{"id":"https://openalex.org/W2290680257","doi":"https://doi.org/10.1109/robio.2015.7418780","title":"Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model","display_name":"Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2290680257","doi":"https://doi.org/10.1109/robio.2015.7418780","mag":"2290680257"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5101527797","display_name":"Jun Yuan","orcid":"https://orcid.org/0000-0002-0667-3981"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Yuan","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxing Wu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024708104","display_name":"Min Tan","orcid":"https://orcid.org/0000-0002-1986-8438"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tan","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.4204,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.97600274,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6385027170181274},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5589397549629211},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.513698935508728},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5047744512557983},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.4845249056816101},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.47089627385139465},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.44659820199012756},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4366610050201416},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42657703161239624},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4140931963920593},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39700475335121155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18110305070877075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18102982640266418},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.15034881234169006},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.139243483543396},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.11530575156211853},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.11211320757865906},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09628048539161682},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.092998206615448},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09203875064849854}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6385027170181274},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5589397549629211},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.513698935508728},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5047744512557983},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.4845249056816101},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.47089627385139465},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.44659820199012756},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4366610050201416},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42657703161239624},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4140931963920593},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39700475335121155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18110305070877075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18102982640266418},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.15034881234169006},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.139243483543396},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.11530575156211853},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.11211320757865906},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09628048539161682},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.092998206615448},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09203875064849854},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418780","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/7","score":0.8700000047683716,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1569209510","https://openalex.org/W2008705629","https://openalex.org/W2023600285","https://openalex.org/W2030532559","https://openalex.org/W2037000128","https://openalex.org/W2040316861","https://openalex.org/W2046127725","https://openalex.org/W2047094503","https://openalex.org/W2048450448","https://openalex.org/W2061253966","https://openalex.org/W2069744451","https://openalex.org/W2071100573","https://openalex.org/W2109133610","https://openalex.org/W2114762006","https://openalex.org/W2142092882","https://openalex.org/W2146184004","https://openalex.org/W2159640081","https://openalex.org/W2169712669","https://openalex.org/W2256602451","https://openalex.org/W2888972305","https://openalex.org/W4246584061"],"related_works":["https://openalex.org/W1990068838","https://openalex.org/W2113517406","https://openalex.org/W2060577328","https://openalex.org/W2088984699","https://openalex.org/W2052071424","https://openalex.org/W2154526094","https://openalex.org/W2107269361","https://openalex.org/W2076425740","https://openalex.org/W2786968259","https://openalex.org/W2120166307"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,29],"novel":[4],"approach":[5,20],"on":[6,79],"swimming":[7,44,63,81,119,144],"performance":[8,45,82,120],"improvement":[9],"for":[10,147],"bio-inspired":[12],"robotic":[13,67],"fish.":[14,68],"The":[15,117],"main":[16],"idea":[17],"of":[18,28,39,65,71,104,125],"this":[19,107],"lies":[21],"in":[22,113],"optimizing":[23],"the":[24,37,40,43,62,66,72,77,80,85,102,126,132],"oscillator":[25],"phase":[26,86,99,137],"differences":[27,138],"central":[30],"pattern":[31],"generator":[32],"(CPG)":[33],"model,":[34,74],"which":[35],"governs":[36],"rotation":[38],"joints.":[41],"Definitely,":[42],"includes":[46],"steady":[47],"forward":[48],"velocity,":[49],"head":[50,148],"stability,":[51],"and":[52,93,97,150],"energy-efficiency.":[53,151],"A":[54],"dynamic":[55,73],"model":[56,134],"is":[57,121,139],"firstly":[58],"built":[59],"to":[60,141],"describe":[61],"motion":[64],"Taking":[69],"advantage":[70],"we":[75],"analyze":[76],"influence":[78],"exerted":[83],"by":[84],"differences.":[87,100],"Specifically,":[88],"two":[89],"conditions":[90],"are":[91],"studied":[92],"compared":[94],"together:":[95],"consistent":[96],"inconsistent":[98,136],"To":[101],"best":[103],"our":[105],"knowledge,":[106],"issue":[108],"has":[109],"not":[110],"been":[111],"addressed":[112],"previous":[114],"literature":[115],"sufficiently.":[116],"optimal":[118],"searched":[122],"under":[123],"both":[124],"conditions.":[127],"Simulation":[128],"results":[129],"reveal":[130],"that":[131],"CPG":[133],"with":[135],"able":[140],"realize":[142],"better":[143],"performance,":[145],"especially":[146],"stability":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
