaler","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cedric Siegenthaler","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045309524","display_name":"C\u00e9dric Pradalier","orcid":"https://orcid.org/0000-0002-1746-2733"},"institutions":[{"id":"https://openalex.org/I1288283403","display_name":"Georgia Tech Lorraine","ror":"https://ror.org/02m5dy175","country_code":"FR","type":"education","lineage":["https://openalex.org/I1288283403"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Cedric Pradalier","raw_affiliation_strings":["GeorgiaTech Lorraine, ETH Z\u00fcrich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GeorgiaTech Lorraine, ETH Z\u00fcrich","institution_ids":["https://openalex.org/I1288283403","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057709184","display_name":"Fabian G\u00fcnther","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabian Gunther","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009209381","display_name":"Gregory Hitz","orcid":"https://orcid.org/0000-0001-6339-3532"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Gregory Hitz","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1951,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83943653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9993000030517578,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.995199978351593,"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/fin","display_name":"Fin","score":0.7947046756744385},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.7505320310592651},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6694228649139404},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.6000745892524719},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5603029131889343},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5407035946846008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.524254322052002},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46018749475479126},{"id":"https://openalex.org/keywords/turtle","display_name":"Turtle (robot)","score":0.4439236521720886},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4400838315486908},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.41912686824798584},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4063591957092285},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37223130464553833},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36261624097824097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.339654803276062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27156776189804077},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19174695014953613}],"concepts":[{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.7947046756744385},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.7505320310592651},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6694228649139404},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.6000745892524719},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5603029131889343},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5407035946846008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.524254322052002},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46018749475479126},{"id":"https://openalex.org/C109766332","wikidata":"https://www.wikidata.org/wiki/Q3532550","display_name":"Turtle (robot)","level":2,"score":0.4439236521720886},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4400838315486908},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.41912686824798584},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4063591957092285},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37223130464553833},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36261624097824097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.339654803276062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27156776189804077},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19174695014953613},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.8600000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1590684588","https://openalex.org/W1987385799","https://openalex.org/W1998580099","https://openalex.org/W2015242496","https://openalex.org/W2057039961","https://openalex.org/W2083537896","https://openalex.org/W2097846631","https://openalex.org/W2103775810","https://openalex.org/W2134137529","https://openalex.org/W2140390198","https://openalex.org/W2184379583"],"related_works":["https://openalex.org/W1602738017","https://openalex.org/W1955960498","https://openalex.org/W2564649553","https://openalex.org/W2394357845","https://openalex.org/W3116659675","https://openalex.org/W2108450038","https://openalex.org/W2029062850","https://openalex.org/W1522672041","https://openalex.org/W2096270451","https://openalex.org/W4256447911"],"abstract_inverted_index":{"This":[0],"paper":[1,83],"presents":[2],"a":[3,27,42,44,68,89,106],"novel":[4,28],"underwater":[5],"robot":[6,65],"based":[7],"on":[8,41],"biological":[9],"locomotion":[10,25],"principle.":[11],"A":[12],"robotic":[13],"platform":[14],"imitating":[15],"sea-turtle":[16],"fin":[17,24],"propulsion":[18],"is":[19,26,49,78],"described":[20],"and":[21,29,38,59],"tested.":[22],"As":[23],"complex":[30],"research":[31],"area,":[32],"basic":[33],"control":[34,47,54,73],"concepts":[35],"are":[36],"analyzed":[37],"implemented.":[39,81],"Based":[40],"simulation,":[43],"fin-trajectory":[45],"morphing":[46],"strategy":[48],"developed":[50],"in":[51,96,105],"order":[52],"to":[53,66],"the":[55,64,86,101],"robots":[56],"roll,":[57],"pitch":[58],"yaw":[60],"rates,":[61],"thus":[62],"allowing":[63],"follow":[67],"given":[69],"vector.":[70],"Absolute":[71],"position":[72],"or":[74],"depth":[75],"control,":[76],"however,":[77],"not":[79],"yet":[80],"The":[82],"concludes":[84],"with":[85],"presentation":[87],"of":[88],"working":[90],"system":[91],"that":[92],"demonstrated":[93],"motion":[94],"capabilities":[95],"air":[97],"as":[98,100],"well":[99],"first":[102],"dive":[103],"test":[104],"swimming":[107],"pool.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}