{"id":"https://openalex.org/W4416751246","doi":"https://doi.org/10.1109/iros60139.2025.11247420","title":"A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module","display_name":"A Novel Aerial-Aquatic Locomotion Robot with Variable Stiffness Propulsion Module","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751246","doi":"https://doi.org/10.1109/iros60139.2025.11247420"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247420","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/A5067496852","display_name":"Junzhe Hu","orcid":"https://orcid.org/0009-0001-4902-9424"},"institutions":[{"id":"https://openalex.org/I92156820","display_name":"University of Cincinnati Medical Center","ror":"https://ror.org/02p72h367","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I92156820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junzhe Hu","raw_affiliation_strings":["University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA","institution_ids":["https://openalex.org/I92156820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100317517","display_name":"Pengyu Chen","orcid":"https://orcid.org/0000-0003-2891-4763"},"institutions":[{"id":"https://openalex.org/I92156820","display_name":"University of Cincinnati Medical Center","ror":"https://ror.org/02p72h367","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I92156820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pengyu Chen","raw_affiliation_strings":["University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA","institution_ids":["https://openalex.org/I92156820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113450239","display_name":"Tian Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I92156820","display_name":"University of Cincinnati Medical Center","ror":"https://ror.org/02p72h367","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I92156820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianxiang Feng","raw_affiliation_strings":["University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA","institution_ids":["https://openalex.org/I92156820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101724560","display_name":"Yubin Wen","orcid":"https://orcid.org/0000-0003-2106-6028"},"institutions":[{"id":"https://openalex.org/I92156820","display_name":"University of Cincinnati Medical Center","ror":"https://ror.org/02p72h367","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I92156820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuxuan Wen","raw_affiliation_strings":["University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA","institution_ids":["https://openalex.org/I92156820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015894904","display_name":"Ke Wu","orcid":"https://orcid.org/0000-0002-1141-6461"},"institutions":[{"id":"https://openalex.org/I4210113480","display_name":"Mohamed bin Zayed University of Artificial Intelligence","ror":"https://ror.org/0258gkt32","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210113480"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Ke Wu","raw_affiliation_strings":["Mohamed bin Zayed University of Artificial Intelligence,Robotics Department,Masdar City, Abu Dhabi,United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mohamed bin Zayed University of Artificial Intelligence,Robotics Department,Masdar City, Abu Dhabi,United Arab Emirates","institution_ids":["https://openalex.org/I4210113480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101093742","display_name":"Janet Dong","orcid":"https://orcid.org/0009-0003-1268-8367"},"institutions":[{"id":"https://openalex.org/I92156820","display_name":"University of Cincinnati Medical Center","ror":"https://ror.org/02p72h367","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I92156820"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Janet Dong","raw_affiliation_strings":["University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Cincinnati,UC Center for Robotics Research, College of Engineering and Applied Science,Cincinnati,OH,USA","institution_ids":["https://openalex.org/I92156820"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42466008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15746","last_page":"15752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.6632000207901001,"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":0.6632000207901001,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.13420000672340393,"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/T10868","display_name":"Soft Robotics and Applications","score":0.049800001084804535,"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/propulsion","display_name":"Propulsion","score":0.8500000238418579},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6559000015258789},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5709999799728394},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4925000071525574},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4390000104904175},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42570000886917114},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.423799991607666},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.40619999170303345}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.8500000238418579},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6559000015258789},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5709999799728394},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4925000071525574},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4390000104904175},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42570000886917114},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.423799991607666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41359999775886536},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41019999980926514},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.40619999170303345},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.39579999446868896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38199999928474426},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.36640000343322754},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33799999952316284},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3359000086784363},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2865000069141388},{"id":"https://openalex.org/C2780951926","wikidata":"https://www.wikidata.org/wiki/Q3522973","display_name":"Jet propulsion","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C151174772","wikidata":"https://www.wikidata.org/wiki/Q3246710","display_name":"Propulsor","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247420","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2009101661","https://openalex.org/W2037094674","https://openalex.org/W2541583107","https://openalex.org/W2546805107","https://openalex.org/W2754179659","https://openalex.org/W2765248538","https://openalex.org/W3030994861","https://openalex.org/W3091823873","https://openalex.org/W3129698082","https://openalex.org/W3174541719","https://openalex.org/W4205371773","https://openalex.org/W4280489259","https://openalex.org/W4317383123","https://openalex.org/W4319790441","https://openalex.org/W4383108376","https://openalex.org/W4384522867","https://openalex.org/W4391026053"],"related_works":[],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"the":[3,23,36,39,84,87,119,140,156],"development":[4],"of":[5,8,27,89,149],"robots":[6],"capable":[7],"operating":[9],"in":[10,109,160],"both":[11,110],"aerial":[12,111],"and":[13,25,48,63,112,138],"aquatic":[14,71,113,135],"environments":[15],"has":[16],"gained":[17],"significant":[18],"attention.":[19],"This":[20],"study":[21],"presents":[22],"design":[24,82],"fabrication":[26],"a":[28,42,90,145],"novel":[29],"aerial-aquatic":[30,96],"locomotion":[31,72,107],"robot":[32],"(AALR).":[33],"Inspired":[34],"by":[35],"diving":[37],"beetle,":[38],"AALR":[40],"incorporates":[41],"biomimetic":[43],"propulsion":[44,54,130],"mechanism":[45],"with":[46,123],"power":[47],"recovery":[49],"strokes.":[50],"The":[51,79,98,153],"variable":[52,64],"stiffness":[53,65,102],"module":[55],"(VSPM)":[56],"uses":[57],"low":[58],"melting":[59],"point":[60],"alloy":[61],"(LMPA)":[62],"joints":[66],"(VSJ)":[67],"to":[68,76,128],"achieve":[69],"efficient":[70],"while":[73],"reducing":[74],"harm":[75],"marine":[77],"life.":[78],"AALR\u2019s":[80,141,157],"innovative":[81],"integrates":[83],"VSPM":[85,99,120],"into":[86],"arms":[88],"traditional":[91],"quadrotor,":[92],"allowing":[93],"for":[94,118,166],"effective":[95,158],"locomotion.":[97],"adjusts":[100],"joint":[101],"through":[103],"temperature":[104],"control,":[105],"meeting":[106],"requirements":[108],"modes.":[114],"A":[115],"dynamic":[116],"model":[117],"was":[121],"developed,":[122],"iterative":[124],"improved":[125],"dimensional":[126],"parameters":[127],"increase":[129],"force.":[131],"Experiments":[132],"focused":[133],"on":[134],"mode":[136],"analysis":[137],"demonstrated":[139],"swimming":[142,147],"capability,":[143],"achieving":[144],"maximum":[146],"speed":[148],"77":[150],"mm/s":[151],"underwater.":[152],"results":[154],"confirm":[155],"performance":[159],"water":[161],"environment,":[162],"highlighting":[163],"its":[164],"potential":[165],"versatile,":[167],"eco-friendly":[168],"operations.":[169]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
