{"id":"https://openalex.org/W4226514249","doi":"https://doi.org/10.1109/robio54168.2021.9739543","title":"Self-propulsion of Robotic Dolphin Based on Cooperative Kinematics of Superimposed Fin Module","display_name":"Self-propulsion of Robotic Dolphin Based on Cooperative Kinematics of Superimposed Fin Module","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226514249","doi":"https://doi.org/10.1109/robio54168.2021.9739543"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739543","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5100605165","display_name":"Zhihan Li","orcid":"https://orcid.org/0000-0002-2960-9704"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihan Li","raw_affiliation_strings":["Southeast University,School of Mechanical Engineering,Nanjing,China","School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109513617","display_name":"Jiabo Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabo Cao","raw_affiliation_strings":["Southeast University,School of Mechanical Engineering,Nanjing,China","School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014104385","display_name":"Guangzong Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangzong Yang","raw_affiliation_strings":["Southeast University,School of Mechanical Engineering,Nanjing,China","School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026939774","display_name":"Dan Xia","orcid":"https://orcid.org/0000-0002-4803-2074"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Xia","raw_affiliation_strings":["Southeast University,School of Mechanical Engineering,Nanjing,China","School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University,School of Mechanical Engineering,Nanjing,China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33317045,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"875","last_page":"880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9986000061035156,"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/T11751","display_name":"Lattice Boltzmann Simulation Studies","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/fin","display_name":"Fin","score":0.8770730495452881},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8272810578346252},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.8149063587188721},{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.766467809677124},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5094092488288879},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41914844512939453},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37030214071273804},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2777252197265625},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2244018018245697},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18859413266181946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15411198139190674}],"concepts":[{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.8770730495452881},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8272810578346252},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.8149063587188721},{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.766467809677124},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5094092488288879},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41914844512939453},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37030214071273804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2777252197265625},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2244018018245697},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18859413266181946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15411198139190674},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.0},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739543","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7200000286102295}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1971583758","https://openalex.org/W1971592554","https://openalex.org/W2001704749","https://openalex.org/W2063417812","https://openalex.org/W2075257326","https://openalex.org/W2086838083","https://openalex.org/W2120926062","https://openalex.org/W2147137560","https://openalex.org/W2357064156","https://openalex.org/W2405764194","https://openalex.org/W2590116986","https://openalex.org/W2796219817","https://openalex.org/W2809667882","https://openalex.org/W2891961604","https://openalex.org/W2986102952"],"related_works":["https://openalex.org/W4280504320","https://openalex.org/W2035299816","https://openalex.org/W2094476460","https://openalex.org/W2001725698","https://openalex.org/W2312393411","https://openalex.org/W2084903029","https://openalex.org/W2046566731","https://openalex.org/W2147491283","https://openalex.org/W2003843198","https://openalex.org/W4238505782"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,93],"robotic":[4],"dolphin":[5],"that":[6,48,84],"relies":[7],"on":[8],"cooperative":[9,43],"kinematics":[10,40],"of":[11,41,52,60,79,113],"superimposed":[12,57],"fin":[13,58,62,65,90],"module":[14,59],"to":[15,36,70],"achieve":[16,92],"autonomous":[17],"propulsion,":[18],"and":[19,30],"the":[20,39,50,53,56,72,77,85,99,110,114],"feasibility":[21],"is":[22,67],"verified":[23],"by":[24],"numerical":[25],"simulation.":[26],"Dynamic":[27],"grid":[28],"technology":[29],"user-defined":[31],"functions":[32],"(UDF)":[33],"are":[34],"used":[35],"quantitatively":[37],"study":[38],"multi-fin":[42,115],"work.":[44],"The":[45,103],"results":[46],"show":[47],"under":[49],"condition":[51],"same":[54],"frequency,":[55],"pectoral":[61,89],"assisted":[63],"caudal":[64],"propulsion":[66,96],"not":[68],"conducive":[69],"improving":[71],"forward":[73],"effect.":[74],"After":[75],"introducing":[76],"concept":[78],"frequency":[80],"ratio,":[81],"we":[82],"found":[83],"high-frequency":[86],"swinging":[87],"rigid":[88],"can":[91,107],"faster":[94],"steady-state":[95],"speed":[97],"than":[98],"single-fin":[100],"movement":[101],"mode.":[102],"corresponding":[104],"vortex":[105],"contours":[106],"indirectly":[108],"reveal":[109],"dynamic":[111],"performance":[112],"movement.":[116]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}