{"id":"https://openalex.org/W2040315323","doi":"https://doi.org/10.1109/robio.2011.6181603","title":"Control and design of a 3 DOF fish robot &amp;#x2018;ICHTUS&amp;#x2019;","display_name":"Control and design of a 3 DOF fish robot &amp;#x2018;ICHTUS&amp;#x2019;","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2040315323","doi":"https://doi.org/10.1109/robio.2011.6181603","mag":"2040315323"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5056879280","display_name":"Gi\u2010Hun Yang","orcid":"https://orcid.org/0000-0001-5394-2067"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Gi-Hun Yang","raw_affiliation_strings":["The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea"],"affiliations":[{"raw_affiliation_string":"The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032273128","display_name":"Wooseok Choi","orcid":"https://orcid.org/0000-0002-0717-1588"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wooseok Choi","raw_affiliation_strings":["The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea"],"affiliations":[{"raw_affiliation_string":"The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021445793","display_name":"Sang-Hyo Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Hyo Lee","raw_affiliation_strings":["The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea"],"affiliations":[{"raw_affiliation_string":"The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062825673","display_name":"Kyungsik Kim","orcid":"https://orcid.org/0000-0001-9007-7025"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyung-Sik Kim","raw_affiliation_strings":["The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea"],"affiliations":[{"raw_affiliation_string":"The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086791753","display_name":"Hyun-Jin Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun-Jin Lee","raw_affiliation_strings":["The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea"],"affiliations":[{"raw_affiliation_string":"The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105420827","display_name":"Hyeunseok Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeun-Seok Choi","raw_affiliation_strings":["The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea"],"affiliations":[{"raw_affiliation_string":"The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111844401","display_name":"Young-Sun Ryuh","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-Sun Ryuh","raw_affiliation_strings":["The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea"],"affiliations":[{"raw_affiliation_string":"The Underwater Robot Center, Korea Institute of Industrial and Technology, Ansan, South Korea","institution_ids":["https://openalex.org/I89004649"]},{"raw_affiliation_string":"Underwater Robot Center, Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5056879280"],"corresponding_institution_ids":["https://openalex.org/I89004649"],"apc_list":null,"apc_paid":null,"fwci":4.2796,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.93306151,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"2108","last_page":"2113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10302","display_name":"Fish Ecology and Management Studies","score":0.9936000108718872,"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"}},{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9878000020980835,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7446810007095337},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6210027933120728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4872809648513794},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4706788659095764},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.44015833735466003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41369619965553284},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4136110842227936},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3888108730316162},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3721165359020233},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.36869287490844727},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.337177574634552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32820069789886475},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3200475573539734},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26924043893814087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2077295184135437},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08148428797721863},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07115527987480164},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0700998306274414}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7446810007095337},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6210027933120728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4872809648513794},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4706788659095764},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.44015833735466003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41369619965553284},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4136110842227936},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3888108730316162},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3721165359020233},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.36869287490844727},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.337177574634552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32820069789886475},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3200475573539734},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26924043893814087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2077295184135437},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08148428797721863},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07115527987480164},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0700998306274414},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181603","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8899999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1599909743","https://openalex.org/W2030661036","https://openalex.org/W2034611663","https://openalex.org/W2121273772","https://openalex.org/W2166995402","https://openalex.org/W6635612313"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W4210919297"],"abstract_inverted_index":{"Recently,":[0],"there":[1,36],"is":[2,108],"a":[3,64,84,103,115],"rising":[4],"interest":[5],"on":[6],"studying":[7],"fish-like":[8,26],"underwater":[9,27,125],"robots":[10,28],"because":[11],"of":[12,43,45,118,133,144,153,158],"real":[13,51,183],"fish's":[14],"great":[15],"maneuverability":[16],"and":[17,35,68,95,107,148,171],"high":[18],"energy":[19,93,169],"efficiency.":[20],"However,":[21],"the":[22,25,46,50,56,60,119,124,128,134,141,177,182],"researches":[23],"about":[24],"have":[29],"not":[30],"been":[31],"done":[32],"so":[33],"much":[34],"are":[37,165],"still":[38],"diverse":[39],"problems":[40],"in":[41,49,55,110,181],"respect":[42],"using":[44],"fish":[47,61,99,120,135,160,178],"robot":[48,62,100,121,136,159,179],"environment":[52],"such":[53,73],"as":[54,74],"river.":[57],"For":[58],"example,":[59],"has":[63,102],"short":[65],"operating":[66],"time":[67],"cannot":[69],"move":[70],"narrow":[71],"passage":[72],"swimming":[75],"between":[76],"aquatic":[77],"plants.":[78],"Therefore,":[79],"this":[80,154],"paper":[81],"mainly":[82],"describes":[83],"control":[85,129],"method":[86],"according":[87,139],"to":[88,122,140,167],"propulsion":[89],"algorithm":[90],"for":[91],"improving":[92],"efficiency":[94,170],"obstacle":[96],"avoidance.":[97],"The":[98],"`Ichthus'":[101],"3-DOF":[104],"serial":[105],"link-mechanism":[106],"developed":[109],"KITECH.":[111],"Also,":[112],"we":[113],"propose":[114],"dynamic":[116],"equation":[117],"use":[123],"environment.":[126,184],"In":[127,151],"portion,":[130],"response":[131],"characteristics":[132],"were":[137,161],"analyzed":[138],"input":[142],"parameters":[143,157,164],"tail":[145],"fin's":[146],"amplitude":[147],"oscillation":[149],"frequency.":[150],"consequence":[152],"result,":[155],"Control":[156],"found.":[162],"These":[163],"useful":[166],"increase":[168],"it":[172],"can":[173],"be":[174],"used":[175],"when":[176],"moves":[180]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
