{"id":"https://openalex.org/W3003976089","doi":"https://doi.org/10.1109/iros40897.2019.8968485","title":"Comparing swimming performances of flexible and helical magnetic swimmers","display_name":"Comparing swimming performances of flexible and helical magnetic swimmers","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003976089","doi":"https://doi.org/10.1109/iros40897.2019.8968485","mag":"3003976089"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-03391484","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077064083","display_name":"Ali Oulmas","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ali Oulmas","raw_affiliation_strings":["Sorbonne Universit&#x00E9;, CNRS, Institut des Syst&#x00E9;mes Intelligents et de Robotique, ISIR,Paris,France,F-75005","Sorbonne Universit\u00e9, CNRS, Institut des Syst\u00e9mes Intelligents et de Robotique, ISIR, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit&#x00E9;, CNRS, Institut des Syst&#x00E9;mes Intelligents et de Robotique, ISIR,Paris,France,F-75005","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9, CNRS, Institut des Syst\u00e9mes Intelligents et de Robotique, ISIR, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025299418","display_name":"Johan Quispe","orcid":"https://orcid.org/0000-0001-5709-523X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Johan E. Quispe","raw_affiliation_strings":["Sorbonne Universit&#x00E9;, CNRS, Institut des Syst&#x00E9;mes Intelligents et de Robotique, ISIR,Paris,France,F-75005","Sorbonne Universit\u00e9, CNRS, Institut des Syst\u00e9mes Intelligents et de Robotique, ISIR, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit&#x00E9;, CNRS, Institut des Syst&#x00E9;mes Intelligents et de Robotique, ISIR,Paris,France,F-75005","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9, CNRS, Institut des Syst\u00e9mes Intelligents et de Robotique, ISIR, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000816393","display_name":"Nicolas Andreff","orcid":"https://orcid.org/0000-0001-5687-5533"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210118524","display_name":"Universit\u00e9 Bourgogne Franche-Comt\u00e9","ror":"https://ror.org/02dn7x778","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210118524"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Andreff","raw_affiliation_strings":["Univ. Bourgogne FrancheComt/ CNRS, FEMTO-ST Institute,Besan&#x00E7;on,France,F-25000","Univ. Bourgogne FrancheComt/ CNRS, FEMTO-ST Institute, Besan\u00e7on, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Bourgogne FrancheComt/ CNRS, FEMTO-ST Institute,Besan&#x00E7;on,France,F-25000","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I4210118524"]},{"raw_affiliation_string":"Univ. Bourgogne FrancheComt/ CNRS, FEMTO-ST Institute, Besan\u00e7on, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2802759292"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018583998","display_name":"St\u00e9phane R\u00e9gnier","orcid":"https://orcid.org/0000-0001-8954-4183"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"St\u00e9phane R\u00e9gnier","raw_affiliation_strings":["Sorbonne Universit&#x00E9;, CNRS, Institut des Syst&#x00E9;mes Intelligents et de Robotique, ISIR,Paris,France,F-75005","Sorbonne Universit\u00e9, CNRS, Institut des Syst\u00e9mes Intelligents et de Robotique, ISIR, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universit&#x00E9;, CNRS, Institut des Syst&#x00E9;mes Intelligents et de Robotique, ISIR,Paris,France,F-75005","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9, CNRS, Institut des Syst\u00e9mes Intelligents et de Robotique, ISIR, Paris, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2415","last_page":"2420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9854999780654907,"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"}},{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9789000153541565,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7166095972061157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5743446350097656},{"id":"https://openalex.org/keywords/reynolds-number","display_name":"Reynolds number","score":0.5327256917953491},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4720909297466278},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.35385873913764954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25303131341934204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24516040086746216},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.1892355978488922},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18828022480010986}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7166095972061157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5743446350097656},{"id":"https://openalex.org/C182748727","wikidata":"https://www.wikidata.org/wiki/Q178932","display_name":"Reynolds number","level":3,"score":0.5327256917953491},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4720909297466278},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.35385873913764954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25303131341934204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24516040086746216},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.1892355978488922},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18828022480010986},{"id":"https://openalex.org/C196558001","wikidata":"https://www.wikidata.org/wiki/Q190132","display_name":"Turbulence","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968485","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968485","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-03391484v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03391484","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, France. pp.2415-2420, &#x27E8;10.1109/IROS40897.2019.8968485&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03391484v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03391484","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, France. pp.2415-2420, &#x27E8;10.1109/IROS40897.2019.8968485&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4493481030","display_name":"Design and control of multi flagella microswimmers driven by mobile magnets","funder_award_id":"ANR-16-CE33-0019","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6129730045","display_name":"Ing\u00e9nierie et Innovation par les sciences physiques, les savoir-faire technologiques et l'interdisciplinarit\u00e9","funder_award_id":"ANR-17-EURE-0002","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1963689719","https://openalex.org/W1972851874","https://openalex.org/W2007035937","https://openalex.org/W2025562104","https://openalex.org/W2029552694","https://openalex.org/W2056370235","https://openalex.org/W2080051992","https://openalex.org/W2105765354","https://openalex.org/W2122468689","https://openalex.org/W2161381314","https://openalex.org/W2168046319","https://openalex.org/W2234717249","https://openalex.org/W2321941055","https://openalex.org/W2417142630","https://openalex.org/W2475555465","https://openalex.org/W2498861952","https://openalex.org/W2517917221","https://openalex.org/W2522585055","https://openalex.org/W2566377910","https://openalex.org/W2594355207","https://openalex.org/W2773912241"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Flexible":[0],"and":[1,27,45,87],"helical":[2],"magnetic":[3],"microswimmers":[4],"have":[5],"been":[6],"well":[7],"reviewed":[8],"in":[9,41,53,83,93],"the":[10,75],"literature":[11],"because":[12],"they":[13],"could":[14],"be":[15],"exploited":[16],"for":[17],"envisaged":[18],"applications":[19],"such":[20],"as":[21],"targeted":[22],"drug":[23],"delivery,":[24],"material":[25],"removal,":[26],"micromanipulation.":[28],"In":[29],"this":[30],"article,":[31],"scaled-up":[32],"versions":[33],"of":[34,77,81,85],"those":[35],"robots":[36,50,64,82],"are":[37],"introduced":[38],"to":[39],"study":[40],"detail":[42],"their":[43,69],"maneuverability":[44],"dexterity":[46],"while":[47],"swimming.":[48],"The":[49,62,72],"were":[51,65],"immersed":[52],"pure":[54],"glycerol,":[55],"thus,":[56],"reproducing":[57],"a":[58],"low":[59],"Reynolds":[60],"scenario.":[61],"proposed":[63],"previously":[66],"optimized,":[67],"achieving":[68],"best":[70],"performances.":[71],"experiments":[73],"assess":[74],"performances":[76],"these":[78],"two":[79],"kinds":[80],"terms":[84],"rapidity,":[86],"steering":[88],"error":[89],"following":[90],"3D":[91],"trajectories":[92],"environments":[94],"with":[95],"high":[96],"viscous":[97],"variations.":[98]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
