{"id":"https://openalex.org/W2056659978","doi":"https://doi.org/10.1109/robio.2014.7090422","title":"A control-oriented model of underwater snake robots","display_name":"A control-oriented model of underwater snake robots","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2056659978","doi":"https://doi.org/10.1109/robio.2014.7090422","mag":"2056659978"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5024657122","display_name":"Eleni Kelasidi","orcid":"https://orcid.org/0000-0003-4768-2937"},"institutions":[{"id":"https://openalex.org/I3019502701","display_name":"SINTEF Ocean","ror":"https://ror.org/004wre089","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I3019502701"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"E. Kelasidi","raw_affiliation_strings":["Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","Centre for Autonomous Marine Operations and Systems, Dept. of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","institution_ids":["https://openalex.org/I3019502701"]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Dept. of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I3019502701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055872448","display_name":"Kristin Y. Pettersen","orcid":"https://orcid.org/0000-0002-3897-0315"},"institutions":[{"id":"https://openalex.org/I3019502701","display_name":"SINTEF Ocean","ror":"https://ror.org/004wre089","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879","https://openalex.org/I3019502701"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"K. Y. Pettersen","raw_affiliation_strings":["Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","Centre for Autonomous Marine Operations and Systems, Dept. of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Centre for Autonomous Marine Operations and Systems, Trondheim, Norway","institution_ids":["https://openalex.org/I3019502701"]},{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems, Dept. of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I3019502701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034485872","display_name":"Jan Tommy Gravdahl","orcid":"https://orcid.org/0000-0002-5663-0795"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. T. Gravdahl","raw_affiliation_strings":["Dept. of Engineering Cybernetics at NTNU, Trondheim, Norway","Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Engineering Cybernetics at NTNU, Trondheim, Norway","institution_ids":[]},{"raw_affiliation_string":"Department of Engineering Cybernetics at NTNU, NO-7491 Trondheim, Norway","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.7774,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.96985879,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9983999729156494,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7445695996284485},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.6862848401069641},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5839829444885254},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5414230227470398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5372241735458374},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5166271328926086},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5024828910827637},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48698386549949646},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45580342411994934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4265432059764862},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42481833696365356},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4092390239238739},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3753645420074463},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.32780489325523376},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.309658408164978},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2686750590801239},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23934152722358704},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11533191800117493},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11070847511291504},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10994076728820801}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7445695996284485},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.6862848401069641},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5839829444885254},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5414230227470398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5372241735458374},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5166271328926086},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5024828910827637},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48698386549949646},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45580342411994934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4265432059764862},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42481833696365356},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4092390239238739},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3753645420074463},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.32780489325523376},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.309658408164978},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2686750590801239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23934152722358704},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11533191800117493},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11070847511291504},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10994076728820801},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2014.7090422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"},{"id":"pmh:oai:brage.bibsys.no:11250/2393180","is_oa":false,"landing_page_url":"http://hdl.handle.net/11250/2393180","pdf_url":null,"source":{"id":"https://openalex.org/S4306400255","display_name":"BIBSYS Brage (BIBSYS (Norway))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I173212132","host_organization_name":"Vilnius University","host_organization_lineage":["https://openalex.org/I173212132"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"753 - 760","raw_type":"Conference object"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W98734704","https://openalex.org/W1573670163","https://openalex.org/W1986888374","https://openalex.org/W2008949258","https://openalex.org/W2010085093","https://openalex.org/W2032519784","https://openalex.org/W2069134924","https://openalex.org/W2082553117","https://openalex.org/W2095824457","https://openalex.org/W2117280259","https://openalex.org/W2126621973","https://openalex.org/W2129974228","https://openalex.org/W2223817357","https://openalex.org/W2766607630","https://openalex.org/W4240215908"],"related_works":["https://openalex.org/W2085374841","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2329529557","https://openalex.org/W2001900524","https://openalex.org/W2168918646","https://openalex.org/W2917916498","https://openalex.org/W2283275227"],"abstract_inverted_index":{"In":[0],"this":[1,105,163],"paper":[2,27],"we":[3],"consider":[4],"swimming":[5,44],"underwater":[6,97,118],"snake":[7,45,98,119],"robots":[8,99,120],"that":[9,33,112,138,168],"are":[10,79],"fully":[11],"immersed":[12],"in":[13,17,84,133],"water":[14],"and":[15,40,75,103,145,178,185],"moving":[16],"a":[18,31,91,107,134,170],"virtual":[19],"horizontal":[20],"plane.":[21],"The":[22,47,123],"main":[23],"objective":[24],"of":[25,90,96,109,117,162,172,175],"the":[26,55,72,85,114,147,151,156,176,179],"is":[28,34,50,101,121,139,164],"to":[29,71],"develop":[30],"model":[32,49,95,137],"well":[35,140],"suited":[36,141],"for":[37,43,142,182],"control":[38,143],"design":[39],"stability":[41],"analysis":[42,89,106],"robots.":[46],"proposed":[48,93,124],"notably":[51],"less":[52,135],"complex":[53,94,136,157,177],"than":[54],"existing":[56],"models,":[57],"while":[58],"significant":[59],"parameters":[60,174],"such":[61],"as":[62,155],"added":[63,73],"mass":[64,74],"effects,":[65],"linear":[66,76],"drag":[67,77],"forces,":[68,78],"torques":[69],"due":[70],"all":[80],"taken":[81],"into":[82],"account":[83],"modeling.":[86],"An":[87],"extensive":[88],"previously":[92],"([1])":[100],"presented,":[102],"from":[104],"set":[108],"essential":[110,130,153],"properties":[111,154],"characterize":[113],"overall":[115],"motion":[116],"derived.":[122],"control-oriented":[125,180],"modeling":[126],"approach":[127],"captures":[128],"these":[129],"properties,":[131],"resulting":[132],"design,":[144],"at":[146],"same":[148,152],"time":[149],"has":[150],"model.":[158],"A":[159],"qualitative":[160],"validation":[161],"given":[165],"by":[166],"simulations":[167],"present":[169],"comparison":[171],"representative":[173],"models":[181],"lateral":[183],"undulation":[184],"eel-like":[186],"motion.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}