{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T15:43:17Z","timestamp":1758814997620,"version":"3.37.3"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2022,5,1]],"date-time":"2022-05-01T00:00:00Z","timestamp":1651363200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,5,1]],"date-time":"2022-05-01T00:00:00Z","timestamp":1651363200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["Grant No. 52075267"],"award-info":[{"award-number":["Grant No. 52075267"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004608","name":"Natural Science Foundation of Jiangsu Province","doi-asserted-by":"publisher","award":["Grant no. BK20210341"],"award-info":[{"award-number":["Grant no. BK20210341"]}],"id":[{"id":"10.13039\/501100004608","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["309201A8801"],"award-info":[{"award-number":["309201A8801"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Open Fund of State Key Laboratory of Intelligent Manufacturing System Technology"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,5]]},"DOI":"10.1007\/s10846-022-01638-9","type":"journal-article","created":{"date-parts":[[2022,5,13]],"date-time":"2022-05-13T04:03:49Z","timestamp":1652414629000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Design and Analysis of a Novel Swimming Mechanism Inspired from Frogs"],"prefix":"10.1007","volume":"105","author":[{"given":"Yucheng","family":"Tang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaolong","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wei","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lizhi","family":"Qi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8799-5669","authenticated-orcid":false,"given":"Yulin","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,5,13]]},"reference":[{"issue":"10","key":"1638_CR1","doi-asserted-by":"publisher","first-page":"1281","DOI":"10.1177\/0278364909354391","volume":"29","author":"HS Park","year":"2010","unstructured":"Park, H.S., Floyd, S., Sitti, M.: Roll and pitch motion analysis of a biologically inspired quadruped water runner robot. Int. J. Robot. Res. 29(10), 1281\u20131297 (2010). https:\/\/doi.org\/10.1177\/0278364909354391","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"1638_CR2","doi-asserted-by":"publisher","first-page":"Art-No","DOI":"10.1126\/scirobotics.aal2505","volume":"2","author":"A Ramezani","year":"2017","unstructured":"Ramezani, A., Chung, S., Hutchinson, S.: A biomimetic robotic platform to study flight specializations of bats. Sci. Robot. 2(3), Art-No (2017)","journal-title":"Sci. Robot."},{"issue":"1","key":"1638_CR3","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1109\/TRO.2007.909786","volume":"24","author":"S Kim","year":"2008","unstructured":"Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Santos, D., Cutkoskly, M.R.: Smooth vertical surface climbing with directional adhesion. IEEE Trans. Robot. 24(1), 65\u201374 (2008). https:\/\/doi.org\/10.1109\/TRO.2007.909786","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"1638_CR4","doi-asserted-by":"publisher","first-page":"1633","DOI":"10.1109\/TMECH.2017.2712820","volume":"22","author":"Y Zhong","year":"2017","unstructured":"Zhong, Y., Li, Z., Du, R.: A novel robot fish with wire-driven active body and compliant tail. IEEE\/ASME Trans. Mechatronics. 22(4), 1633\u20131643 (2017). https:\/\/doi.org\/10.1109\/TMECH.2017.2712820","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"issue":"3","key":"1638_CR5","doi-asserted-by":"publisher","first-page":"036006","DOI":"10.1088\/1748-3182\/8\/1\/019501","volume":"7","author":"J Colorado","year":"2012","unstructured":"Colorado, J., Barrientos, A., Rossi, C., Breuer, K.: Biomechanics of smart wings in a bat robot morphing wings using SMA actuators. Bioinspir. Biomim. 7(3), 036006 (2012). https:\/\/doi.org\/10.1088\/1748-3182\/8\/1\/019501","journal-title":"Bioinspir. Biomim."},{"issue":"10","key":"1638_CR6","doi-asserted-by":"publisher","first-page":"1233","DOI":"10.1177\/ToBeAssigned","volume":"37","author":"N Jansson","year":"2018","unstructured":"Jansson, N., Bale, R., Onishi, K., Tsubokura, M.: Optimizing the structure and movement of a robotic bat with biological kinematic synergies. Int. J. Robot. Res. 37(10), 1233\u20131252 (2018). https:\/\/doi.org\/10.1177\/ToBeAssigned","journal-title":"Int. J. Robot. Res."},{"key":"1638_CR7","doi-asserted-by":"publisher","first-page":"5430","DOI":"10.1109\/IROS.2006.282111","volume":"1","author":"S Floyd","year":"2006","unstructured":"Floyd, S., Keegan, T., Palmisano, J., Sitti, M.: A novel water running robot inspired by basilisk lizards. IEEE Int. Conf. Intell. Robot. Syst. 1, 5430\u20135436 (2006). https:\/\/doi.org\/10.1109\/IROS.2006.282111","journal-title":"IEEE Int. Conf. Intell. Robot. Syst."},{"issue":"1","key":"1638_CR8","doi-asserted-by":"publisher","first-page":"175","DOI":"10.1109\/TMECH.2015.2435017","volume":"21","author":"H Kim","year":"2016","unstructured":"Kim, H., Lee, D., Jeong, K., Seo, T.: Water and ground-running robotic platform by repeated motion of six spherical footpads. IEEE\/ASME Trans. Mechatronics. 21(1), 175\u2013183 (2016). https:\/\/doi.org\/10.1109\/TMECH.2015.2435017","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"1638_CR9","doi-asserted-by":"publisher","first-page":"645","DOI":"10.1109\/IROS.2009.5354680","volume":"2009","author":"HS Park","year":"2009","unstructured":"Park, H.S., Sitti, M.: Compliant footpad design analysis for a bio-inspired quadruped amphibious robot. 2009 IEEE\/RSJ Int. Conf. Intell. Robot. Syst. IROS. 2009, 645\u2013651 (2009). https:\/\/doi.org\/10.1109\/IROS.2009.5354680","journal-title":"2009 IEEE\/RSJ Int. Conf. Intell. Robot. Syst. IROS"},{"issue":"2","key":"1638_CR10","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1109\/TRO.2012.2234311","volume":"29","author":"A Crespi","year":"2013","unstructured":"Crespi, A., Karakasiliotis, K., Guignard, A., Ijspeert, A.J.: Salamandra Robotica II: an amphibious robot to study salamander-like swimming and walking gaits. IEEE Trans. Robot. 29(2), 308\u2013320 (2013). https:\/\/doi.org\/10.1109\/TRO.2012.2234311","journal-title":"IEEE Trans. Robot."},{"key":"1638_CR11","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1098\/rsif.2015.1089","volume":"13","author":"K Karakasiliotis","year":"2016","unstructured":"Karakasiliotis, K., Thandiackal, R., Melo, K., Horvat, T., Mahabadi, N.K., Tsitkov, S., Cabelguen, J.M., Ijspeert, A.J.: From cineradiography to biorobots: An approach for designing robots to emulate and study animal locomotion. J. R. Soc. Interface. 13, 119 (2016). https:\/\/doi.org\/10.1098\/rsif.2015.1089","journal-title":"J. R. Soc. Interface"},{"issue":"3","key":"1638_CR12","doi-asserted-by":"publisher","first-page":"372","DOI":"10.1016\/j.jtbi.2009.07.042","volume":"261","author":"P Aerts","year":"2009","unstructured":"Aerts, P., Nauwelaerts, S.: Environmentally induced mechanical feedback in locomotion: frog performance as a model. J. Theor. Biol. 261(3), 372\u2013378 (2009). https:\/\/doi.org\/10.1016\/j.jtbi.2009.07.042","journal-title":"J. Theor. Biol."},{"key":"1638_CR13","doi-asserted-by":"publisher","first-page":"1726","DOI":"10.1109\/ICMA.2013.6618176","volume":"2013","author":"J Pandey","year":"2013","unstructured":"Pandey, J., Reddy, N.S., Ray, R., Shome, S.N.: Biological swimming mechanism analysis and design of robotic frog. 2013 IEEE Int. Conf. Mechatronics Autom. IEEE ICMA. 2013, 1726\u20131731 (2013). https:\/\/doi.org\/10.1109\/ICMA.2013.6618176","journal-title":"2013 IEEE Int. Conf. Mechatronics Autom. IEEE ICMA"},{"key":"1638_CR14","doi-asserted-by":"publisher","first-page":"3945","DOI":"10.1242\/jeb.01258","volume":"207","author":"LC Johansson","year":"2004","unstructured":"Johansson, L.C., Lauder, G.V.: Hydrodynamics of surface swimming in leopard frogs (Rana pipiens). J. Exp. Biol. 207, 3945\u20133958 (2004). https:\/\/doi.org\/10.1242\/jeb.01258","journal-title":"J. Exp. Biol."},{"issue":"5","key":"1638_CR15","doi-asserted-by":"publisher","first-page":"1123","DOI":"10.1007\/s10033-017-0182-5","volume":"30","author":"JZ Fan","year":"2017","unstructured":"Fan, J.Z., Zhang, W., Kong, P.C., Cai, H.G., Liu, G.F.: Design and dynamic model of a frog-inspired swimming robot powered by pneumatic muscles. Chinese J. Mech. Eng. English Ed. 30(5), 1123\u20131132 (2017). https:\/\/doi.org\/10.1007\/s10033-017-0182-5","journal-title":"Chinese J. Mech. Eng. English Ed."},{"issue":"5","key":"1638_CR16","doi-asserted-by":"publisher","first-page":"615","DOI":"10.1089\/soro.2019.0094","volume":"7","author":"J Fan","year":"2020","unstructured":"Fan, J., Wang, S., Yu, Q., Zhu, Y.: Swimming performance of the frog-inspired soft robot. Soft Robot. 7(5), 615\u2013626 (2020). https:\/\/doi.org\/10.1089\/soro.2019.0094","journal-title":"Soft Robot."},{"issue":"Pt 19","key":"1638_CR17","doi-asserted-by":"publisher","first-page":"3181","DOI":"10.1242\/jeb.019844","volume":"211","author":"CT Richards","year":"2008","unstructured":"Richards, C.T.: The kinematic determinants of anuran swimming performance: an inverse and forward dynamics approach. J. Exp. Biol. 211(Pt 19), 3181\u20133194 (2008). https:\/\/doi.org\/10.1242\/jeb.019844","journal-title":"J. Exp. Biol."},{"key":"1638_CR18","doi-asserted-by":"crossref","unstructured":"Y. Tang, L. Qin, X. Li, C. Chew, and J. Zhu: A frog-inspired swimming robot based on dielectric elastomer actuators. In 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 1\u20136","DOI":"10.1109\/IROS.2017.8206054"},{"key":"1638_CR19","doi-asserted-by":"publisher","first-page":"69270T","DOI":"10.1117\/12.776098","volume":"6927","author":"B O\u2019Brien","year":"2008","unstructured":"O\u2019Brien, B., Calius, E., Xie, S., Anderson, I.: An experimentally validated model of a dielectric elastomer bending actuator. Proc. SPIE 6927. 6927, 69270T\u201369270T\u201311 (2008). https:\/\/doi.org\/10.1117\/12.776098","journal-title":"Proc. SPIE 6927"},{"issue":"3","key":"1638_CR20","doi-asserted-by":"publisher","first-page":"507","DOI":"10.1007\/s00339-008-4946-8","volume":"94","author":"B O\u2019Brien","year":"2009","unstructured":"O\u2019Brien, B., McKay, T., Calius, E., Xie, S., Anderson, I.: Finite element modelling of dielectric elastomer minimum energy structures. Appl. Phys. A Mater. Sci. Process. 94(3), 507\u2013514 (2009). https:\/\/doi.org\/10.1007\/s00339-008-4946-8","journal-title":"Appl. Phys. A Mater. Sci. Process."},{"issue":"7","key":"1638_CR21","doi-asserted-by":"publisher","first-page":"75025","DOI":"10.1088\/0964-1726\/25\/7\/075025","volume":"25","author":"J Zhao","year":"2016","unstructured":"Zhao, J., et al.: Equivalent dynamic model of DEMES rotary joint. Smart Mater. Struct. 25(7), 75025 (2016)","journal-title":"Smart Mater. Struct."},{"issue":"12","key":"1638_CR22","doi-asserted-by":"publisher","first-page":"1683","DOI":"10.1242\/jeb.205.12.1683","volume":"205","author":"WJ Kargo","year":"2002","unstructured":"Kargo, W.J., Nelson, F., Rome, L.C.: Jumping in frogs: assessing the design of the skeletal system by anatomically realistic modeling and forward dynamic simulation. J Exp Biol. 205(12), 1683\u20131702 (2002) [Online]. Available: http:\/\/www.ncbi.nlm.nih.gov\/pubmed\/12042328","journal-title":"J Exp Biol"},{"key":"1638_CR23","doi-asserted-by":"publisher","unstructured":"A. J. Collings, L. B. Porro, C. Hill, and C. T. Richards: The impact of pelvic lateral rotation on hindlimb kinematics and stride length in the red-legged running frog, Kassina maculata. R. Soc. Open Sci., vol. 6, no. 5, 2019. https:\/\/doi.org\/10.1098\/rsos.190060","DOI":"10.1098\/rsos.190060"},{"issue":"2002","key":"1638_CR24","doi-asserted-by":"publisher","first-page":"1987","DOI":"10.1242\/jeb.205.14.1987","volume":"205","author":"WJ Kargo","year":"2002","unstructured":"Kargo, W.J., Rome, L.C.: Functional morphology of proximal hindlimb muscles in the frog Rana pipiens. J. Exp. Biol. 205(2002), 1987\u20132004 (2002)","journal-title":"J. Exp. Biol."},{"issue":"1","key":"1638_CR25","doi-asserted-by":"publisher","first-page":"eaag2048","DOI":"10.1126\/scirobotics.aag2048","volume":"1","author":"DW Haldane","year":"2016","unstructured":"Haldane, D.W., Plecnik, M.M., Yim, J.K., Fearing, R.S.: Robotic vertical jumping agility via series-elastic power modulation. Sci. Robot. 1(1), eaag2048 (2016). https:\/\/doi.org\/10.1126\/scirobotics.aag2048","journal-title":"Sci. Robot."},{"issue":"4","key":"1638_CR26","doi-asserted-by":"publisher","first-page":"621","DOI":"10.1242\/jeb.032631","volume":"213","author":"CT Richards","year":"2010","unstructured":"Richards, C.T.: Kinematics and hydrodynamics analysis of swimming anurans reveals striking inter-specific differences in the mechanism for producing thrust. J. Exp. Biol. 213(4), 621\u2013634 (2010). https:\/\/doi.org\/10.1242\/jeb.032631","journal-title":"J. Exp. Biol."},{"key":"1638_CR27","doi-asserted-by":"publisher","first-page":"20130236","DOI":"10.1098\/rsif.2013.0236","volume":"10","author":"CT Richards","year":"2013","unstructured":"Richards, C.T., Clemente, C.J.: Built for rowing: frog muscle is tuned to limb morphology to power swimming. J. R. Soc. Interface. 10, 20130236 (2013). https:\/\/doi.org\/10.1098\/rsif.2013.0236","journal-title":"J. R. Soc. Interface"},{"issue":"3","key":"1638_CR28","doi-asserted-by":"publisher","first-page":"031012","DOI":"10.1115\/1.4027443","volume":"6","author":"MM Plecnik","year":"2014","unstructured":"Plecnik, M.M., Michael McCarthy, J.: Numerical Synthesis of Six-Bar Linkages for Mechanical Computation. J. Mech. Robot. 6(3), 031012 (2014). https:\/\/doi.org\/10.1115\/1.4027443","journal-title":"J. Mech. Robot."},{"key":"1638_CR29","doi-asserted-by":"publisher","first-page":"112","DOI":"10.1016\/j.mechmachtheory.2015.10.004","volume":"97","author":"MM Plecnik","year":"2016","unstructured":"Plecnik, M.M., McCarthy, J.M.: Kinematic synthesis of Stephenson III six-bar function generators. Mech. Mach. Theory. 97, 112\u2013126 (2016). https:\/\/doi.org\/10.1016\/j.mechmachtheory.2015.10.004","journal-title":"Mech. Mach. Theory"},{"key":"1638_CR30","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1016\/j.mechmachtheory.2015.08.015","volume":"96","author":"MM Plecnik","year":"2016","unstructured":"Plecnik, M.M., McCarthy, J.M.: Design of Stephenson linkages that guide a point along a specified trajectory. Mech. Mach. Theory. 96, 38\u201351 (2016). https:\/\/doi.org\/10.1016\/j.mechmachtheory.2015.08.015","journal-title":"Mech. Mach. Theory"},{"issue":"1","key":"1638_CR31","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.4031124","volume":"8","author":"MM Plecnik","year":"2016","unstructured":"Plecnik, M.M., McCarthy, J.M.: Computational Design of Stephenson II six-Bar function generators for 11 accuracy points. J. Mech. Robot. 8(1), 1\u20139 (2016). https:\/\/doi.org\/10.1115\/1.4031124","journal-title":"J. Mech. Robot."},{"issue":"1","key":"1638_CR32","doi-asserted-by":"publisher","first-page":"190","DOI":"10.1073\/pnas.97.1.190","volume":"97","author":"H Huang","year":"2000","unstructured":"Huang, H., Brown, D.D.: Overexpression of Xenopus laevis growth hormone stimulates growth of tadpoles and frogs. Proc. Natl. Acad. Sci. U. S. A. 97(1), 190\u2013194 (2000). https:\/\/doi.org\/10.1073\/pnas.97.1.190","journal-title":"Proc. Natl. Acad. Sci. U. S. A."},{"issue":"3","key":"1638_CR33","doi-asserted-by":"publisher","first-page":"77","DOI":"10.3390\/robotics8030077","volume":"8","author":"SBA Kashem","year":"2019","unstructured":"Kashem, S.B.A., Jawed, S., Ahmed, J., Qidwai, U.: Design and implementation of a quadruped amphibious robot using duck feet. Robotics. 8(3), 77 (2019). https:\/\/doi.org\/10.3390\/robotics8030077","journal-title":"Robotics"},{"key":"1638_CR34","doi-asserted-by":"publisher","unstructured":"S. Guo et al.: Basic characteristics evaluation of a duck-like robot. Proc. 2019 IEEE Int. Conf. Mechatronics Autom. ICMA 2019, pp. 1502\u20131507, 2019. https:\/\/doi.org\/10.1109\/ICMA.2019.8816536","DOI":"10.1109\/ICMA.2019.8816536"},{"key":"1638_CR35","doi-asserted-by":"publisher","first-page":"399","DOI":"10.1242\/jeb.138.1.399","volume":"138","author":"JM Gal","year":"1988","unstructured":"Gal, J.M., Blake, R.W.: Biomechanics of frog swimming I. estimation of the force generated by Hymenochirus boettgeri. J. Exp. Biol. 138, 399\u2013411 (1988)","journal-title":"J. Exp. Biol."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01638-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01638-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01638-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,27]],"date-time":"2022-05-27T20:06:27Z","timestamp":1653681987000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01638-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5]]},"references-count":35,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,5]]}},"alternative-id":["1638"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01638-9","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2022,5]]},"assertion":[{"value":"9 February 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 April 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 May 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"This paper does not report research that requires ethical approval. Consent to participate or consent to publish statements is accordingly also not required.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}}],"article-number":"23"}}