{"id":"https://openalex.org/W3196994104","doi":"https://doi.org/10.1109/rcar52367.2021.9517667","title":"Kinetic Analysis and Design of a Bio-Inspired Amphibious Robot with Two Undulatory Fins","display_name":"Kinetic Analysis and Design of a Bio-Inspired Amphibious Robot with Two Undulatory Fins","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3196994104","doi":"https://doi.org/10.1109/rcar52367.2021.9517667","mag":"3196994104"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5028096152","display_name":"Shenglin Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shenglin Yin","raw_affiliation_strings":["School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043787337","display_name":"Qiao Hu","orcid":"https://orcid.org/0000-0001-9492-0761"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiao Hu","raw_affiliation_strings":["School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066107776","display_name":"Yangbin Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangbin Zeng","raw_affiliation_strings":["School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chang Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Wei","raw_affiliation_strings":["School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047223280","display_name":"Zhenhan Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhan Chen","raw_affiliation_strings":["School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of mechanical engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5028096152"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":9.8537,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97405823,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1368","last_page":"1373"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9984999895095825,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"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/fin","display_name":"Fin","score":0.7657074928283691},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7081894874572754},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6180697679519653},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5933007001876831},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.523669421672821},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.4860890209674835},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48364484310150146},{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.46940362453460693},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.46320071816444397},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.44262778759002686},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.42675361037254333},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3957967460155487},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3857578635215759},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35530179738998413},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.33873921632766724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2933327257633209},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18884772062301636},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.12882474064826965},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11025002598762512}],"concepts":[{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.7657074928283691},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7081894874572754},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6180697679519653},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5933007001876831},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.523669421672821},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.4860890209674835},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48364484310150146},{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.46940362453460693},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.46320071816444397},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.44262778759002686},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.42675361037254333},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3957967460155487},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3857578635215759},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35530179738998413},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.33873921632766724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2933327257633209},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18884772062301636},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.12882474064826965},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11025002598762512},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.0},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8500000238418579,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1968009074","https://openalex.org/W2015364224","https://openalex.org/W2029156281","https://openalex.org/W2086626342","https://openalex.org/W2101850483","https://openalex.org/W2129736998","https://openalex.org/W2168067086","https://openalex.org/W2207478335","https://openalex.org/W2346062164","https://openalex.org/W2512191156","https://openalex.org/W2522955907","https://openalex.org/W2602616601","https://openalex.org/W2751252009","https://openalex.org/W2963934812","https://openalex.org/W6687459842"],"related_works":["https://openalex.org/W4280504320","https://openalex.org/W4388419031","https://openalex.org/W2094476460","https://openalex.org/W2035299816","https://openalex.org/W2084903029","https://openalex.org/W2046566731","https://openalex.org/W2147491283","https://openalex.org/W2003843198","https://openalex.org/W4238505782","https://openalex.org/W1976408797"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,111,118],"novel":[4],"amphibious":[5],"robot":[6,12,21,38,84,144,161],"inspired":[7],"by":[8,62,94,125],"Gymnarchus":[9],"niloticus.":[10],"The":[11,23,49],"prototype":[13],"is":[14,92,133],"comprised":[15],"of":[16,32,53,72,80,97],"undulatory":[17,24,50],"fins,":[18],"shell":[19],"and":[20,55,75,115,166],"body.":[22],"fins":[25,138],"are":[26,60],"symmetrically":[27],"placed":[28],"on":[29,46,69,154],"each":[30],"side":[31],"the":[33,37,47,70,73,77,83,95,107,123,129,141,143,155,160],"robot,":[34,142],"which":[35,59],"enable":[36],"to":[39,85,89,121,128],"swim":[40],"underwater":[41,149],"as":[42,44,150,152],"well":[43,151],"crawl":[45,153],"ground.":[48,156],"fin":[51,57,74,108,124],"consists":[52],"membrane":[54,132],"rigid":[56],"rays":[58],"actuated":[61],"brushless":[63],"motors.":[64],"To":[65],"provide":[66],"some":[67],"guideline":[68],"design":[71],"motors,":[76],"generation":[78],"mechanism":[79],"thrust":[81],"driving":[82],"move":[86],"from":[87],"aquatic":[88],"terrestrial":[90],"environment":[91],"investigated":[93],"means":[96],"numerical":[98],"computation":[99],"method.":[100],"Through":[101],"kinetic":[102],"analysis,":[103],"we":[104],"find":[105],"that":[106,159],"should":[109],"keep":[110],"balance":[112],"between":[113],"flexibility":[114],"rigidity.":[116],"Here":[117],"mechanical":[119],"way":[120],"fabricate":[122],"exerting":[126],"force":[127],"original":[130],"flexible":[131],"proposed.":[134],"With":[135],"two":[136],"such":[137],"integrated":[139],"into":[140],"can":[145],"achieve":[146],"three-dimensional":[147],"motion":[148,165,168],"Experiments":[157],"show":[158],"featuring":[162],"with":[163],"undulating":[164],"flapping":[167],"has":[169],"remarkable":[170],"maneuverability.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}