{"id":"https://openalex.org/W3039073383","doi":"https://doi.org/10.1109/lra.2020.3005383","title":"Pauses Provide Effective Control for an Underactuated Oscillating Swimming Robot","display_name":"Pauses Provide Effective Control for an Underactuated Oscillating Swimming Robot","publication_year":2020,"publication_date":"2020-06-29","ids":{"openalex":"https://openalex.org/W3039073383","doi":"https://doi.org/10.1109/lra.2020.3005383","mag":"3039073383"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3005383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3005383","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/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, USA"],"raw_orcid":"https://orcid.org/0000-0003-4274-6882","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pensylvannia, Philadelphia, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113909572","display_name":"Philip de Zonia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philip de Zonia","raw_affiliation_strings":["GRASP Laboratory, University of Pensylvannia, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0000-0001-7434-0276","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pensylvannia, Philadelphia, USA","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, USA"],"raw_orcid":"https://orcid.org/0000-0002-0837-052X","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pensylvannia, Philadelphia, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0671,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75830326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"5","issue":"4","first_page":"5075","last_page":"5080"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8393923044204712},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.8181732296943665},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6818684935569763},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6463330984115601},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5582853555679321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5549545288085938},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4588305652141571},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38662007451057434},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36707374453544617},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33222028613090515},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2616349756717682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21350941061973572},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.12082615494728088}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8393923044204712},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.8181732296943665},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6818684935569763},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6463330984115601},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5582853555679321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5549545288085938},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4588305652141571},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38662007451057434},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36707374453544617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33222028613090515},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2616349756717682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21350941061973572},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.12082615494728088},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.3005383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3005383","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1529938788","https://openalex.org/W1939942294","https://openalex.org/W1984426410","https://openalex.org/W2014551692","https://openalex.org/W2018274017","https://openalex.org/W2033146663","https://openalex.org/W2116659551","https://openalex.org/W2117967111","https://openalex.org/W2220685639","https://openalex.org/W2345644119","https://openalex.org/W2514174529","https://openalex.org/W2591649292","https://openalex.org/W2789256807","https://openalex.org/W3105846557","https://openalex.org/W6786130684"],"related_works":["https://openalex.org/W2972696068","https://openalex.org/W2786960220","https://openalex.org/W3116659675","https://openalex.org/W2109963170","https://openalex.org/W3005331713","https://openalex.org/W3206936522","https://openalex.org/W54244440","https://openalex.org/W1990785674","https://openalex.org/W2126240827","https://openalex.org/W2783590237"],"abstract_inverted_index":{"We":[0,44],"describe":[1],"motion":[2,39,51,63,83,119],"primitives":[3,64,108],"and":[4,42,60,69,91,109],"closed-loop":[5,75],"control":[6],"for":[7,40],"a":[8,36,46],"unique":[9],"low-cost":[10],"single-motor":[11],"oscillating":[12],"aquatic":[13],"system:":[14],"the":[15,22,50,53,85,92,117],"Modboat.":[16],"The":[17],"Modboat":[18],"is":[19,28,78,95,104],"driven":[20],"by":[21],"conservation":[23],"of":[24,49,52,87],"angular":[25],"momentum,":[26],"which":[27,55],"used":[29],"to":[30,80,97,111],"actuate":[31],"two":[32,62],"passive":[33],"flippers":[34],"in":[35],"sequential":[37],"paddling":[38],"propulsion":[41],"steering.":[43],"propose":[45,61],"discrete":[47],"description":[48],"system,":[54],"oscillates":[56],"around":[57],"desired":[58],"trajectories,":[59],"-":[65,72],"one":[66,70],"frequency":[67],"based":[68],"pause-based":[71,93,118],"with":[73],"associated":[74],"controllers.":[76],"Testing":[77],"performed":[79],"evaluate":[81],"each":[82,88],"primitive,":[84],"merits":[86],"are":[89],"presented,":[90],"primitive":[94],"shown":[96,110],"be":[98,112],"significantly":[99,113],"superior.":[100],"Finally,":[101],"waypoint":[102],"following":[103],"implemented":[105],"using":[106,116],"both":[107],"more":[114],"successful":[115],"primitive.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}