{"id":"https://openalex.org/W2771416819","doi":"https://doi.org/10.1109/iros.2017.8206054","title":"A frog-inspired swimming robot based on dielectric elastomer actuators","display_name":"A frog-inspired swimming robot based on dielectric elastomer actuators","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771416819","doi":"https://doi.org/10.1109/iros.2017.8206054","mag":"2771416819"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5101653639","display_name":"Yucheng Tang","orcid":"https://orcid.org/0000-0001-8738-9108"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Yucheng Tang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore","School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103120679","display_name":"Lei Qin","orcid":"https://orcid.org/0000-0002-7787-967X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lei Qin","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100619626","display_name":"Xiaoning Li","orcid":"https://orcid.org/0000-0001-5991-0955"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoning Li","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102014307","display_name":"Jian Zhu","orcid":"https://orcid.org/0000-0001-8765-6026"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jian Zhu","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2403","last_page":"2408"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11608","display_name":"Dielectric materials and actuators","score":1.0,"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":1.0,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","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/T11230","display_name":"Innovative Energy Harvesting Technologies","score":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7326241135597229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6768187284469604},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.6167088150978088},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.549319326877594},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4806560277938843},{"id":"https://openalex.org/keywords/artificial-muscle","display_name":"Artificial muscle","score":0.46751123666763306},{"id":"https://openalex.org/keywords/dielectric","display_name":"Dielectric","score":0.4508384168148041},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.4239233136177063},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.42074859142303467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4189063012599945},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.41652822494506836},{"id":"https://openalex.org/keywords/natural-frequency","display_name":"Natural frequency","score":0.4142202138900757},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3879874050617218},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3642975091934204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2785187065601349},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22534850239753723},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21720078587532043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20798733830451965},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.18008092045783997},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.11800476908683777},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11785221099853516},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.09625262022018433},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09114733338356018},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.0729374885559082}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7326241135597229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6768187284469604},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.6167088150978088},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.549319326877594},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4806560277938843},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.46751123666763306},{"id":"https://openalex.org/C133386390","wikidata":"https://www.wikidata.org/wiki/Q184996","display_name":"Dielectric","level":2,"score":0.4508384168148041},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.4239233136177063},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.42074859142303467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4189063012599945},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41652822494506836},{"id":"https://openalex.org/C78736273","wikidata":"https://www.wikidata.org/wiki/Q946764","display_name":"Natural frequency","level":3,"score":0.4142202138900757},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3879874050617218},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3642975091934204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2785187065601349},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22534850239753723},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21720078587532043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20798733830451965},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.18008092045783997},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.11800476908683777},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11785221099853516},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.09625262022018433},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09114733338356018},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0729374885559082},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206054","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321026","display_name":"Ministry of Earth Sciences","ror":"https://ror.org/013cf5k59"},{"id":"https://openalex.org/F4320322724","display_name":"Ministry of Education, India","ror":"https://ror.org/048xjjh50"},{"id":"https://openalex.org/F4320334743","display_name":"Defence Science and Technology Agency - Singapore","ror":"https://ror.org/02rvm6b03"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1545301666","https://openalex.org/W1594060995","https://openalex.org/W1978310382","https://openalex.org/W2006877422","https://openalex.org/W2018925533","https://openalex.org/W2028969927","https://openalex.org/W2031303964","https://openalex.org/W2058316351","https://openalex.org/W2073151603","https://openalex.org/W2083375829","https://openalex.org/W2088503133","https://openalex.org/W2094367085","https://openalex.org/W2135498559","https://openalex.org/W2168589742","https://openalex.org/W2185588639","https://openalex.org/W2290207023","https://openalex.org/W2294111085","https://openalex.org/W2332227781","https://openalex.org/W2347192262","https://openalex.org/W2416986387","https://openalex.org/W2521768685","https://openalex.org/W2538013334","https://openalex.org/W2565234879","https://openalex.org/W2582609323","https://openalex.org/W4239184191"],"related_works":["https://openalex.org/W2076007766","https://openalex.org/W2104362930","https://openalex.org/W2365075370","https://openalex.org/W2063411294","https://openalex.org/W1990745442","https://openalex.org/W2075378783","https://openalex.org/W1976310734","https://openalex.org/W1595793973","https://openalex.org/W2172230952","https://openalex.org/W2728654952"],"abstract_inverted_index":{"Frogs":[0],"are":[1],"capable":[2],"of":[3,32,67,73,92,108,121,125,137,149,157],"multiple":[4],"locomotion":[5],"modes":[6],"including":[7],"jumping":[8],"and":[9,59,139,155],"swimming,":[10],"which":[11,26,45,116],"enables":[12],"them":[13],"to":[14,16,79,88],"adapt":[15],"various":[17],"environmental":[18],"conditions.":[19],"This":[20],"paper":[21],"demonstrates":[22],"a":[23,33,68,133],"frog-inspired":[24],"robot,":[25],"can":[27,96],"mimic":[28],"the":[29,64,70,74,93,99,109,144,150],"swimming":[30,75,130,145],"motion":[31],"natural":[34],"frog.":[35],"The":[36,105,127],"robot":[37,76],"is":[38,77,114,141],"developed":[39],"based":[40],"on":[41],"dielectric":[42,111],"elastomer":[43,112],"actuators,":[44],"exhibits":[46],"muscle-like":[47],"behavior":[48],"such":[49],"as":[50],"large":[51],"voltage-induced":[52],"deformation,":[53],"high":[54,89],"energy":[55],"density,":[56],"fast":[57],"response":[58],"low":[60],"weight.":[61],"Inspired":[62],"by":[63,84,103],"webbed":[65],"feet":[66],"frog,":[69],"foot":[71,94],"actuator":[72],"able":[78],"increase":[80],"its":[81,122],"projected":[82],"area":[83],"66%":[85],"when":[86],"subject":[87],"voltage.":[90],"Actuation":[91],"actuators":[95,113],"significantly":[97],"improve":[98],"averaged":[100],"peak":[101],"thrust":[102],"34.5%.":[104],"total":[106,123],"mass":[107,124],"two":[110],"14g":[115],"only":[117],"accounts":[118],"for":[119,132,143],"13%":[120],"108g.":[126],"measured":[128],"average":[129],"speed":[131],"square":[134],"wave":[135],"voltage":[136],"5kV":[138],"0.25Hz":[140],"19mm/s":[142],"robot.":[146,160],"Future":[147],"work":[148],"project":[151],"includes":[152],"optimal":[153],"design":[154],"control":[156],"this":[158],"soft":[159]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}