{"id":"https://openalex.org/W2111070766","doi":"https://doi.org/10.1109/robot.1997.619055","title":"Decreasing the energy costs of swimming robots through passive elastic elements","display_name":"Decreasing the energy costs of swimming robots through passive elastic elements","publication_year":2002,"publication_date":"2002-11-22","ids":{"openalex":"https://openalex.org/W2111070766","doi":"https://doi.org/10.1109/robot.1997.619055","mag":"2111070766"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1997.619055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5021889714","display_name":"Karen A. Harper","orcid":"https://orcid.org/0000-0001-5390-0262"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"funder","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K.A. Harper","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111597894","display_name":"M.D. Berkemeier","orcid":null},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"funder","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M.D. Berkemeier","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035905556","display_name":"Sheryl M. Grace","orcid":"https://orcid.org/0000-0001-9206-7541"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"funder","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Grace","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.042,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":15,"citation_normalized_percentile":{"value":0.894491,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":83,"max":84},"biblio":{"volume":"3","issue":null,"first_page":"1839","last_page":"1844"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9997,"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":0.9997,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9942,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9942,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.43629366}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.7862693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7282494},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.6050903},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.54686815},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.54533017},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47575137},{"id":"https://openalex.org/C106447425","wikidata":"https://www.wikidata.org/wiki/Q11379","display_name":"Energy transfer","level":2,"score":0.47567192},{"id":"https://openalex.org/C73916439","wikidata":"https://www.wikidata.org/wiki/Q837718","display_name":"Energy storage","level":3,"score":0.47327256},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.44564688},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.43629366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40647194},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38216555},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36249548},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.24993733},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22822133},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19496194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09129161},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07079759},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.06721997},{"id":"https://openalex.org/C61696701","wikidata":"https://www.wikidata.org/wiki/Q770766","display_name":"Engineering physics","level":1,"score":0.06390819},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1997.619055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9,"display_name":"Affordable and clean energy"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":11,"referenced_works":["https://openalex.org/W152958663","https://openalex.org/W1565704217","https://openalex.org/W1630960159","https://openalex.org/W1990665627","https://openalex.org/W2012634580","https://openalex.org/W2038200724","https://openalex.org/W2040421768","https://openalex.org/W2083120813","https://openalex.org/W2121285128","https://openalex.org/W2158717966","https://openalex.org/W2161427949"],"related_works":["https://openalex.org/W3136375451","https://openalex.org/W2914953897","https://openalex.org/W2743782314","https://openalex.org/W2736986302","https://openalex.org/W2378383478","https://openalex.org/W2261414893","https://openalex.org/W2154985965","https://openalex.org/W2118186298","https://openalex.org/W2040174473","https://openalex.org/W1974484633"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,11,20,42,58,64,71,75,82],"potential":[4],"benefit":[5],"of":[6,13,19,23,41,60,74,89],"elastic":[7,51],"energy":[8,52,72],"storage":[9],"in":[10],"propulsion":[12],"a":[14,67,91],"swimming":[15,92],"robot.":[16,93],"A":[17,78],"discussion":[18],"hydrodynamic":[21],"models":[22],"von":[24],"Karman":[25],"and":[26,29,35,49],"Sears":[27],"(1938)":[28],"Lighthill":[30],"(1969,":[31],"1970)":[32],"is":[33,36,55,84],"presented":[34],"followed":[37],"by":[38],"an":[39],"analysis":[40],"input":[43],"power":[44,76],"required":[45,73],"for":[46,81,87],"cases":[47],"with":[48],"without":[50],"storage.":[53],"It":[54],"concluded":[56],"that":[57],"addition":[59],"linear":[61],"springs":[62],"to":[63,69],"system":[65,83],"provides":[66],"means":[68],"reduce":[70],"supply.":[77],"transfer":[79],"function":[80],"also":[85],"derived":[86],"purposes":[88],"controlling":[90]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2111070766","counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2025-04-15T20:40:55.805007","created_date":"2016-06-24"}