{"id":"https://openalex.org/W1985661293","doi":"https://doi.org/10.1109/robio.2013.6739433","title":"Development of a turtle-like underwater vehicle using central pattern generator","display_name":"Development of a turtle-like underwater vehicle using central pattern generator","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1985661293","doi":"https://doi.org/10.1109/robio.2013.6739433","mag":"1985661293"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5042904440","display_name":"Guocai Yao","orcid":"https://orcid.org/0000-0002-0673-0229"},"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":"Guocai Yao","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029641559","display_name":"Jianhong Liang","orcid":"https://orcid.org/0000-0002-7692-3800"},"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":"Jianhong Liang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057674506","display_name":"Tianmiao Wang","orcid":"https://orcid.org/0000-0003-3153-7524"},"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":"Tianmiao Wang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023263461","display_name":"Xingbang Yang","orcid":"https://orcid.org/0000-0003-0387-6043"},"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":"Xingbang Yang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104806061","display_name":"Qi Shen","orcid":"https://orcid.org/0000-0002-7051-4125"},"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":"Qi Shen","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387035","display_name":"Yucheng Zhang","orcid":"https://orcid.org/0000-0003-2474-2474"},"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":"Yucheng Zhang","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075663383","display_name":"Hailiang Wu","orcid":"https://orcid.org/0000-0003-1532-3462"},"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":"Hailiang Wu","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102867937","display_name":"Wei\u2010Cheng Tian","orcid":null},"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":"Weicheng Tian","raw_affiliation_strings":["Robotics Institute, Beihang University, Beijing, China","Robot Institute, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Robot Institute, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5042904440"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.1607,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.79394229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"44","last_page":"49"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9991999864578247,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/central-pattern-generator","display_name":"Central pattern generator","score":0.5946025252342224},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5572910308837891},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.5281080007553101},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5007727146148682},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.49723055958747864},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.456306129693985},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.45438823103904724},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.4425066411495209},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.393314927816391},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3916972279548645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37534239888191223},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.35411280393600464},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32210248708724976},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2861309051513672},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27639806270599365},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.20590180158615112},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.19618776440620422},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13987252116203308},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11103814840316772},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11049309372901917},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11022418737411499}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5946025252342224},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5572910308837891},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.5281080007553101},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5007727146148682},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.49723055958747864},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.456306129693985},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.45438823103904724},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.4425066411495209},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.393314927816391},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3916972279548645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37534239888191223},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.35411280393600464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32210248708724976},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2861309051513672},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27639806270599365},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.20590180158615112},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.19618776440620422},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13987252116203308},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11103814840316772},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11049309372901917},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11022418737411499},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W122502465","https://openalex.org/W1503945108","https://openalex.org/W1967538789","https://openalex.org/W1973698089","https://openalex.org/W1996184771","https://openalex.org/W1999272004","https://openalex.org/W2010587870","https://openalex.org/W2013645882","https://openalex.org/W2021232183","https://openalex.org/W2036078241","https://openalex.org/W2048963734","https://openalex.org/W2063885453","https://openalex.org/W2083120813","https://openalex.org/W2106768938","https://openalex.org/W2117289015","https://openalex.org/W2129287493","https://openalex.org/W2138578406","https://openalex.org/W2143314240","https://openalex.org/W2151379280","https://openalex.org/W2154421886","https://openalex.org/W2160303143","https://openalex.org/W2162034128","https://openalex.org/W2168067086","https://openalex.org/W2332709496","https://openalex.org/W6605004746","https://openalex.org/W6683688931"],"related_works":["https://openalex.org/W1972096828","https://openalex.org/W2529137940","https://openalex.org/W4302048708","https://openalex.org/W2359913921","https://openalex.org/W1595194509","https://openalex.org/W4239740410","https://openalex.org/W1996195943","https://openalex.org/W4205298958","https://openalex.org/W2112770721","https://openalex.org/W2914950012"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,29,41,45,50,84,89,97,105,115,120],"construction":[4],"and":[5,21,37,49,86],"control":[6,58],"of":[7,31,40,88,100],"a":[8,53,63],"turtle-like":[9],"underwater":[10,121],"vehicle,":[11,90],"which":[12],"uses":[13],"four":[14],"single":[15],"axis":[16],"oscillation":[17],"flippers":[18],"for":[19],"swimming":[20,51],"attitude":[22],"control.":[23],"The":[24,110],"maneuvers":[25],"are":[26],"realized":[27],"by":[28],"composition":[30],"appropriate":[32],"angular":[33],"offset,":[34],"vibration":[35,38],"amplitude":[36],"frequency":[39],"flippers.":[42],"After":[43],"analyzing":[44],"actuated":[46],"flippers'":[47],"motion":[48],"gait,":[52],"CPG-based":[54],"(central":[55],"pattern":[56],"generator)":[57],"architecture":[59],"is":[60,117],"introduced.":[61],"Such":[62],"CPG":[64],"model":[65],"has":[66],"several":[67],"nice":[68],"properties,":[69],"i.e.":[70],"limit":[71],"cycle":[72],"behavior,":[73],"closed":[74],"form":[75],"solution,":[76],"no":[77],"discontinuities":[78],"nor":[79],"jerks":[80],"performance.":[81],"To":[82],"estimate":[83],"utility":[85],"stability":[87],"experiments":[91],"were":[92],"also":[93],"carried":[94],"out":[95],"in":[96],"Mochou":[98],"Lake":[99],"Antarctic":[101,108],"Zhongshan":[102],"Station":[103],"following":[104],"Chinese":[106],"29th":[107],"expedition.":[109],"experimental":[111],"result":[112],"proves":[113],"that":[114],"vehicle":[116],"applicable":[118],"to":[119],"detection.":[122]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}