{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T12:17:38Z","timestamp":1783513058856,"version":"3.55.0"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,6,1]],"date-time":"2022-06-01T00:00:00Z","timestamp":1654041600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,6,1]],"date-time":"2022-06-01T00:00:00Z","timestamp":1654041600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["2020A1515110692"],"award-info":[{"award-number":["2020A1515110692"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Shenzhen Institute of Artificial Intelligence and Robotics for Society"},{"DOI":"10.13039\/501100013289","name":"Shenzhen Institutes of Advanced Technology Innovation Program for Excellent Young Researchers","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100013289","id-type":"DOI","asserted-by":"publisher"}]},{"name":"SIAT-CUHK Joint Laboratory of Precision Engineering"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,6]]},"DOI":"10.1007\/s10846-022-01661-w","type":"journal-article","created":{"date-parts":[[2022,6,10]],"date-time":"2022-06-10T11:06:13Z","timestamp":1654859173000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Dynamic Modeling of a Novel Kind of Rigid-Soft Coupling Biomimetic Robotic Fish"],"prefix":"10.1007","volume":"105","author":[{"given":"Qiyang","family":"Zuo","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yaohui","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3947-2916","authenticated-orcid":false,"given":"Fengran","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haitao","family":"Fang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"He","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong","family":"Zhong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,6,10]]},"reference":[{"issue":"1117","key":"1661_CR1","first-page":"158","volume":"214","author":"GI Taylor","year":"1952","unstructured":"Taylor, G.I.: Analysis of the swimming of long and narrow animals. Proceedings of the Royal Society of London. Series A. Mathematical and Physical Sciences 214(1117), 158\u2013183 (1952)","journal-title":"Proceedings of the Royal Society of London. Series A. Mathematical and Physical Sciences"},{"key":"1661_CR2","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611970517","volume-title":"Mathematical Biofluiddynamics","author":"MJ Lighthill","year":"1975","unstructured":"Lighthill, M.J.: Mathematical Biofluiddynamics. Philadelphia, USA, SIAM (1975)"},{"issue":"1055","key":"1661_CR3","first-page":"125","volume":"179","author":"MJ Lighthill","year":"1971","unstructured":"Lighthill, M.J.: Large-amplitude elongated-body theory of fish locomotion. Proceedings of the Royal Society of London. Series B. Biological Sciences 179(1055), 125\u2013138 (1971)","journal-title":"Proceedings of the Royal Society of London. Series B. Biological Sciences"},{"issue":"2","key":"1661_CR4","doi-asserted-by":"publisher","first-page":"305","DOI":"10.1017\/S0022112060001110","volume":"9","author":"MJ Lighthill","year":"1960","unstructured":"Lighthill, M.J.: Note on the swimming of slender fish. J. Fluid Mech. 9(2), 305\u2013317 (1960)","journal-title":"J. Fluid Mech."},{"issue":"7","key":"1661_CR5","doi-asserted-by":"publisher","first-page":"5665","DOI":"10.1109\/TIE.2017.2779431","volume":"65","author":"S Verma","year":"2018","unstructured":"Verma, S., Xu, J.X.: Analytic modeling for precise speed tracking of multilink robotic fish. IEEE Trans. Ind. Electron. 65(7), 5665\u20135672 (2018)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"4","key":"1661_CR6","doi-asserted-by":"publisher","first-page":"906","DOI":"10.1109\/TRO.2015.2433539","volume":"31","author":"J Wang","year":"2015","unstructured":"Wang, J., Tan, X.: Averaging tail-actuated robotic fish dynamics through force and moment scaling. IEEE Trans. Robot. 31(4), 906\u2013917 (2015)","journal-title":"IEEE Trans. Robot."},{"issue":"8","key":"1661_CR7","doi-asserted-by":"publisher","first-page":"3176","DOI":"10.1109\/TIE.2011.2151812","volume":"59","author":"L Wen","year":"2012","unstructured":"Wen, L., Wang, T., Wu, G., Liang, J., Wang, C.: Novel method for the modeling and control investigation of efficient swimming for robotic fish. IEEE Trans. Ind. Electron. 59(8), 3176\u20133188 (2012)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"8","key":"1661_CR8","doi-asserted-by":"publisher","first-page":"085014","DOI":"10.1088\/1361-665X\/aa7238","volume":"26","author":"SB Behbahani","year":"2017","unstructured":"Behbahani, S.B., Tan, X.: Design and dynamic modeling of electrorheological fluid-based variable-stiffness fin for robotic fish. Smart Materials and Structures 26(8), 085014 (2017)","journal-title":"Smart Materials and Structures"},{"key":"1661_CR9","doi-asserted-by":"crossref","unstructured":"Mason, R., Burdick, J.W.: Experiments in carangiform robotic fish locomotion. In: Proc. of IEEE International Conference on Robotics and Automation, pp 428\u2013435. IEEE, San Francisco, CA, USA (2000)","DOI":"10.1109\/ROBOT.2000.844093"},{"issue":"4","key":"1661_CR10","doi-asserted-by":"publisher","first-page":"1641","DOI":"10.1109\/TMECH.2018.2848220","volume":"23","author":"W Wang","year":"2018","unstructured":"Wang, W., Dai, X., Li, L., Gheneti, B.H., Ding, Y., Yu, J., Xie, G.: Three-dimensional modeling of a fin-actuated robotic fish with multimodal swimming. IEEE\/ASME Transactions on Mechatronics 23(4), 1641\u20131652 (2018)","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"1661_CR11","doi-asserted-by":"crossref","unstructured":"Wu, Z., Yu, J., Tan, M.: CPG parameter search for a biomimetic robotic fish based on particle swarm optimization. In: IEEE International Conference on Robotics and Biomimetics, pp 563\u2013568. IEEE, Guangzhou, China (2012)","DOI":"10.1109\/ROBIO.2012.6491026"},{"issue":"1","key":"1661_CR12","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1115\/1.2168476","volume":"128","author":"PVY Alvarado","year":"2006","unstructured":"Alvarado, P.V.Y., Youcef-Toumi, K.: Design of machines with compliant bodies for biomimetic locomotion in liquid environments. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 128(1), 3\u201313 (2006)","journal-title":"Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME"},{"issue":"1","key":"1661_CR13","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1109\/JOE.2013.2294891","volume":"40","author":"V Kopman","year":"2015","unstructured":"Kopman, V., Laut, J., Acquaviva, F., Rizzo, A., Porfiri, M.: Dynamic modeling of a robotic fish propelled by a compliant tail. IEEE J. Ocean. Eng. 40(1), 209\u2013221 (2015)","journal-title":"IEEE J. Ocean. Eng."},{"key":"1661_CR14","doi-asserted-by":"crossref","unstructured":"Howell, L.L.: Compliant mechanisms. In: 21st Century Kinematics, pp 189\u2013216. Springer, London, UK (2013)","DOI":"10.1007\/978-1-4471-4510-3_7"},{"issue":"1","key":"1661_CR15","doi-asserted-by":"publisher","first-page":"011004","DOI":"10.1115\/1.4028056","volume":"137","author":"J Wang","year":"2015","unstructured":"Wang, J., McKinley, P.K., Tan, X.: Dynamic modeling of robotic fish with a base-actuated flexible tail. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 137(1), 011004 (2015)","journal-title":"Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME"},{"issue":"14","key":"1661_CR16","first-page":"2515","volume":"232","author":"J Song","year":"2018","unstructured":"Song, J., Zhong, Y., Luo, H., Ding, Y., Du, R: Hydrodynamics of larval fish quick turning: A computational study. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232(14), 2515\u20132523 (2018)","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"},{"issue":"8","key":"1661_CR17","first-page":"1660","volume":"234","author":"J Lou","year":"2020","unstructured":"Lou, J., Yang, Y., Chen, T., Ren, X., Jia, Z: Oscillating performance and propulsion mechanism of biomimetic underwater oscillatory propulsion by resonant actuation of macro fiber composites. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234(8), 1660\u20131672 (2020)","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"},{"issue":"11","key":"1661_CR18","first-page":"2020","volume":"303","author":"J Lou","year":"1587","unstructured":"Lou, J., Yang, Y., Wu, C., Li, G., Chen, T., Ma, J: Underwater oscillation performance and 3D vortex distribution generated by miniature caudal fin-like propulsion with macro fiber composite actuation. Sensors and Actuators A: Physical 303(11), 2020 (1587)","journal-title":"Sensors and Actuators A: Physical"},{"issue":"1","key":"1661_CR19","doi-asserted-by":"publisher","first-page":"23","DOI":"10.3390\/biomimetics4010023","volume":"4","author":"A Mignano","year":"2019","unstructured":"Mignano, A., Kadapa, S., Tangorra, J., Lauder, G.: Passing the wake: Using multiple fins to shape forces for swimming. Biomimetics 4(1), 23 (2019)","journal-title":"Biomimetics"},{"issue":"1","key":"1661_CR20","doi-asserted-by":"publisher","first-page":"011902","DOI":"10.1063\/1.5129274","volume":"32","author":"P Han","year":"2020","unstructured":"Han, P., Lauder, G.V., Dong, H.: Hydrodynamics of median-fin interactions in fish-like locomotion: Effects of fin shape and movement. Physics of Fluids 32(1), 011902 (2020)","journal-title":"Physics of Fluids"},{"issue":"5","key":"1661_CR21","doi-asserted-by":"publisher","first-page":"4150","DOI":"10.1109\/TIE.2016.2613500","volume":"64","author":"S Verma","year":"2017","unstructured":"Verma, S., Xu, J.X.: Data-assisted modeling and speed control of a robotic fish. IEEE Trans. Ind. Electron. 64(5), 4150\u20134157 (2017)","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"9","key":"1661_CR22","doi-asserted-by":"publisher","first-page":"5632","DOI":"10.1109\/TIE.2016.2564338","volume":"63","author":"J Yu","year":"2016","unstructured":"Yu, J., Yuan, J., Wu, Z., Tan, M.: Data-driven dynamic modeling for a swimming robotic fish. IEEE Trans. Ind. Electron. 63(9), 5632\u20135640 (2016)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1661_CR23","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-46870-8","volume-title":"Robot Fish: Bio-inspired Fishlike Underwater Robots","author":"R Du","year":"2015","unstructured":"Du, R., Li, Z., Youcef-Toumi, K., Alvarado, P.V.Y.: Robot Fish: Bio-inspired Fishlike Underwater Robots. Springer, Berlin, Germany (2015)"},{"issue":"2","key":"1661_CR24","doi-asserted-by":"publisher","first-page":"222","DOI":"10.1007\/s42235-019-0019-2","volume":"16","author":"F Xie","year":"2019","unstructured":"Xie, F., Zhong, Y., Du, R., Li, Z.: Central Pattern Generator (CPG) control of a biomimetic robot fish for multimodal swimming. Journal of Bionic Engineering 16(2), 222\u2013234 (2019)","journal-title":"Journal of Bionic Engineering"},{"issue":"4","key":"1661_CR25","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 Transactions on Mechatronics 22(4), 1633\u20131643 (2017)","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"1661_CR26","first-page":"68","volume":"178","author":"TT To","year":"2015","unstructured":"To, T.T., Witten, P.E., Huysseune, A., Winkler, C.: An adult osteopetrosis model in medaka reveals the importance of osteoclast function for bone remodeling in teleost fish. Comparative Biochemistry and Physiology, Part-C 178, 68\u201375 (2015)","journal-title":"Comparative Biochemistry and Physiology, Part-C"},{"key":"1661_CR27","unstructured":"[Online]. Available:\u00a0https:\/\/animaldiversity.org\/collections\/contributors\/Grzimek_fish\/structure_function\/v04_id131_con_axialmu\/"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01661-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01661-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01661-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,26]],"date-time":"2024-09-26T19:23:39Z","timestamp":1727378619000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01661-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,6]]},"references-count":27,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,6]]}},"alternative-id":["1661"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01661-w","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,6]]},"assertion":[{"value":"21 October 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 May 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 June 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The manuscript is not submitted to more than one journal for simultaneous consideration. The submitted work is original and has not been published elsewhere in any form or language (partially or in full).","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"The authors declare that they have no conflict of interest.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"41"}}