{"id":"https://openalex.org/W4285160851","doi":"https://doi.org/10.1109/tie.2022.3172753","title":"Development of a Penguin-Inspired Swimming Robot With Air Lubrication System","display_name":"Development of a Penguin-Inspired Swimming Robot With Air Lubrication System","publication_year":2022,"publication_date":"2022-05-11","ids":{"openalex":"https://openalex.org/W4285160851","doi":"https://doi.org/10.1109/tie.2022.3172753"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3172753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3172753","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5100653867","display_name":"Jie Pan","orcid":"https://orcid.org/0000-0002-2031-7932"},"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/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Pan","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030505535","display_name":"Ziye Zhou","orcid":"https://orcid.org/0000-0002-6604-8176"},"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/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziye Zhou","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370574","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-3742-9671"},"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"]},{"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/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100426110","display_name":"Pengfei Zhang","orcid":"https://orcid.org/0000-0002-7893-3607"},"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"]},{"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/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Zhang","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"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/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100653867"],"corresponding_institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"],"apc_list":null,"apc_paid":null,"fwci":8.2811,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.96749724,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"70","issue":"3","first_page":"2780","last_page":"2789"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"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":0.9987000226974487,"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/lubrication","display_name":"Lubrication","score":0.7592566013336182},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.6014703512191772},{"id":"https://openalex.org/keywords/buoyancy","display_name":"Buoyancy","score":0.5213928818702698},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5158107280731201},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4744252562522888},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.46548500657081604},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45204877853393555},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4505579173564911},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.44498446583747864},{"id":"https://openalex.org/keywords/fluid-bearing","display_name":"Fluid bearing","score":0.4435787796974182},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.43089133501052856},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.41008615493774414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40538689494132996},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3572683334350586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18435484170913696},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12099277973175049},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11224740743637085},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.10371634364128113}],"concepts":[{"id":"https://openalex.org/C184608416","wikidata":"https://www.wikidata.org/wiki/Q1455803","display_name":"Lubrication","level":2,"score":0.7592566013336182},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.6014703512191772},{"id":"https://openalex.org/C538625479","wikidata":"https://www.wikidata.org/wiki/Q6497624","display_name":"Buoyancy","level":2,"score":0.5213928818702698},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5158107280731201},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4744252562522888},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.46548500657081604},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45204877853393555},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4505579173564911},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.44498446583747864},{"id":"https://openalex.org/C132798551","wikidata":"https://www.wikidata.org/wiki/Q1192753","display_name":"Fluid bearing","level":3,"score":0.4435787796974182},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.43089133501052856},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.41008615493774414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40538689494132996},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3572683334350586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18435484170913696},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12099277973175049},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11224740743637085},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.10371634364128113},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2022.3172753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3172753","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2794432786","display_name":null,"funder_award_id":"61725305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6040261950","display_name":null,"funder_award_id":"62003008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7456992517","display_name":null,"funder_award_id":"61903007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7603313047","display_name":null,"funder_award_id":"U1909206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8670534201","display_name":null,"funder_award_id":"T2121002","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1931769290","https://openalex.org/W1991501972","https://openalex.org/W2002666215","https://openalex.org/W2018666734","https://openalex.org/W2031303964","https://openalex.org/W2046127725","https://openalex.org/W2083120813","https://openalex.org/W2083230301","https://openalex.org/W2101468222","https://openalex.org/W2110819535","https://openalex.org/W2116461222","https://openalex.org/W2117209791","https://openalex.org/W2133277649","https://openalex.org/W2153409730","https://openalex.org/W2154421886","https://openalex.org/W2168067086","https://openalex.org/W2169712669","https://openalex.org/W2320762791","https://openalex.org/W2345663989","https://openalex.org/W2590116986","https://openalex.org/W2809216847","https://openalex.org/W2890069850","https://openalex.org/W2890628651","https://openalex.org/W2927510627","https://openalex.org/W2948686970","https://openalex.org/W3042960869","https://openalex.org/W3098822263","https://openalex.org/W3109091134"],"related_works":["https://openalex.org/W3196986026","https://openalex.org/W2956426478","https://openalex.org/W2769026169","https://openalex.org/W17005298","https://openalex.org/W2038797759","https://openalex.org/W4311070139","https://openalex.org/W2954631086","https://openalex.org/W1550206134","https://openalex.org/W2349500967","https://openalex.org/W4285680247"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"a":[3,34,45,92],"novel":[4],"robotic":[5],"penguin":[6],"equipped":[7],"with":[8,63],"air":[9,94,130],"lubrication":[10,95,131],"system":[11,36,96],"is":[12,50,81,97],"developed.":[13],"Through":[14],"mimicking":[15],"the":[16,54,58,68,74,77,87,100,104,107,117,129],"agile":[17],"movements":[18],"of":[19,24,90,106,122],"biological":[20],"penguins,":[21,91],"two":[22],"degrees":[23],"freedom":[25],"(DOF)":[26],"wings":[27],"including":[28],"heaving":[29],"and":[30,33,39,57,99,120],"pitching":[31],"motions,":[32],"buoyancy-driven":[35],"for":[37],"ascending":[38],"diving":[40],"are":[41,61],"particularly":[42],"designed.":[43],"Meanwhile,":[44],"complete":[46],"3-D":[47,78],"dynamic":[48],"model":[49],"established":[51],"based":[52],"on":[53,128],"Morrison":[55],"equation,":[56],"hydrodynamic":[59],"parameters":[60],"determined":[62],"experimental":[64],"results.":[65],"Then,":[66],"taking":[67],"bioinspired":[69],"central":[70],"pattern":[71],"generators":[72],"as":[73],"main":[75],"actuation,":[76],"locomotion":[79],"performance":[80],"discussed.":[82],"More":[83],"importantly,":[84],"inspired":[85],"by":[86],"leaping":[88],"behavior":[89],"unique":[93],"developed,":[98],"obtained":[101],"results":[102],"verify":[103],"effectiveness":[105],"mechatronic":[108],"design.":[109],"This":[110],"work":[111],"will":[112],"offer":[113],"valuable":[114],"insight":[115],"into":[116],"future":[118],"development":[119],"control":[121],"next-generation":[123],"versatile":[124],"underwater":[125],"vehicles":[126],"capitalizing":[127],"mechanism.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
