{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T02:40:02Z","timestamp":1773801602292,"version":"3.50.1"},"reference-count":36,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2025,3,14]],"date-time":"2025-03-14T00:00:00Z","timestamp":1741910400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52305320"],"award-info":[{"award-number":["52305320"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2025,7]]},"abstract":"<jats:p>\nIn nature, the diving beetle is a drag\u2010powered excellent swimmer. It uses the flexible multi\u2010segment appendages to generate asymmetric force during the power stroke and recovery stroke for swimming. Meanwhile, the middle appendages are considered to help regulate stability. Inspired by this, a comprehensive study on a diving\u2010beetle\u2010like swimming robot is presented. The design of the robot is first demonstrated. Soft rubber is used as a passive flexible joint for the multi\u2010flexible appendage, and the swimming gaits are mimicked. Next, to validate the effectiveness of the proposed appendage design, its dynamic model is established and the effects of overly high and overly low stiffness on net thrust generation are compared. Finally, extensive thrust and swimming tests are conducted. The experimental results show that by mimicking the diving beetle's appendage structure and swimming gaits, the proposed robot can effectively perform forward swimming and turning maneuvers. Furthermore, comparing only the hind appendage, the experimental results reveal that coordinating the hind appendage and the middle appendage gives the robot a faster turning speed. Additionally, utilizing the enhanced maneuverability, a proportional\u2010derivative controller is employed to control the robot's yaw stability, and the experimental results demonstrate that the robot has good robustness and disturbance resistance.<\/jats:p>","DOI":"10.1002\/aisy.202400820","type":"journal-article","created":{"date-parts":[[2025,3,14]],"date-time":"2025-03-14T18:15:01Z","timestamp":1741976101000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Design and Analysis for a Diving\u2010Beetle\u2010Inspired Swimming Robot with Multi\u2010Flexible Appendages"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-6837-8664","authenticated-orcid":false,"given":"Xinyi","family":"Gao","sequence":"first","affiliation":[{"name":"College of Mechanical Engineering Yanshan University  Qinhuangdao 066004 China"},{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenlin","family":"Jin","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering Yanshan University  Qinhuangdao 066004 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lin","family":"Liang","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"},{"name":"College of Mechanical Engineering Guangdong Ocean University  Zhanjiang 524000 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhipeng","family":"Hu","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering Yanshan University  Qinhuangdao 066004 China"},{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kai","family":"He","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fengran","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence Shenzhen Polytechnic University  Shenzhen 518055 China"},{"name":"Institute of Applied Artificial Intelligence of the Guangdong\u2010Hong Kong\u2010Macao Greater Bay Area Shenzhen Polytechnic University  Shenzhen 518055 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-2802-3322","authenticated-orcid":false,"given":"Qiyang","family":"Zuo","sequence":"additional","affiliation":[{"name":"Shenzhen Institute of Advanced Technology Chinese Academy of Sciences  Shenzhen 518055 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,3,14]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.34133\/cbsystems.0112"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2023.3266778"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2023.3234155"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3315545"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3353040"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF01047102"},{"key":"e_1_2_10_8_1","doi-asserted-by":"crossref","unstructured":"S. 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