{"id":"https://openalex.org/W4394712138","doi":"https://doi.org/10.1109/ricai60863.2023.10489797","title":"A Tensegrity Robotic Fish Driven by a Sliding Crank-Pendulum Mechanism","display_name":"A Tensegrity Robotic Fish Driven by a Sliding Crank-Pendulum Mechanism","publication_year":2023,"publication_date":"2023-12-01","ids":{"openalex":"https://openalex.org/W4394712138","doi":"https://doi.org/10.1109/ricai60863.2023.10489797"},"language":"en","primary_location":{"id":"doi:10.1109/ricai60863.2023.10489797","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ricai60863.2023.10489797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)","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/A5101326273","display_name":"Lulu Han","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lulu Han","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087353591","display_name":"Zhigang Wu","orcid":"https://orcid.org/0000-0002-6782-9249"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigang Wu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068867991","display_name":"Jiahui Luo","orcid":"https://orcid.org/0000-0002-8759-1565"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahui Luo","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031122489","display_name":"Xiaoming Xu","orcid":"https://orcid.org/0000-0001-6153-8742"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoming Xu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University,Guangdong,P.R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shenzhen Campus Sun Yat-sen University, Guangdong, P.R. China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"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":0.21512955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"489","last_page":"493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11870","display_name":"Structural Analysis and Optimization","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/tensegrity","display_name":"Tensegrity","score":0.8544758558273315},{"id":"https://openalex.org/keywords/crank","display_name":"Crank","score":0.7510025501251221},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6896618604660034},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5698673725128174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5687161684036255},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40353769063949585},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3488190770149231},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3470924496650696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23796933889389038},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21449244022369385},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.16823309659957886},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12797164916992188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12252527475357056}],"concepts":[{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.8544758558273315},{"id":"https://openalex.org/C198994188","wikidata":"https://www.wikidata.org/wiki/Q857558","display_name":"Crank","level":3,"score":0.7510025501251221},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6896618604660034},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5698673725128174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5687161684036255},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40353769063949585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3488190770149231},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3470924496650696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23796933889389038},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21449244022369385},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.16823309659957886},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12797164916992188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12252527475357056},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ricai60863.2023.10489797","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ricai60863.2023.10489797","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6200000047683716}],"awards":[{"id":"https://openalex.org/G2014382890","display_name":null,"funder_award_id":"12002396,12232015,12372053","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1608215728","https://openalex.org/W2083120813","https://openalex.org/W2892950292","https://openalex.org/W2936498777","https://openalex.org/W2973840551","https://openalex.org/W3043301796","https://openalex.org/W3090984824","https://openalex.org/W3196760279","https://openalex.org/W4251914763","https://openalex.org/W4281615013","https://openalex.org/W4281638045","https://openalex.org/W4294653650","https://openalex.org/W4302773388","https://openalex.org/W4366365198"],"related_works":["https://openalex.org/W227057133","https://openalex.org/W2480265123","https://openalex.org/W2345199500","https://openalex.org/W2090167696","https://openalex.org/W2382222318","https://openalex.org/W3142983119","https://openalex.org/W3159725763","https://openalex.org/W2356634177","https://openalex.org/W1768314359","https://openalex.org/W3194112092"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,38,95,127],"tensegrity":[4,10,22,68],"robotic":[5,52],"fish,":[6],"composed":[7],"of":[8,21,31,37,63,66,76,108],"the":[9,25,32,35,43,51,61,67,71,77,83,87,91,106,110],"structure":[11,69],"and":[12,24,48,90,99,119],"sliding":[13,26],"crank-pendulum":[14,27],"mechanism.":[15],"The":[16,73],"fish":[17,53,92],"body":[18],"is":[19,79,97],"made":[20],"structures":[23],"mechanism":[28],"transforms":[29],"rotation":[30],"motion":[33,58],"into":[34],"swing":[36,57],"pendulum":[39,88],"rod.":[40],"By":[41],"connecting":[42],"two":[44],"parts":[45],"with":[46,105],"joints":[47],"elastic":[49],"cables,":[50],"can":[54],"realize":[55],"flexible":[56],"by":[59,81],"changing":[60],"balance":[62],"internal":[64],"forces":[65],"using":[70],"motor.":[72],"driving":[74,129],"torque":[75],"motor":[78],"analyzed":[80],"simulating":[82],"connection":[84],"parameters":[85],"between":[86],"rod":[89],"body.":[93],"Then":[94],"prototype":[96],"designed":[98],"fabricated.":[100],"Experimental":[101],"results":[102],"present":[103],"that":[104],"increase":[107],"stiffness,":[109],"speed-frequency":[111],"curve":[112],"gradually":[113],"presents":[114],"an":[115],"approximate":[116],"linear":[117],"growth,":[118],"higher":[120,128],"stiffness":[121],"means":[122],"better":[123],"swimming":[124],"performance":[125],"at":[126],"frequency":[130],"zone.":[131]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}