{"id":"https://openalex.org/W3190977849","doi":"https://doi.org/10.1126/scirobotics.abe4088","title":"Tunable stiffness enables fast and efficient swimming in fish-like robots","display_name":"Tunable stiffness enables fast and efficient swimming in fish-like robots","publication_year":2021,"publication_date":"2021-08-11","ids":{"openalex":"https://openalex.org/W3190977849","doi":"https://doi.org/10.1126/scirobotics.abe4088","mag":"3190977849","pmid":"https://pubmed.ncbi.nlm.nih.gov/34380755"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abe4088","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abe4088","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5065070531","display_name":"Qiang Zhong","orcid":"https://orcid.org/0000-0002-8435-5938"},"institutions":[{"id":"https://openalex.org/I161171246","display_name":"West Chester University","ror":"https://ror.org/0053n5071","country_code":"US","type":"education","lineage":["https://openalex.org/I161171246"]},{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Q. Zhong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA","institution_ids":["https://openalex.org/I161171246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018384358","display_name":"Joseph Zhu","orcid":"https://orcid.org/0000-0001-9941-6986"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Zhu","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010852710","display_name":"F. E. Fish","orcid":null},"institutions":[{"id":"https://openalex.org/I161171246","display_name":"West Chester University","ror":"https://ror.org/0053n5071","country_code":"US","type":"education","lineage":["https://openalex.org/I161171246"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F. E. Fish","raw_affiliation_strings":["Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA","institution_ids":["https://openalex.org/I161171246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102824466","display_name":"Sarah J. Kerr","orcid":"https://orcid.org/0000-0003-0512-905X"},"institutions":[{"id":"https://openalex.org/I161171246","display_name":"West Chester University","ror":"https://ror.org/0053n5071","country_code":"US","type":"education","lineage":["https://openalex.org/I161171246"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. J. Kerr","raw_affiliation_strings":["Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA","institution_ids":["https://openalex.org/I161171246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080705590","display_name":"Abigail M. Downs","orcid":"https://orcid.org/0000-0003-4668-9539"},"institutions":[{"id":"https://openalex.org/I161171246","display_name":"West Chester University","ror":"https://ror.org/0053n5071","country_code":"US","type":"education","lineage":["https://openalex.org/I161171246"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. M. Downs","raw_affiliation_strings":["Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biology, West Chester University, 730 S High St., West Chester, PA 19383, USA","institution_ids":["https://openalex.org/I161171246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021002960","display_name":"Hilary Bart\u2010Smith","orcid":"https://orcid.org/0000-0001-7469-7734"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Bart-Smith","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056873647","display_name":"Daniel Quinn","orcid":"https://orcid.org/0000-0002-5835-5221"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D. B. Quinn","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","Department of Electrical and Computer Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer\u2019s Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22903, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5056873647","https://openalex.org/A5065070531"],"corresponding_institution_ids":["https://openalex.org/I161171246","https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":142.3256,"has_fulltext":false,"cited_by_count":193,"citation_normalized_percentile":{"value":0.99976909,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"6","issue":"57","first_page":null,"last_page":null},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983999729156494,"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":0.9961000084877014,"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/stiffness","display_name":"Stiffness","score":0.7364438772201538},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7117941379547119},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6440272331237793},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.5383245944976807},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5280678272247314},{"id":"https://openalex.org/keywords/fish-locomotion","display_name":"Fish locomotion","score":0.5172127485275269},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4320465624332428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4261772334575653},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4199994206428528},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3698779344558716},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.3642975091934204},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.28928542137145996},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21392130851745605},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.1851995587348938},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1557295024394989},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.143519788980484},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1002953052520752},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09126463532447815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08656227588653564}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7364438772201538},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7117941379547119},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6440272331237793},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.5383245944976807},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5280678272247314},{"id":"https://openalex.org/C63460653","wikidata":"https://www.wikidata.org/wiki/Q5454646","display_name":"Fish locomotion","level":3,"score":0.5172127485275269},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4320465624332428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4261772334575653},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4199994206428528},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3698779344558716},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.3642975091934204},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.28928542137145996},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21392130851745605},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.1851995587348938},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1557295024394989},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.143519788980484},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1002953052520752},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09126463532447815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08656227588653564},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.abe4088","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abe4088","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:34380755","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34380755","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5077212786","display_name":null,"funder_award_id":"N00014-14-1-0533","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G6425325907","display_name":null,"funder_award_id":"N00014-08-1-0642","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8736896915","display_name":null,"funder_award_id":"N00014-18-1-2537","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8935669563","display_name":null,"funder_award_id":"1921809","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":76,"referenced_works":["https://openalex.org/W62791640","https://openalex.org/W69586344","https://openalex.org/W1208392276","https://openalex.org/W1468694178","https://openalex.org/W1587367332","https://openalex.org/W1601496676","https://openalex.org/W1971356227","https://openalex.org/W1973642810","https://openalex.org/W1981021661","https://openalex.org/W1989902894","https://openalex.org/W1991095879","https://openalex.org/W2003754344","https://openalex.org/W2020711407","https://openalex.org/W2026567451","https://openalex.org/W2026853446","https://openalex.org/W2035299816","https://openalex.org/W2045240372","https://openalex.org/W2046295461","https://openalex.org/W2059012485","https://openalex.org/W2065143022","https://openalex.org/W2070294777","https://openalex.org/W2074752687","https://openalex.org/W2078516054","https://openalex.org/W2089304002","https://openalex.org/W2093937828","https://openalex.org/W2094578700","https://openalex.org/W2104896655","https://openalex.org/W2105621884","https://openalex.org/W2112009694","https://openalex.org/W2116470864","https://openalex.org/W2117129475","https://openalex.org/W2118614614","https://openalex.org/W2120372777","https://openalex.org/W2121285128","https://openalex.org/W2122469780","https://openalex.org/W2129026984","https://openalex.org/W2130410991","https://openalex.org/W2133809269","https://openalex.org/W2135185736","https://openalex.org/W2137420175","https://openalex.org/W2142940863","https://openalex.org/W2148901191","https://openalex.org/W2152374862","https://openalex.org/W2161712951","https://openalex.org/W2168208167","https://openalex.org/W2169419562","https://openalex.org/W2171543740","https://openalex.org/W2185170500","https://openalex.org/W2256902591","https://openalex.org/W2257791260","https://openalex.org/W2295048929","https://openalex.org/W2343854644","https://openalex.org/W2405764194","https://openalex.org/W2473194771","https://openalex.org/W2510141056","https://openalex.org/W2550114367","https://openalex.org/W2597223536","https://openalex.org/W2607597440","https://openalex.org/W2614872707","https://openalex.org/W2727773934","https://openalex.org/W2754658223","https://openalex.org/W2759027330","https://openalex.org/W2769662528","https://openalex.org/W2793128170","https://openalex.org/W2810473562","https://openalex.org/W2886308579","https://openalex.org/W2913495553","https://openalex.org/W2963439876","https://openalex.org/W2972951149","https://openalex.org/W2973788922","https://openalex.org/W2990781753","https://openalex.org/W3006592988","https://openalex.org/W3046057679","https://openalex.org/W3100375449","https://openalex.org/W3102503030","https://openalex.org/W4253560279"],"related_works":["https://openalex.org/W1983970227","https://openalex.org/W3145077462","https://openalex.org/W2025723054","https://openalex.org/W2109093103","https://openalex.org/W4295693935","https://openalex.org/W1909778536","https://openalex.org/W1971137449","https://openalex.org/W1571467959","https://openalex.org/W3215644764","https://openalex.org/W3093755775"],"abstract_inverted_index":{"Fish":[0],"maintain":[1],"high":[2],"swimming":[3,78,93],"efficiencies":[4],"over":[5],"a":[6,56,82],"wide":[7],"range":[8],"of":[9,29,47],"speeds.":[10],"A":[11],"key":[12],"to":[13,43,50,70,101,105,124],"this":[14],"achievement":[15],"is":[16],"their":[17,41,48],"flexibility,":[18],"yet":[19],"even":[20],"flexible":[21],"robotic":[22],"fish":[23,26,35],"trail":[24],"real":[25],"in":[27],"terms":[28],"performance.":[30,66],"Here,":[31],"we":[32],"explore":[33],"how":[34,60],"leverage":[36],"tunable":[37],"flexibility":[38],"by":[39],"using":[40],"muscles":[42],"modulate":[44],"the":[45,122],"stiffness":[46,64,90],"tails":[49],"achieve":[51],"efficient":[52],"swimming.":[53],"We":[54,67],"derived":[55],"model":[57],"that":[58,69,117],"explains":[59],"and":[61,98],"why":[62],"tuning":[63,84,127],"affects":[65],"show":[68],"maximize":[71],"efficiency,":[72],"muscle":[73],"tension":[74],"should":[75],"scale":[76],"with":[77,114],"speed":[79],"squared,":[80],"offering":[81],"simple":[83],"strategy":[85],"for":[86],"fish-like":[87,119],"robots.":[88],"Tuning":[89],"can":[91],"double":[92],"efficiency":[94],"at":[95],"tuna-like":[96],"frequencies":[97],"speeds":[99],"(0":[100],"6":[102],"hertz;":[103],"0":[104],"2":[106],"body":[107],"lengths":[108],"per":[109],"second).":[110],"Energy":[111],"savings":[112],"increase":[113],"frequency,":[115],"suggesting":[116],"high-frequency":[118],"robots":[120],"have":[121],"most":[123],"gain":[125],"from":[126],"stiffness.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":20},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":60},{"year":2023,"cited_by_count":35},{"year":2022,"cited_by_count":32},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}