{"id":"https://openalex.org/W2126684952","doi":"https://doi.org/10.1109/robot.2008.4543286","title":"Kinematic modeling of a bio-inspired robotic fish","display_name":"Kinematic modeling of a bio-inspired robotic fish","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2126684952","doi":"https://doi.org/10.1109/robot.2008.4543286","mag":"2126684952"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5016421649","display_name":"Chao Zhou","orcid":"https://orcid.org/0000-0003-4461-8075"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Zhou","raw_affiliation_strings":["Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing"],"affiliations":[{"raw_affiliation_string":"Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024708104","display_name":"Min Tan","orcid":"https://orcid.org/0000-0002-1986-8438"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tan","raw_affiliation_strings":["Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing"],"affiliations":[{"raw_affiliation_string":"Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044898133","display_name":"Zhiqiang Cao","orcid":"https://orcid.org/0000-0003-1801-3363"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Cao","raw_affiliation_strings":["Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing"],"affiliations":[{"raw_affiliation_string":"Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100639215","display_name":"Shuo Wang","orcid":"https://orcid.org/0000-0002-1390-9219"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Wang","raw_affiliation_strings":["Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing"],"affiliations":[{"raw_affiliation_string":"Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy and Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]},{"raw_affiliation_string":"Lab. of complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109182906","display_name":"Douglas Creighton","orcid":null},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Douglas Creighton","raw_affiliation_strings":["School of Engineering and Information Technology, Deakin University, Geelong, VIC, Australia","School of Engineering and Information Technology, Deakin University, Geelong, Vic. 3217, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, Deakin University, Geelong, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"School of Engineering and Information Technology, Deakin University, Geelong, Vic. 3217, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113486839","display_name":"Nong Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Nong Gu","raw_affiliation_strings":["School of Engineering and Information Technology, Deakin University, Geelong, VIC, Australia","School of Engineering and Information Technology, Deakin University, Geelong, Vic. 3217, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, Deakin University, Geelong, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"School of Engineering and Information Technology, Deakin University, Geelong, Vic. 3217, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057133494","display_name":"Saeid Nahavandi","orcid":null},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Saeid Nahavandi","raw_affiliation_strings":["School of Engineering and Information Technology, Deakin University, Geelong, VIC, Australia","School of Engineering and Information Technology, Deakin University, Geelong, Vic. 3217, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, Deakin University, Geelong, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]},{"raw_affiliation_string":"School of Engineering and Information Technology, Deakin University, Geelong, Vic. 3217, Australia","institution_ids":["https://openalex.org/I149704539"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5016421649"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":47.6639,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.99434301,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"695","last_page":"699"},"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":0.9993000030517578,"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":0.9979000091552734,"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/kinematics","display_name":"Kinematics","score":0.8940950632095337},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.6135773658752441},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5807057619094849},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5581057071685791},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.5080530643463135},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.45350152254104614},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43193167448043823},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39958304166793823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39172810316085815},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.32579532265663147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2749277949333191},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2555752992630005},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24291068315505981},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.20040208101272583},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15152418613433838},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14869439601898193},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13209372758865356},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.09199690818786621}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8940950632095337},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.6135773658752441},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5807057619094849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5581057071685791},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.5080530643463135},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.45350152254104614},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43193167448043823},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39958304166793823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39172810316085815},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.32579532265663147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2749277949333191},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2555752992630005},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24291068315505981},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.20040208101272583},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15152418613433838},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14869439601898193},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13209372758865356},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.09199690818786621},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2008.4543286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dro.deakin.edu.au:DU:30018332","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402457","display_name":"Deakin Research Online (Deakin University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149704539","host_organization_name":"Deakin University","host_organization_lineage":["https://openalex.org/I149704539"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G6058138561","display_name":null,"funder_award_id":", No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W122502465","https://openalex.org/W1601035759","https://openalex.org/W1604973597","https://openalex.org/W2024817134","https://openalex.org/W2025439839","https://openalex.org/W2032519784","https://openalex.org/W2081148395","https://openalex.org/W2083120813","https://openalex.org/W2083537896","https://openalex.org/W2109133610","https://openalex.org/W2117289015","https://openalex.org/W2117976862","https://openalex.org/W2118865437","https://openalex.org/W2121273772","https://openalex.org/W2121285128","https://openalex.org/W2126621973","https://openalex.org/W2129974228","https://openalex.org/W2146533264","https://openalex.org/W2149455028","https://openalex.org/W2166063729","https://openalex.org/W2168184894","https://openalex.org/W2169012616","https://openalex.org/W2275809399","https://openalex.org/W2367681987","https://openalex.org/W2594080007","https://openalex.org/W2901250484","https://openalex.org/W6684539619","https://openalex.org/W6734105588"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2075639008"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,8,27],"kinematic":[4,36],"modeling":[5],"method":[6],"for":[7],"bio-inspired":[9],"robotic":[10,21,44,78,83],"fish":[11,22,45,79],"based":[12,25],"on":[13,26,42,53],"single":[14],"joint.":[15],"Lagrangian":[16],"function":[17],"of":[18,67,77],"freely":[19],"swimming":[20],"is":[23,46,80],"built":[24],"simplified":[28],"geometric":[29],"model.":[30,100],"In":[31],"order":[32],"to":[33,97],"build":[34],"the":[35,38,43,51,55,60,68,72,75,99],"model,":[37],"fluid":[39,73],"force":[40],"acting":[41],"divided":[47],"into":[48],"three":[49],"parts:":[50],"pressure":[52,58],"links,":[54],"approach":[56],"stream":[57],"and":[59,71,89,93],"frictional":[61],"force.":[62],"By":[63],"solving":[64],"Lagrange's":[65],"equation":[66],"second":[69],"kind":[70],"force,":[74],"movement":[76],"obtained.":[81],"The":[82],"fish's":[84],"motion,":[85],"such":[86],"as":[87],"propelling":[88],"turning":[90],"are":[91,95],"simulated,":[92],"experiments":[94],"taken":[96],"verify":[98]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
