{"id":"https://openalex.org/W7125929716","doi":"https://doi.org/10.1126/scirobotics.adw7868","title":"Energy efficiency and neural control of continuous versus intermittent swimming in a fishlike robot","display_name":"Energy efficiency and neural control of continuous versus intermittent swimming in a fishlike robot","publication_year":2026,"publication_date":"2026-01-28","ids":{"openalex":"https://openalex.org/W7125929716","doi":"https://doi.org/10.1126/scirobotics.adw7868","pmid":"https://pubmed.ncbi.nlm.nih.gov/41604468"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adw7868","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adw7868","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":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/258678","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071578613","display_name":"Xiangxiao Liu","orcid":"https://orcid.org/0000-0002-6950-9505"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Xiangxiao Liu","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115733337","display_name":"Fran\u00e7ois A. Longchamp","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fran\u00e7ois A. Longchamp","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115733336","display_name":"Luca Zunino","orcid":"https://orcid.org/0009-0008-5421-9602"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Luca Zunino","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117641085","display_name":"Louis Gevers","orcid":"https://orcid.org/0009-0001-7599-7058"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Louis Gevers","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120925090","display_name":"Lisa R. Schneider","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lisa R. Schneider","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120924810","display_name":"Selina I. Bothner","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Selina I. Bothner","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124128514","display_name":"Andr\u00e9 Guignard","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Andr\u00e9 Guignard","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039507034","display_name":"Alessandro Crespi","orcid":"https://orcid.org/0000-0001-9863-5220"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alessandro Crespi","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011177211","display_name":"Guillaume Bellegarda","orcid":"https://orcid.org/0000-0001-5809-3340"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Guillaume Bellegarda","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120938710","display_name":"Alexandre Bernardino","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alexandre Bernardino","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, 1049-001 Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, 1049-001 Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043458822","display_name":"Eva A. Naumann","orcid":"https://orcid.org/0000-0002-7215-4717"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eva A. Naumann","raw_affiliation_strings":["Department of Neurobiology, Duke School of Medicine, Durham, NC 27710, USA"],"affiliations":[{"raw_affiliation_string":"Department of Neurobiology, Duke School of Medicine, Durham, NC 27710, USA","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Auke J. Ijspeert","raw_affiliation_strings":["Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory (BIOROB), \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5069603317","https://openalex.org/A5071578613"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":188.4939,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.99921273,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"11","issue":"110","first_page":"eadw7868","last_page":"eadw7868"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.8392999768257141,"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":0.8392999768257141,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.05849999934434891,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.05420000106096268,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/fish-locomotion","display_name":"Fish locomotion","score":0.6166999936103821},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5928000211715698},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5691999793052673},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5047000050544739},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5008999705314636},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.4932999908924103},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.46369999647140503},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4546999931335449},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40939998626708984}],"concepts":[{"id":"https://openalex.org/C63460653","wikidata":"https://www.wikidata.org/wiki/Q5454646","display_name":"Fish locomotion","level":3,"score":0.6166999936103821},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5928000211715698},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5691999793052673},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5047000050544739},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5008999705314636},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.4932999908924103},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.46369999647140503},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4546999931335449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44780001044273376},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40939998626708984},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.39089998602867126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3587999939918518},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C118403218","wikidata":"https://www.wikidata.org/wiki/Q43283","display_name":"Biological neural network","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2935999929904938},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2770000100135803},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C196558001","wikidata":"https://www.wikidata.org/wiki/Q190132","display_name":"Turbulence","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2612000107765198},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.257099986076355}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D007814","descriptor_name":"Larva","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D013550","descriptor_name":"Swimming","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D013550","descriptor_name":"Swimming","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D013550","descriptor_name":"Swimming","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D013550","descriptor_name":"Swimming","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D015027","descriptor_name":"Zebrafish","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D015027","descriptor_name":"Zebrafish","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D015027","descriptor_name":"Zebrafish","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D015027","descriptor_name":"Zebrafish","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D032701","descriptor_name":"Biomimetics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.adw7868","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adw7868","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:41604468","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41604468","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},{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/258678","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/258678","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:20.500.14299/258678","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/258678","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},"sustainable_development_goals":[{"score":0.8821811079978943,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4954711993","display_name":null,"funder_award_id":"RF1NS128895-01","funder_id":"https://openalex.org/F4320331171","funder_display_name":"LabEx BRAIN"},{"id":"https://openalex.org/G5018776660","display_name":null,"funder_award_id":"10.54499/UIDB/50009/2020","funder_id":"https://openalex.org/F4320325614","funder_display_name":"Fundaci\u00f3 Catalana de Trasplantament"},{"id":"https://openalex.org/G6409298557","display_name":null,"funder_award_id":"10.54499/UIDP/50009/2020","funder_id":"https://openalex.org/F4320325614","funder_display_name":"Fundaci\u00f3 Catalana de Trasplantament"},{"id":"https://openalex.org/G6546960938","display_name":null,"funder_award_id":"951477","funder_id":"https://openalex.org/F4320338335","funder_display_name":"H2020 European Research Council"},{"id":"https://openalex.org/G6871855611","display_name":null,"funder_award_id":"PD/BD/135152/2017","funder_id":"https://openalex.org/F4320325614","funder_display_name":"Fundaci\u00f3 Catalana de Trasplantament"},{"id":"https://openalex.org/G7782003010","display_name":null,"funder_award_id":"10.54499/LA/P/0083/2020","funder_id":"https://openalex.org/F4320325614","funder_display_name":"Fundaci\u00f3 Catalana de Trasplantament"}],"funders":[{"id":"https://openalex.org/F4320325614","display_name":"Fundaci\u00f3 Catalana de Trasplantament","ror":null},{"id":"https://openalex.org/F4320331171","display_name":"LabEx BRAIN","ror":null},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W774008956","https://openalex.org/W1485888591","https://openalex.org/W1975050865","https://openalex.org/W1980003497","https://openalex.org/W1991778209","https://openalex.org/W1992616766","https://openalex.org/W1995943364","https://openalex.org/W2001043000","https://openalex.org/W2013876510","https://openalex.org/W2026322028","https://openalex.org/W2032334361","https://openalex.org/W2033954128","https://openalex.org/W2039103601","https://openalex.org/W2048963734","https://openalex.org/W2077790229","https://openalex.org/W2087804776","https://openalex.org/W2089373515","https://openalex.org/W2090373601","https://openalex.org/W2093126103","https://openalex.org/W2101850483","https://openalex.org/W2109893458","https://openalex.org/W2113589188","https://openalex.org/W2125295969","https://openalex.org/W2126836735","https://openalex.org/W2142908518","https://openalex.org/W2152465579","https://openalex.org/W2161035804","https://openalex.org/W2161222115","https://openalex.org/W2167498879","https://openalex.org/W2167760874","https://openalex.org/W2170430385","https://openalex.org/W2273441136","https://openalex.org/W2343738098","https://openalex.org/W2469381446","https://openalex.org/W2521545163","https://openalex.org/W2535980607","https://openalex.org/W2547071550","https://openalex.org/W2600396984","https://openalex.org/W2605053532","https://openalex.org/W2770937351","https://openalex.org/W2781525085","https://openalex.org/W2892012523","https://openalex.org/W2924290175","https://openalex.org/W2999326478","https://openalex.org/W3016334691","https://openalex.org/W3123746456","https://openalex.org/W3134259965","https://openalex.org/W3157836676","https://openalex.org/W3184445900","https://openalex.org/W3198530657","https://openalex.org/W4225376884","https://openalex.org/W4231327205","https://openalex.org/W4283162624","https://openalex.org/W4303943876","https://openalex.org/W4399526591","https://openalex.org/W4410032449","https://openalex.org/W4413046713","https://openalex.org/W4415221481"],"related_works":[],"abstract_inverted_index":{"Many":[0],"aquatic":[1,245],"animals,":[2],"including":[3],"larval":[4,88,102,110],"zebrafish,":[5,103],"exhibit":[6],"intermittent":[7,43,164,206,225],"locomotion,":[8],"moving":[9],"via":[10],"discrete":[11],"swimming":[12,44,71,107,117,165],"bouts":[13],"followed":[14],"by":[15,54,95],"passive":[16],"glides":[17],"rather":[18],"than":[19,48],"continuous":[20,49],"movement.":[21],"However,":[22],"fundamental":[23],"questions":[24],"remain":[25],"unresolved:":[26],"What":[27],"neural":[28,96],"mechanisms":[29],"drive":[30],"this":[31,38,184,202],"behavior,":[32],"and":[33,98,121,153,157,242],"what":[34,55],"functional":[35],"benefits":[36],"does":[37],"behavior":[39,241],"offer?":[40],"Specifically,":[41],"is":[42,73],"more":[45],"energy":[46,228],"efficient":[47],"swimming,":[50],"and,":[51],"if":[52],"so,":[53],"mechanism?":[56],"Live-animal":[57],"experiments":[58],"pose":[59],"technical":[60],"challenges,":[61],"because":[62,205],"observing":[63],"or":[64],"manipulating":[65],"internal":[66],"physiological":[67],"states":[68],"in":[69,118,143,176,244],"freely":[70],"animals":[72],"difficult.":[74],"Hence,":[75],"we":[76,125,193],"developed":[77],"ZBot,":[78],"a":[79,91,219],"bioinspired":[80],"robot":[81,221],"that":[82,127,163],"replicates":[83],"the":[84,167,209,237],"morphological":[85],"features":[86],"of":[87,101,109,170,223],"zebrafish.":[89],"Embedding":[90],"network":[92],"model":[93],"inspired":[94],"circuits":[97],"kinematic":[99],"recordings":[100],"ZBot":[104,116,142],"reproduces":[105],"diverse":[106],"gaits":[108],"zebrafish":[111],"bout-and-glide":[112],"locomotion.":[113],"By":[114],"testing":[115],"both":[119,177],"turbulent":[120],"viscous":[122,128],"flow":[123,129,178],"regimes,":[124],"confirm":[126],"markedly":[130],"reduces":[131],"traveled":[132],"distance":[133],"but":[134],"minimally":[135],"affects":[136],"turning":[137],"angles.":[138],"We":[139],"further":[140],"tested":[141],"these":[144],"regimes":[145],"to":[146,186,212],"analyze":[147],"how":[148],"key":[149],"parameters":[150],"(tail-beating":[151],"frequency":[152],"amplitude)":[154],"influence":[155],"velocity":[156],"power":[158],"use.":[159],"Our":[160],"results":[161],"show":[162],"lowers":[166],"energetic":[168],"cost":[169],"transport":[171],"across":[172],"most":[173],"achievable":[174],"velocities":[175],"regimes.":[179],"Although":[180],"prior":[181],"work":[182,217],"linked":[183],"efficiency":[185,243],"fluid":[187],"dynamics,":[188],"like":[189],"reduced":[190],"glide":[191],"drag,":[192],"identify":[194],"an":[195],"extra":[196],"mechanism:":[197],"better":[198],"actuator":[199],"efficiency.":[200,215],"Mechanistically,":[201],"benefit":[203],"arises":[204],"locomotion":[207],"shifts":[208],"robot's":[210],"actuators":[211],"higher":[213],"inherent":[214],"This":[216],"introduces":[218],"fishlike":[220],"capable":[222],"biomimetic":[224],"swimming-with":[226],"demonstrated":[227],"advantages":[229],"at":[230],"relevant":[231],"speeds-and":[232],"provides":[233],"general":[234],"insights":[235],"into":[236],"factors":[238],"shaping":[239],"locomotor":[240],"animals.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-29T00:00:00"}