{"id":"https://openalex.org/W2123200326","doi":"https://doi.org/10.1109/robio.2009.5420387","title":"Dynamic analysis on the underwater swimming robot","display_name":"Dynamic analysis on the underwater swimming robot","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2123200326","doi":"https://doi.org/10.1109/robio.2009.5420387","mag":"2123200326"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":null,"display_name":"Da-xu Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Da-xu Zhao","raw_affiliation_strings":["Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100662674","display_name":"Bai Chen","orcid":"https://orcid.org/0000-0001-8290-8626"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Chen","raw_affiliation_strings":["Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062996862","display_name":"Shuang Qian","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Qian","raw_affiliation_strings":["Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102983071","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-3885-930X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong-tao Wu","raw_affiliation_strings":["Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062927331","display_name":"Fuyang Tian","orcid":"https://orcid.org/0000-0003-4103-2079"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fu-yang Tian","raw_affiliation_strings":["Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19367702,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":null,"first_page":"1621","last_page":"1626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9979000091552734,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9962999820709229,"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/kinematics","display_name":"Kinematics","score":0.8140082359313965},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6453567743301392},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6266497373580933},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.611240804195404},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5987432599067688},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5936782956123352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5213414430618286},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48244673013687134},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4820783734321594},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4545227587223053},{"id":"https://openalex.org/keywords/motion-analysis","display_name":"Motion analysis","score":0.41859573125839233},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3915942907333374},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3861151933670044},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3642124831676483},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32980412244796753},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32655996084213257},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2533488869667053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.216694176197052},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21285215020179749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17195650935173035},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.10088616609573364},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08336213231086731}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8140082359313965},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6453567743301392},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6266497373580933},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.611240804195404},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5987432599067688},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5936782956123352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5213414430618286},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48244673013687134},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4820783734321594},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4545227587223053},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.41859573125839233},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3915942907333374},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3861151933670044},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3642124831676483},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32980412244796753},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32655996084213257},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2533488869667053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.216694176197052},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21285215020179749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17195650935173035},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.10088616609573364},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08336213231086731},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420387","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420387","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2035760025","https://openalex.org/W2045979981","https://openalex.org/W2050257809","https://openalex.org/W2081148395","https://openalex.org/W2154667563","https://openalex.org/W2368449660"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W3134555460","https://openalex.org/W2607470227","https://openalex.org/W2351331567","https://openalex.org/W2889305167","https://openalex.org/W2119719871","https://openalex.org/W2291700020"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3],"the":[4,19,26,30,51,56,60],"kinematics":[5,33],"and":[6,22,32,50],"dynamics":[7,31],"of":[8,25,35],"an":[9],"in-pipe":[10,27],"underwater":[11],"swimming":[12,28],"robot.":[13],"To":[14],"provide":[15],"a":[16,40],"basis":[17],"for":[18],"structure":[20],"design":[21],"motion":[23,38],"control":[24],"robot,":[29],"model":[34],"6-DOF":[36],"spatial":[37],"in":[39],"specific":[41],"three-dimensional":[42],"pipeline":[43],"are":[44,63],"established.":[45],"The":[46],"Dynamics":[47],"characteristic":[48],"performances":[49],"needed":[52],"driving":[53],"force":[54],"when":[55],"robot":[57],"swims":[58],"along":[59],"planned":[61],"trajectory":[62],"calculated.":[64]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
