{"id":"https://openalex.org/W2594118478","doi":"https://doi.org/10.1109/robio.2016.7866341","title":"Model identification for the yaw motion of a tail-actuated robotic fish","display_name":"Model identification for the yaw motion of a tail-actuated robotic fish","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2594118478","doi":"https://doi.org/10.1109/robio.2016.7866341","mag":"2594118478"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100399283","display_name":"Han Zhang","orcid":"https://orcid.org/0000-0002-0613-3395"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210158052","display_name":"421 Hospital of PLA","ror":"https://ror.org/0563z6d74","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210158052"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Zhang","raw_affiliation_strings":["76315 Troop of the PLA, Guangzhou, China","College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"76315 Troop of the PLA, Guangzhou, China","institution_ids":["https://openalex.org/I4210158052"]},{"raw_affiliation_string":"College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017665491","display_name":"Yingzheng Qu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158052","display_name":"421 Hospital of PLA","ror":"https://ror.org/0563z6d74","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210158052"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingzheng Qu","raw_affiliation_strings":["76315 Troop of the PLA, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"76315 Troop of the PLA, Guangzhou, China","institution_ids":["https://openalex.org/I4210158052"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100337500","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0001-7857-5435"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109376459","display_name":"Ruifeng Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruifeng Fan","raw_affiliation_strings":["College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.0925,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94191737,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"21","issue":null,"first_page":"313","last_page":"318"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6416517496109009},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6281886696815491},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5392422080039978},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.4962473511695862},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4669042229652405},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.42735424637794495},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4153091609477997},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4123508334159851},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.41033071279525757},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39631685614585876},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34977325797080994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33878859877586365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3115694224834442},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.28338149189949036},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.17803585529327393},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16831639409065247},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11317205429077148}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6416517496109009},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6281886696815491},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5392422080039978},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.4962473511695862},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4669042229652405},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.42735424637794495},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4153091609477997},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4123508334159851},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.41033071279525757},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39631685614585876},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34977325797080994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33878859877586365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3115694224834442},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28338149189949036},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.17803585529327393},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16831639409065247},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11317205429077148},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2016.7866341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866341","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1506220375","https://openalex.org/W1539151238","https://openalex.org/W1971583758","https://openalex.org/W1990786380","https://openalex.org/W1999272004","https://openalex.org/W2007345777","https://openalex.org/W2019799255","https://openalex.org/W2025595641","https://openalex.org/W2028828529","https://openalex.org/W2028927219","https://openalex.org/W2031022336","https://openalex.org/W2069744451","https://openalex.org/W2074752687","https://openalex.org/W2083120813","https://openalex.org/W2120372777","https://openalex.org/W2131757947","https://openalex.org/W2146836751","https://openalex.org/W2158021737","https://openalex.org/W2168067086","https://openalex.org/W2209211510","https://openalex.org/W2277621998","https://openalex.org/W2340642587","https://openalex.org/W2410762327"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2023324176","https://openalex.org/W2150958483","https://openalex.org/W2922503265","https://openalex.org/W3097920840","https://openalex.org/W2165013373","https://openalex.org/W3212795132","https://openalex.org/W2104103723"],"abstract_inverted_index":{"System":[0],"model":[1,29,96,110],"is":[2,25],"fundamental":[3],"for":[4,42,129],"accurate":[5],"motion":[6,44],"control":[7,132],"of":[8,16,32,45,61,69,83,103,133,141],"the":[9,14,20,30,57,62,84,88,94,121,130,134,139,142],"robot.":[10],"However,":[11],"due":[12],"to":[13,27,80,120],"complexity":[15],"aquatic":[17],"environments":[18],"and":[19,56,75,126],"special":[21],"fin-driven":[22],"structure,":[23],"it":[24],"difficult":[26],"dynamically":[28],"system":[31,52],"robotic":[33,49,104],"fish.":[34],"This":[35],"paper":[36],"proposes":[37],"an":[38],"experimental":[39,127],"modeling":[40],"method":[41],"yaw":[43],"a":[46,67,98],"freely":[47],"swimming":[48],"fish":[50,105],"through":[51],"identification.":[53],"Tail":[54],"deflection":[55],"corresponding":[58],"angular":[59,90],"velocity":[60],"robot":[63,89,95,135],"are":[64,78,106,117,136],"obtained":[65,122],"by":[66,108],"series":[68],"open-loop":[70],"experiments.":[71],"Both":[72],"notch":[73],"filter":[74,77],"low-pass":[76],"adopted":[79],"get":[81],"rid":[82],"oscillation":[85],"disturbance":[86],"in":[87],"velocity.":[91],"By":[92],"simplifying":[93],"as":[97],"linear":[99],"system,":[100],"transfer":[101],"functions":[102],"derived":[107],"data-driven":[109],"identification":[111],"method.":[112,144],"Further,":[113],"yawing":[114,131],"PID":[115],"controllers":[116],"designed":[118],"according":[119],"models.":[123],"Finally,":[124],"simulations":[125],"results":[128],"compared,":[137],"demonstrating":[138],"effectiveness":[140],"proposed":[143]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}