{"id":"https://openalex.org/W2063885453","doi":"https://doi.org/10.1163/156855308x392663","title":"Construction and Central Pattern Generator-Based Control of a Flipper-Actuated Turtle-Like Underwater Robot","display_name":"Construction and Central Pattern Generator-Based Control of a Flipper-Actuated Turtle-Like Underwater Robot","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2063885453","doi":"https://doi.org/10.1163/156855308x392663","mag":"2063885453"},"language":"en","primary_location":{"id":"doi:10.1163/156855308x392663","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x392663","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5101841825","display_name":"Wei Zhao","orcid":"https://orcid.org/0000-0003-1181-4096"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["a Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001441001","display_name":"Yonghui Hu","orcid":"https://orcid.org/0000-0002-7228-5418"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonghui Hu","raw_affiliation_strings":["b Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447536","display_name":"Long Wang","orcid":"https://orcid.org/0000-0001-5600-8157"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Wang","raw_affiliation_strings":["c Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Intelligent Control Laboratory, Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, PRC","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":3.4897,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.91908568,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"23","issue":"1-2","first_page":"19","last_page":"43"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9991999864578247,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/central-pattern-generator","display_name":"Central pattern generator","score":0.8644161224365234},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6832892894744873},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6506389379501343},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6078559160232544},{"id":"https://openalex.org/keywords/rowing","display_name":"Rowing","score":0.5456777215003967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4836758077144623},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40825188159942627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38007381558418274},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3356515169143677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.179228276014328},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16122952103614807},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16016745567321777},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.1115449070930481}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8644161224365234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6832892894744873},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6506389379501343},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6078559160232544},{"id":"https://openalex.org/C2780366628","wikidata":"https://www.wikidata.org/wiki/Q21368803","display_name":"Rowing","level":2,"score":0.5456777215003967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4836758077144623},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40825188159942627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38007381558418274},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3356515169143677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.179228276014328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16122952103614807},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16016745567321777},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.1115449070930481},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855308x392663","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x392663","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W74375307","https://openalex.org/W1963656947","https://openalex.org/W1994425127","https://openalex.org/W1996184771","https://openalex.org/W1996988990","https://openalex.org/W2002265242","https://openalex.org/W2010587870","https://openalex.org/W2013645882","https://openalex.org/W2015242496","https://openalex.org/W2017626220","https://openalex.org/W2027243809","https://openalex.org/W2033226680","https://openalex.org/W2035046572","https://openalex.org/W2035707761","https://openalex.org/W2037841473","https://openalex.org/W2068275355","https://openalex.org/W2083120813","https://openalex.org/W2090074774","https://openalex.org/W2102069286","https://openalex.org/W2106321339","https://openalex.org/W2106768938","https://openalex.org/W2121273772","https://openalex.org/W2124356732","https://openalex.org/W2149944473","https://openalex.org/W2154421886","https://openalex.org/W2162925349","https://openalex.org/W2165903554","https://openalex.org/W2474767961","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4248685211","https://openalex.org/W2035960230","https://openalex.org/W2279705205","https://openalex.org/W4377002743","https://openalex.org/W2167205135","https://openalex.org/W2550522073","https://openalex.org/W1982374415","https://openalex.org/W2883570796","https://openalex.org/W4248308421","https://openalex.org/W2000798439"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,13],"the":[4,41,100,120,132,136,154,164],"construction":[5],"and":[6,32,45,56,65,94,113,144,150,171],"control":[7,68,133],"of":[8,20,30,38,52,84,163],"a":[9,24,28,74,82,92],"turtle-like":[10,102],"underwater":[11],"robot":[12,42],"four":[14,39],"mechanical":[15],"flippers.":[16],"Each":[17],"flipper":[18],"consists":[19],"two":[21],"joints":[22,112],"generating":[23],"rowing":[25],"motion":[26],"by":[27,118,130],"combination":[29],"lead-lag":[31],"feathering":[33],"motions.":[34],"With":[35],"cooperative":[36],"movements":[37],"flippers,":[40],"can":[43,127],"propel":[44],"maneuver":[46],"in":[47,135],"any":[48],"direction":[49],"without":[50],"rotation":[51],"its":[53],"main":[54],"body":[55],"execute":[57],"complicated":[58],"three-dimensional":[59],"movements,":[60],"including":[61],"ascending,":[62],"submerging,":[63],"rolling":[64],"hovering.":[66],"The":[67,104,139,161],"architecture":[69],"is":[70,88,116,167],"constructed":[71],"based":[72],"on":[73],"central":[75],"pattern":[76],"generator":[77],"(CPG).":[78],"A":[79],"model":[80],"for":[81,111],"system":[83],"coupled":[85],"nonlinear":[86,109,159],"oscillators":[87,110],"established":[89],"to":[90,99,153,158],"construct":[91],"CPG":[93,137],"has":[95],"been":[96],"successfully":[97],"applied":[98],"eight-joint":[101],"robot.":[103],"CPGs":[105],"are":[106],"modeled":[107],"as":[108],"inter-joint":[114],"coordination":[115],"achieved":[117],"altering":[119],"connection":[121],"weights":[122],"between":[123,147],"joints.":[124],"Rowing":[125],"action":[126],"be":[128],"produced":[129],"modulating":[131],"parameters":[134],"model.":[138],"CPG-based":[140],"method":[141,166],"performs":[142],"elegant":[143],"smooth":[145],"transitions":[146],"swimming":[148],"gaits,":[149],"enhanced":[151],"adaptation":[152],"transient":[155],"perturbations":[156],"due":[157],"characteristics.":[160],"effectiveness":[162],"proposed":[165],"confirmed":[168],"via":[169],"simulations":[170],"experimental":[172],"results.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
