{"id":"https://openalex.org/W2111492165","doi":"https://doi.org/10.1109/robio.2009.5420688","title":"Design and experiments of robot fish propelled by pectoral fins","display_name":"Design and experiments of robot fish propelled by pectoral fins","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2111492165","doi":"https://doi.org/10.1109/robio.2009.5420688","mag":"2111492165"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420688","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":"https://openalex.org/A5119247476","display_name":"Jun Gao","orcid":"https://orcid.org/0009-0002-7180-7234"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jun Gao","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics institute of Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012456033","display_name":"Shusheng Bi","orcid":"https://orcid.org/0000-0002-1905-8347"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shusheng Bi","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics institute of Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677316","display_name":"Ji Li","orcid":"https://orcid.org/0000-0003-4328-3197"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Ji Li","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics Institute of Beihang University, Beijing"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics Institute of Beihang University, Beijing","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331612","display_name":"Cong Liu","orcid":"https://orcid.org/0000-0002-8146-950X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cong Liu","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robotics institute of Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robotics institute of Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5119247476"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":70.5417,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.99638138,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"445","last_page":"450"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9969000220298767,"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/T10302","display_name":"Fish Ecology and Management Studies","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2309","display_name":"Nature and Landscape Conservation"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.783160924911499},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.7181010246276855},{"id":"https://openalex.org/keywords/flapping","display_name":"Flapping","score":0.6951013803482056},{"id":"https://openalex.org/keywords/propulsive-efficiency","display_name":"Propulsive efficiency","score":0.5851490497589111},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.44251111149787903},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.4304863512516022},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.41384148597717285},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.38304704427719116},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.33497411012649536},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33200809359550476},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3173620104789734},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.22652137279510498},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.17454037070274353},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.1613551676273346},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10913273692131042},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.07058548927307129}],"concepts":[{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.783160924911499},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.7181010246276855},{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.6951013803482056},{"id":"https://openalex.org/C42021957","wikidata":"https://www.wikidata.org/wiki/Q7250457","display_name":"Propulsive efficiency","level":3,"score":0.5851490497589111},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.44251111149787903},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.4304863512516022},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.41384148597717285},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.38304704427719116},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.33497411012649536},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33200809359550476},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3173620104789734},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.22652137279510498},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.17454037070274353},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.1613551676273346},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10913273692131042},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.07058548927307129},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420688","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","score":0.8500000238418579,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W332989171","https://openalex.org/W2021232183","https://openalex.org/W2044796898","https://openalex.org/W2059490140","https://openalex.org/W2097105281","https://openalex.org/W2123359130","https://openalex.org/W2125353490","https://openalex.org/W2162836633","https://openalex.org/W2166063729","https://openalex.org/W2166995402","https://openalex.org/W2167725965","https://openalex.org/W2188023334","https://openalex.org/W2255325418","https://openalex.org/W6611468815","https://openalex.org/W6684569443","https://openalex.org/W6691692210"],"related_works":["https://openalex.org/W4280504320","https://openalex.org/W2578325696","https://openalex.org/W4388419031","https://openalex.org/W2312393411","https://openalex.org/W2035299816","https://openalex.org/W2094476460","https://openalex.org/W2084903029","https://openalex.org/W2046566731","https://openalex.org/W2147491283","https://openalex.org/W2765694635"],"abstract_inverted_index":{"This":[0],"paper":[1],"described":[2],"our":[3],"work":[4],"in":[5,34,86],"probing":[6],"into":[7],"fish":[8,24,47],"robot":[9,23,46],"with":[10,30,89,109,125],"pectoral":[11,32,51,123],"fin":[12],"propulsion.":[13],"The":[14,55,111],"aim":[15],"of":[16,41,57,65,76],"this":[17],"project":[18],"is":[19,105,113],"to":[20,38],"develop":[21],"a":[22,44,74],"mimicking":[25],"cownose":[26,42],"ray":[27],"that":[28,81,108,115],"swims":[29],"flexible":[31],"fins":[33,52,66,124],"oscillation":[35],"motion.":[36],"According":[37],"the":[39,68,82,97,117,122],"analysis":[40],"ray'motion,":[43],"novel":[45],"prototype":[48],"propelled":[49],"by":[50],"was":[53,71,84,119],"designed,":[54],"effect":[56],"flapping":[58,90,126],"parameters":[59],"(frequency":[60],"and":[61,63,92,96],"amplitude)":[62],"flexibility":[64,118],"on":[67],"propulsive":[69,98],"performance":[70],"studied":[72],"through":[73],"series":[75],"experiments":[77],"underwater.":[78],"Experiments":[79],"showed":[80],"velocity":[83],"almost":[85],"linear":[87],"relationship":[88],"frequency":[91],"amplitude":[93],"below":[94],"2.0Hz,":[95],"efficiency":[99],"without":[100],"chord-wise":[101],"or":[102],"span-wise":[103],"ribs":[104],"higher":[106],"than":[107],"ribs.":[110],"conclusion":[112],"deduced":[114],"if":[116],"selected":[120],"properly,":[121],"mode":[127,133],"would":[128],"be":[129],"an":[130],"efficient":[131],"propulsion":[132],"for":[134],"underwater":[135],"vehicles.":[136]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":6}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}