{"id":"https://openalex.org/W4390776926","doi":"https://doi.org/10.1109/tro.2024.3353040","title":"Development of Bioinspired Multimodal Underwater Robot \u201cHERO-BLUE\u201d for Walking, Swimming, and Crawling","display_name":"Development of Bioinspired Multimodal Underwater Robot \u201cHERO-BLUE\u201d for Walking, Swimming, and Crawling","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4390776926","doi":"https://doi.org/10.1109/tro.2024.3353040"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3353040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3353040","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/A5003098101","display_name":"Taesik Kim","orcid":"https://orcid.org/0000-0003-1328-4930"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Taesik Kim","raw_affiliation_strings":["Department of Convergence IT Engineering, Pohang University of Science and Technology, Pohang, South Korea","Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Department of Convergence IT Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089969939","display_name":"Juhwan Kim","orcid":"https://orcid.org/0000-0003-1641-9538"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Juhwan Kim","raw_affiliation_strings":["Robot Center, Samsung Research, Samsung Electronics, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Robot Center, Samsung Research, Samsung Electronics, Seoul, South Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028759687","display_name":"Son\u2010Cheol Yu","orcid":"https://orcid.org/0000-0001-5654-1816"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Son-Cheol Yu","raw_affiliation_strings":["Division of Advanced Nuclear Engineering, Pohang University of Science and Technology, Pohang, South Korea","Division of Advanced Nuclear Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"affiliations":[{"raw_affiliation_string":"Division of Advanced Nuclear Engineering, Pohang University of Science and Technology, Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Division of Advanced Nuclear Engineering, Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5003098101"],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":12.6866,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.99324709,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"40","issue":null,"first_page":"1421","last_page":"1438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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":0.9991000294685364,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.8231488466262817},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7215035557746887},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.6197805404663086},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5878975987434387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5776563882827759},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5222038626670837},{"id":"https://openalex.org/keywords/fish-fin","display_name":"Fish fin","score":0.47623613476753235},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4586946368217468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45046159625053406},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41376256942749023},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4125812351703644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3970022201538086},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.314697265625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2893281877040863},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.18086272478103638},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14934617280960083},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06760284304618835}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8231488466262817},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7215035557746887},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.6197805404663086},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5878975987434387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5776563882827759},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5222038626670837},{"id":"https://openalex.org/C25554088","wikidata":"https://www.wikidata.org/wiki/Q4162555","display_name":"Fish fin","level":3,"score":0.47623613476753235},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4586946368217468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45046159625053406},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41376256942749023},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4125812351703644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3970022201538086},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.314697265625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2893281877040863},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.18086272478103638},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14934617280960083},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06760284304618835},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3353040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3353040","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":[{"id":"https://metadata.un.org/sdg/14","score":0.800000011920929,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W580723555","https://openalex.org/W1590684588","https://openalex.org/W1822001265","https://openalex.org/W1824256815","https://openalex.org/W1946812513","https://openalex.org/W1967823537","https://openalex.org/W1970377095","https://openalex.org/W1976030291","https://openalex.org/W1985875375","https://openalex.org/W1994349244","https://openalex.org/W1997427758","https://openalex.org/W1997696996","https://openalex.org/W1997825585","https://openalex.org/W1998580099","https://openalex.org/W2007896652","https://openalex.org/W2011380500","https://openalex.org/W2046127725","https://openalex.org/W2062389502","https://openalex.org/W2067202223","https://openalex.org/W2073311956","https://openalex.org/W2101850483","https://openalex.org/W2116054567","https://openalex.org/W2122512809","https://openalex.org/W2142908579","https://openalex.org/W2150317946","https://openalex.org/W2168448159","https://openalex.org/W2294829212","https://openalex.org/W2346062164","https://openalex.org/W2554448378","https://openalex.org/W2585005151","https://openalex.org/W2789741901","https://openalex.org/W2793128170","https://openalex.org/W2809204097","https://openalex.org/W2883481555","https://openalex.org/W2921983798","https://openalex.org/W2928301420","https://openalex.org/W2929961598","https://openalex.org/W2967372257","https://openalex.org/W2983154775","https://openalex.org/W2992772198","https://openalex.org/W3008209470","https://openalex.org/W3025180790","https://openalex.org/W3025221829","https://openalex.org/W3043301796","https://openalex.org/W3092132586","https://openalex.org/W3112813845","https://openalex.org/W3144930287","https://openalex.org/W3170240973","https://openalex.org/W3200403178","https://openalex.org/W3203378087","https://openalex.org/W4207013325","https://openalex.org/W4211176857","https://openalex.org/W4214735187","https://openalex.org/W4220868119","https://openalex.org/W4224212201","https://openalex.org/W4224299942","https://openalex.org/W4226395753","https://openalex.org/W4242982382","https://openalex.org/W4285118653","https://openalex.org/W4291415123","https://openalex.org/W4304698290","https://openalex.org/W4308034622","https://openalex.org/W4315432713","https://openalex.org/W4321767441","https://openalex.org/W4322762907","https://openalex.org/W4366818283","https://openalex.org/W6635423901"],"related_works":["https://openalex.org/W4280504320","https://openalex.org/W4388419031","https://openalex.org/W2035299816","https://openalex.org/W2094476460","https://openalex.org/W2084903029","https://openalex.org/W2147491283","https://openalex.org/W2046566731","https://openalex.org/W2003843198","https://openalex.org/W4238505782","https://openalex.org/W3142851065"],"abstract_inverted_index":{"This":[0,39,67],"study":[1,99],"proposes":[2],"a":[3,20,32,36,45,53,96],"novel":[4],"hybrid":[5,91],"underwater":[6,181,186],"robot":[7,55],"platform,":[8],"HERO-BLUE,":[9,76],"that":[10,27,169],"integrates":[11],"swimming":[12,33,123,131,174],"and":[13,35,48,65,86,130,133,148,162,175,179],"legged":[14,94,135,176],"motions.":[15,92],"HERO-BLUE":[16,170],"is":[17,42],"equipped":[18],"with":[19,44],"multimodal":[21,40,116],"fin":[22,34,41,51],"comprising":[23],"numerous":[24],"passive":[25],"joints":[26],"can":[28,171],"act":[29],"as":[30],"both":[31],"walking":[37],"limb.":[38],"integrated":[43],"salamander-like":[46],"spine":[47],"soft":[49],"undulating":[50],"in":[52,141,155,158,183],"single":[54],"system":[56],"to":[57,102],"enable":[58],"three":[59,142],"representative":[60],"locomotion":[61,81],"modes:":[62],"swimming,":[63],"walking,":[64],"crawling.":[66],"paper":[68],"provides":[69],"details":[70],"of":[71,75,113],"the":[72,104,111,114,122,134],"hardware":[73],"configuration":[74],"mathematical":[77],"models":[78],"for":[79,89],"each":[80],"mode,":[82],"motion":[83,136,177],"planning":[84],"methodology,":[85],"control":[87],"strategies":[88],"enabling":[90],"For":[93],"motions,":[95],"dynamic":[97],"simulation":[98],"was":[100,125,138],"conducted":[101,154],"analyze":[103],"ground":[105],"reaction":[106],"force.":[107],"The":[108,165],"results":[109,167],"verified":[110],"effectiveness":[112],"proposed":[115],"fin.":[117],"In":[118],"water":[119,146],"tank":[120],"experiments,":[121],"capability":[124,137,178],"validated":[126,140],"through":[127],"thrust":[128],"tests":[129],"trials,":[132],"quantitatively":[139],"environments,":[143],"including":[144],"gravel,":[145],"flow,":[147],"slopes.":[149],"Furthermore,":[150],"field":[151],"trials":[152],"were":[153],"real-life":[156],"scenarios":[157],"open":[159],"seas,":[160],"lakes,":[161],"stream":[163],"beds.":[164],"experimental":[166],"show":[168],"successively":[172],"combine":[173],"increase":[180],"mobility":[182],"various":[184],"challenging":[185],"environments.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":7}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}