{"id":"https://openalex.org/W2284772196","doi":"https://doi.org/10.1109/tro.2015.2500442","title":"Symmetries and Gaits for Purcell's Three-Link Microswimmer Model","display_name":"Symmetries and Gaits for Purcell's Three-Link Microswimmer Model","publication_year":2015,"publication_date":"2015-12-10","ids":{"openalex":"https://openalex.org/W2284772196","doi":"https://doi.org/10.1109/tro.2015.2500442","mag":"2284772196"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2500442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2500442","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5029834259","display_name":"Emiliya Gutman","orcid":null},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Emiliya Gutman","raw_affiliation_strings":["Faculty of Mechanical Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068527808","display_name":"Yizhar Or","orcid":"https://orcid.org/0000-0002-9091-9357"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Yizhar Or","raw_affiliation_strings":["Faculty of Mechanical Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Technion\u2014Israel Institute of Technology, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029834259"],"corresponding_institution_ids":["https://openalex.org/I174306211"],"apc_list":null,"apc_paid":null,"fwci":2.3,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.88645823,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"32","issue":"1","first_page":"53","last_page":"69"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9940999746322632,"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/kinematics","display_name":"Kinematics","score":0.640400230884552},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.5441825985908508},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5423115491867065},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.5364559292793274},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5352460145950317},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5246701240539551},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.5034703612327576},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.49822235107421875},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.49217692017555237},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46177801489830017},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.45106014609336853},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.44985872507095337},{"id":"https://openalex.org/keywords/homogeneous-space","display_name":"Homogeneous space","score":0.4292391836643219},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.4151625633239746},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3977700471878052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38588711619377136},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2915728688240051},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23557159304618835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21192699670791626}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.640400230884552},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.5441825985908508},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5423115491867065},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.5364559292793274},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5352460145950317},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5246701240539551},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.5034703612327576},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.49822235107421875},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.49217692017555237},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46177801489830017},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.45106014609336853},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.44985872507095337},{"id":"https://openalex.org/C96469262","wikidata":"https://www.wikidata.org/wiki/Q1324364","display_name":"Homogeneous space","level":2,"score":0.4292391836643219},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.4151625633239746},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3977700471878052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38588711619377136},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2915728688240051},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23557159304618835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21192699670791626},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2015.2500442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2500442","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G6329136312","display_name":null,"funder_award_id":"567/14","funder_id":"https://openalex.org/F4320322252","funder_display_name":"Israel Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320322252","display_name":"Israel Science Foundation","ror":"https://ror.org/04sazxf24"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W199399172","https://openalex.org/W622622984","https://openalex.org/W1927459862","https://openalex.org/W1966086223","https://openalex.org/W1966375567","https://openalex.org/W1968129502","https://openalex.org/W1969287097","https://openalex.org/W1970198413","https://openalex.org/W1978101331","https://openalex.org/W1981890426","https://openalex.org/W1992239587","https://openalex.org/W1993300073","https://openalex.org/W2002403584","https://openalex.org/W2013007426","https://openalex.org/W2015063509","https://openalex.org/W2019575952","https://openalex.org/W2021272905","https://openalex.org/W2023592273","https://openalex.org/W2025562104","https://openalex.org/W2026192487","https://openalex.org/W2027639364","https://openalex.org/W2032101074","https://openalex.org/W2032406975","https://openalex.org/W2036122340","https://openalex.org/W2054261995","https://openalex.org/W2056370235","https://openalex.org/W2060127978","https://openalex.org/W2063551455","https://openalex.org/W2082776714","https://openalex.org/W2106141980","https://openalex.org/W2108559035","https://openalex.org/W2122468689","https://openalex.org/W2137003787","https://openalex.org/W2137922094","https://openalex.org/W2144026911","https://openalex.org/W2148107886","https://openalex.org/W2153219011","https://openalex.org/W2156385645","https://openalex.org/W2168046319","https://openalex.org/W2297147431","https://openalex.org/W2321364701","https://openalex.org/W2326750965","https://openalex.org/W2330402604","https://openalex.org/W2464023902","https://openalex.org/W2602343718","https://openalex.org/W3021669132","https://openalex.org/W3099912592","https://openalex.org/W3105052124","https://openalex.org/W3106095942","https://openalex.org/W4211102359","https://openalex.org/W4231779336","https://openalex.org/W4255858329","https://openalex.org/W4292408540"],"related_works":["https://openalex.org/W1518185400","https://openalex.org/W3200586296","https://openalex.org/W4230332972","https://openalex.org/W1998033311","https://openalex.org/W4247322236","https://openalex.org/W4300711749","https://openalex.org/W4231165741","https://openalex.org/W233457313","https://openalex.org/W4295104149","https://openalex.org/W1932714515"],"abstract_inverted_index":{"Robotic":[0],"locomotion":[1],"typically":[2],"involves":[3],"using":[4,127,161,170],"gaits-periodic":[5],"changes":[6],"of":[7,14,31,35,41,54,93],"kinematic":[8],"shape,":[9],"which":[10,26,88,139,149],"induce":[11],"net":[12,106,151],"motion":[13,30,73,101,158,176],"the":[15,36,94,120,131],"body":[16],"in":[17,74,183],"a":[18,42,179,184],"desired":[19,75],"direction.":[20],"An":[21],"example":[22],"is":[23,44,115,133,159],"robotic":[24,61,180],"microswimmers,":[25],"are":[27,89,124,153,167],"inspired":[28],"by":[29,126,169],"swimming":[32],"microorganisms.":[33],"One":[34],"most":[37],"famous":[38],"theoretical":[39,165],"models":[40],"microswimmer":[43],"Purcell's":[45],"planar":[46],"three-link":[47,62],"swimmer,":[48],"whose":[49],"structure":[50],"possesses":[51],"two":[52],"axes":[53],"symmetry.":[55],"Several":[56],"works":[57],"analyzed":[58,160],"gaits":[59,87],"for":[60,146],"systems":[63],"based":[64,90],"on":[65,91,119],"body-fixed":[66],"velocity":[67],"integrals.":[68],"Using":[69],"this":[70,83],"approach,":[71],"finite":[72],"directions":[76,104],"can":[77],"only":[78,141],"be":[79],"obtained":[80,125],"approximately.":[81],"In":[82],"study,":[84],"we":[85],"propose":[86],"analysis":[92],"system's":[95],"structural":[96],"symmetries,":[97],"and":[98,117,155,173],"generate":[99,150],"exact":[100],"along":[102],"principal":[103],"without":[105],"rotation.":[107],"Another":[108],"gait":[109],"that":[110],"produces":[111],"almost":[112],"pure":[113],"rotation":[114],"presented,":[116],"bounds":[118],"small-amplitude":[121,157],"residual":[122],"translation":[123,152],"perturbation":[128,162],"expansion.":[129,163],"Next,":[130],"theory":[132],"extended":[134],"to":[135],"more":[136],"realistic":[137],"swimmers":[138,148],"have":[140],"one":[142],"symmetry":[143],"axis.":[144],"Gaits":[145],"such":[147],"proposed,":[154],"their":[156],"The":[164],"results":[166],"demonstrated":[168],"numerical":[171],"simulations":[172],"conducting":[174],"controlled":[175],"experiments":[177],"with":[178],"macroswimmer":[181],"prototype":[182],"highly":[185],"viscous":[186],"fluid.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}