{"id":"https://openalex.org/W2963934812","doi":"https://doi.org/10.1109/iros.2015.7353427","title":"Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism","display_name":"Design, modeling and control of a novel amphibious robot with dual-swing-legs propulsion mechanism","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2963934812","doi":"https://doi.org/10.1109/iros.2015.7353427","mag":"2963934812"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Yi","raw_affiliation_strings":["School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042505625","display_name":"Zhou Geng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhou Geng","raw_affiliation_strings":["School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077455217","display_name":"Zhang Jianqing","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Jianqing","raw_affiliation_strings":["School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Cheng Siyuan","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Siyuan","raw_affiliation_strings":["School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fu Mengyin","raw_affiliation_strings":["School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"559","last_page":"566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980999827384949,"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":0.9972000122070312,"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/propulsion","display_name":"Propulsion","score":0.861070990562439},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7273285388946533},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.7105319499969482},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6712167859077454},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4863889515399933},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4430685341358185},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.42165881395339966},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4184153974056244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39168769121170044},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38444894552230835},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37419289350509644},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.33008748292922974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2606586217880249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2175530195236206},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19425329566001892},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11743250489234924},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11061665415763855}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.861070990562439},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7273285388946533},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.7105319499969482},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6712167859077454},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4863889515399933},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4430685341358185},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.42165881395339966},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4184153974056244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39168769121170044},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38444894552230835},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37419289350509644},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33008748292922974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2606586217880249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2175530195236206},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19425329566001892},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11743250489234924},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11061665415763855},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1540396130","https://openalex.org/W1599909743","https://openalex.org/W1822001265","https://openalex.org/W1957381638","https://openalex.org/W1976703166","https://openalex.org/W2005227700","https://openalex.org/W2043474086","https://openalex.org/W2074792540","https://openalex.org/W2081469022","https://openalex.org/W2083251700","https://openalex.org/W2101850483","https://openalex.org/W2103099100","https://openalex.org/W2114357988","https://openalex.org/W2118174850","https://openalex.org/W2118890296","https://openalex.org/W2124835078","https://openalex.org/W2136349859","https://openalex.org/W2137649939","https://openalex.org/W2148115377","https://openalex.org/W2152087747","https://openalex.org/W2152459800","https://openalex.org/W2154293820","https://openalex.org/W2156150946","https://openalex.org/W2162034128","https://openalex.org/W2170804654"],"related_works":["https://openalex.org/W2085550141","https://openalex.org/W1977978928","https://openalex.org/W1497246582","https://openalex.org/W3116659675","https://openalex.org/W2203897951","https://openalex.org/W4283640879","https://openalex.org/W4236945527","https://openalex.org/W2506506076","https://openalex.org/W2572592164","https://openalex.org/W3001867454"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,9,14,60,72,116],"novel":[4],"amphibious":[5],"robot,":[6,92],"which":[7],"adopts":[8],"dual-swing-legs":[10],"propulsion":[11,56,77,111],"mechanism,":[12,46],"proposing":[13],"new":[15],"locomotion":[16,27,94],"mode.":[17],"The":[18],"robot":[19],"is":[20,52],"called":[21],"FroBot,":[22],"since":[23],"its":[24,43],"structure":[25,51],"and":[26,39,86,97,130],"are":[28],"similar":[29,76],"to":[30,54,74,123],"frogs.":[31],"Our":[32],"inspiration":[33],"comes":[34],"from":[35],"the":[36,68,80,83,87,91,102,106,110,113,125,131,134],"frog":[37,73],"scooter":[38],"breaststroke.":[40],"Based":[41],"on":[42,57],"swing":[44],"leg":[45],"an":[47],"unusual":[48],"universal":[49],"wheel":[50],"used":[53],"generate":[55,75],"land,":[58],"while":[59],"pair":[61],"of":[62,71,82,90,104,112,118,128,133],"flexible":[63],"caudal":[64],"fins":[65],"functions":[66],"like":[67],"foot":[69],"flippers":[70],"underwater.":[78],"On":[79],"basis":[81],"prototype":[84],"design":[85,126],"dynamic":[88],"model":[89],"some":[93],"control":[95,135],"simulations":[96],"experiments":[98,120],"were":[99,121],"conducted":[100],"for":[101],"purpose":[103],"adjusting":[105],"parameters":[107],"that":[108],"affect":[109],"robot.":[114],"Finally,":[115],"series":[117],"underwater":[119],"performed":[122],"verify":[124],"feasibility":[127],"FroBot":[129],"rationality":[132],"algorithm.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}