{"id":"https://openalex.org/W3186055677","doi":"https://doi.org/10.1109/iros51168.2021.9636778","title":"Thrust Direction Control of an Underactuated Oscillating Swimming Robot","display_name":"Thrust Direction Control of an Underactuated Oscillating Swimming Robot","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3186055677","doi":"https://doi.org/10.1109/iros51168.2021.9636778","mag":"3186055677"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636778","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.13055","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066333047","display_name":"Gedaliah Knizhnik","orcid":"https://orcid.org/0000-0003-4274-6882"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gedaliah Knizhnik","raw_affiliation_strings":["GRASP Laboratory, University of Pensylvannia, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pensylvannia, Philadelphia, PA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["GRASP Laboratory, University of Pensylvannia, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pensylvannia, Philadelphia, PA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8665","last_page":"8670"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9979000091552734,"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/control-theory","display_name":"Control theory (sociology)","score":0.8228882551193237},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6411314606666565},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6363301277160645},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6339349150657654},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5898587107658386},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5748157501220703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5325319766998291},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42362892627716064},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.395590603351593},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33951854705810547},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2618074417114258},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21058282256126404},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18385452032089233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15269386768341064},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1407945454120636}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8228882551193237},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6411314606666565},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6363301277160645},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6339349150657654},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5898587107658386},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5748157501220703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5325319766998291},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42362892627716064},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.395590603351593},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33951854705810547},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2618074417114258},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21058282256126404},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18385452032089233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15269386768341064},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1407945454120636},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636778","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2107.13055","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.13055","pdf_url":"https://arxiv.org/pdf/2107.13055","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.13055","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.13055","pdf_url":"https://arxiv.org/pdf/2107.13055","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1502278167","https://openalex.org/W1529938788","https://openalex.org/W2555077803","https://openalex.org/W2946449831","https://openalex.org/W2966033334","https://openalex.org/W2972703572","https://openalex.org/W3004437207","https://openalex.org/W3030668970","https://openalex.org/W3039073383","https://openalex.org/W3045532488","https://openalex.org/W3105846557","https://openalex.org/W3133128201","https://openalex.org/W3207160555","https://openalex.org/W6778515445"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W4313405128"],"abstract_inverted_index":{"The":[0],"Modboat":[1,34,67],"is":[2],"an":[3,110],"autonomous":[4],"surface":[5],"robot":[6],"that":[7,68,89,115,127],"turns":[8],"the":[9,33,66,71,74,78,113,117],"oscillation":[10],"of":[11,73,121],"a":[12,16,45,60],"single":[13],"motor":[14],"into":[15],"controlled":[17],"paddling":[18],"motion":[19],"through":[20],"passive":[21],"flippers.":[22],"Inertial":[23],"control":[24,63],"methods":[25,102],"developed":[26],"in":[27],"prior":[28,101],"work":[29,57],"can":[30,83,92],"successfully":[31],"drive":[32],"along":[35],"trajectories":[36],"and":[37,49,76,125],"enable":[38],"docking":[39],"to":[40,52,95,112],"neighboring":[41],"modules,":[42],"but":[43],"have":[44],"non-constant":[46],"cycle":[47],"time":[48],"cannot":[50],"react":[51],"dynamic":[53],"environments.":[54],"In":[55],"this":[56,90],"we":[58],"present":[59,109],"thrust":[61],"direction":[62],"method":[64,91],"for":[65],"significantly":[69],"improves":[70,130],"time-response":[72],"system":[75],"increases":[77],"accuracy":[79],"with":[80],"which":[81],"it":[82,128],"be":[84,93],"controlled.":[85],"We":[86,107],"experimentally":[87],"demonstrate":[88],"used":[94],"perform":[96],"more":[97],"compact":[98],"maneuvers":[99],"than":[100],"or":[103],"comparable":[104],"robots":[105],"can.":[106],"also":[108],"extension":[111],"controller":[114],"solves":[116],"reaction":[118],"wheel":[119],"problem":[120],"unbounded":[122],"actuator":[123],"velocity,":[124],"show":[126],"further":[129],"performance.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
