{"id":"https://openalex.org/W7164561991","doi":"https://doi.org/10.1109/lra.2026.3703221","title":"Variable Stiffness Caudal Peduncle Enables Higher Propulsion Performance of a Robotic Fish","display_name":"Variable Stiffness Caudal Peduncle Enables Higher Propulsion Performance of a Robotic Fish","publication_year":2026,"publication_date":"2026-06-12","ids":{"openalex":"https://openalex.org/W7164561991","doi":"https://doi.org/10.1109/lra.2026.3703221"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3703221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3703221","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5123374869","display_name":"Xiaofei Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofei Wang","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-5742-2606","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0699-1904","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138545998","display_name":"Lixia Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lixia Yan","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0174-4795","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5138506867","display_name":"Shiji Song","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiji Song","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7361-9283","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.8717404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"8","first_page":"9463","last_page":"9470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9883000254631042,"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":0.9883000254631042,"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/T11486","display_name":"Micro and Nano Robotics","score":0.002300000051036477,"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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.0010999999940395355,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6054999828338623},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5315999984741211},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5273000001907349},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.4659999907016754},{"id":"https://openalex.org/keywords/peduncle","display_name":"Peduncle (anatomy)","score":0.46380001306533813},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.33970001339912415}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6054999828338623},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5315999984741211},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5273000001907349},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.4659999907016754},{"id":"https://openalex.org/C2777381025","wikidata":"https://www.wikidata.org/wiki/Q7160096","display_name":"Peduncle (anatomy)","level":2,"score":0.46380001306533813},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4058000147342682},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3700000047683716},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33489999175071716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33390000462532043},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3188000023365021},{"id":"https://openalex.org/C180016635","wikidata":"https://www.wikidata.org/wiki/Q2712821","display_name":"Compression (physics)","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.2888999879360199},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2870999872684479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2596000134944916},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3703221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3703221","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"awards":[{"id":"https://openalex.org/G5081432027","display_name":null,"funder_award_id":"2025M781649","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5313418749","display_name":null,"funder_award_id":"42327901","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8735613667","display_name":null,"funder_award_id":"20241880001","funder_id":"https://openalex.org/F4320329777","funder_display_name":"Beijing National Research Center For Information Science And Technology"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320329777","display_name":"Beijing National Research Center For Information Science And Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Inspired":[0],"by":[1],"the":[2,16,55,59,68,93,101,109,160],"biological":[3],"mechanism":[4],"of":[5,58,70,100,148,159,168,180,182],"fish":[6,44],"caudal":[7,17,39,95,110],"peduncles,":[8],"which":[9],"are":[10],"key":[11],"structures":[12],"connecting":[13],"musculature":[14],"to":[15,26,53,91],"fin":[18],"and":[19,61,86,97,134,176],"modulating":[20],"stiffness":[21,139,157],"for":[22,41,140],"controlled":[23],"energy":[24],"transfer":[25],"enable":[27],"high":[28,131],"maneuverability":[29],"across":[30,75],"diverse":[31],"swimming":[32,152],"scenarios,":[33],"this":[34],"letter":[35],"proposed":[36],"a":[37,42,76,144,165,177],"variable-stiffness":[38],"peduncle":[40,96],"robotic":[43,102],"that":[45,108,155],"integrates":[46],"thermoplastic":[47],"polymer":[48],"polycaprolactone,":[49],"using":[50],"temperature":[51],"control":[52],"modulate":[54],"molten":[56,114,162],"state":[57,163],"material":[60],"thereby":[62],"adjust":[63],"stiffness.":[64],"This":[65],"structure":[66],"enables":[67,164],"formation":[69],"an":[71,137],"optimal":[72,138],"body":[73,172],"profile":[74],"wide":[77],"frequency":[78],"range,":[79],"enhancing":[80],"propulsion":[81],"performance.":[82],"The":[83],"Pseudo-Rigid-Body":[84],"Model":[85],"Lagrangian":[87],"method":[88],"were":[89],"used":[90],"model":[92],"flexible":[94],"dynamic":[98],"behavior":[99],"fish,":[103],"respectively.":[104],"Thrust":[105],"results":[106],"show":[107],"peduncle,":[111],"in":[112,123],"its":[113,124],"state,":[115,126],"exhibits":[116],"superior":[117],"performance":[118],"at":[119,130],"low":[120],"frequencies,":[121],"while":[122],"solid":[125],"it":[127],"performs":[128],"better":[129],"frequencies.":[132],"Simulations":[133],"experiments":[135],"revealed":[136],"maximum":[141,166],"thrust,":[142],"with":[143],"peak":[145],"average":[146],"thrust":[147],"0.72":[149],"N.":[150],"Untethered":[151],"tests":[153],"confirmed":[154],"temperature-based":[156],"regulation":[158],"PCL":[161],"speed":[167],"0.47":[169],"m/s":[170],"(0.88":[171],"lengths":[173],"per":[174],"second)":[175],"minimum":[178],"cost":[179],"transport":[181],"68.9":[183],"J/m/kg.":[184]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-06-13T00:00:00"}
