{"id":"https://openalex.org/W4416748625","doi":"https://doi.org/10.1109/iros60139.2025.11246165","title":"Development of an Efficient Stiffness Modulation Mechanism in Fish-like Robots for Enhanced Swimming Performance","display_name":"Development of an Efficient Stiffness Modulation Mechanism in Fish-like Robots for Enhanced Swimming Performance","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748625","doi":"https://doi.org/10.1109/iros60139.2025.11246165"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5068205255","display_name":"Chao Xu","orcid":"https://orcid.org/0009-0006-7670-3839"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Xu Chao","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065383399","display_name":"Bohan Yu","orcid":"https://orcid.org/0009-0002-7568-936X"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bohan Yu","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056734737","display_name":"David Navarro-Alarc\u00f3n","orcid":"https://orcid.org/0000-0002-3426-6638"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"David Navarro-Alarcon","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071742051","display_name":"Xingjian Jing","orcid":"https://orcid.org/0000-0003-3498-2180"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xingjian Jing","raw_affiliation_strings":["City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"City University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068205255"],"corresponding_institution_ids":["https://openalex.org/I168719708"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43952548,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3382","last_page":"3387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.968999981880188,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.968999981880188,"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":0.00989999994635582,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0024999999441206455,"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/stiffness","display_name":"Stiffness","score":0.8402000069618225},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7511000037193298},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7429999709129333},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6581000089645386},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.512499988079071},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5015000104904175},{"id":"https://openalex.org/keywords/modulation","display_name":"Modulation (music)","score":0.4778999984264374}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8402000069618225},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7511000037193298},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7429999709129333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6581000089645386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5555999875068665},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.512499988079071},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5015000104904175},{"id":"https://openalex.org/C123079801","wikidata":"https://www.wikidata.org/wiki/Q750240","display_name":"Modulation (music)","level":2,"score":0.4778999984264374},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.3808000087738037},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35249999165534973},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3513000011444092},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3449999988079071},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32280001044273376},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.25999999046325684},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309893","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23"},{"id":"https://openalex.org/F4320326427","display_name":"Innovation and Technology Fund","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1965718663","https://openalex.org/W2017795814","https://openalex.org/W2132273177","https://openalex.org/W2152374862","https://openalex.org/W2157348182","https://openalex.org/W2491939967","https://openalex.org/W2888972305","https://openalex.org/W2936498777","https://openalex.org/W3130576378","https://openalex.org/W3190977849","https://openalex.org/W3193380182","https://openalex.org/W4220968023","https://openalex.org/W4285194492","https://openalex.org/W4385824717","https://openalex.org/W4389317788","https://openalex.org/W4401413668","https://openalex.org/W4403487616","https://openalex.org/W4404815465","https://openalex.org/W4404921952"],"related_works":[],"abstract_inverted_index":{"Drawing":[0],"inspiration":[1],"from":[2],"the":[3,19,91,94,101],"ability":[4],"of":[5,15,21,93,133,140,142],"fish":[6],"to":[7,115],"maintain":[8],"efficient":[9,105],"swimming":[10,106],"over":[11],"a":[12,108,129,137],"wide":[13],"range":[14,111],"speeds":[16],"by":[17],"tuning":[18,44],"stiffness":[20,27,67,81,121],"their":[22],"tails,":[23],"researchers":[24],"have":[25],"explored":[26],"adjustment":[28],"mechanisms":[29,35],"in":[30,47,123],"fish-like":[31],"robots.":[32],"Typically,":[33],"existing":[34,124],"require":[36,73],"extra":[37],"actuators":[38,75],"or":[39,76],"power":[40,77],"sources":[41,78],"only":[42],"for":[43,80],"stiffness,":[45],"resulting":[46],"additional":[48,74],"energy":[49],"consumption":[50],"and":[51,86,136],"more":[52],"complex":[53],"structures.":[54],"To":[55],"address":[56],"this,":[57],"our":[58],"study":[59],"introduces":[60],"an":[61,65],"innovative":[62],"fishtail":[63],"featuring":[64],"online":[66],"modulation":[68],"mechanism":[69,103],"that":[70,100],"does":[71],"not":[72],"solely":[79],"adjustment.":[82],"Through":[83],"model-based":[84],"simulations":[85],"experimental":[87],"testing,":[88],"we":[89],"evaluated":[90],"effectiveness":[92],"proposed":[95],"method.":[96],"The":[97,126],"results":[98],"demonstrate":[99],"designed":[102],"enables":[104],"across":[107],"broader":[109],"frequency":[110],"(0\u20134":[112],"Hz)":[113],"compared":[114],"most":[116],"servo-actuated":[117],"platforms":[118],"with":[119],"adjustable":[120],"reported":[122],"studies.":[125],"robot":[127],"achieves":[128],"maximum":[130],"average":[131],"speed":[132],"1.4":[134],"BL/s":[135],"minimum":[138],"cost":[139],"transport":[141],"9.5":[143],"J/(m\u2022kg).":[144]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
