Journal
BIOINSPIRATION & BIOMIMETICS
Volume 15, Issue 4, Pages -Publisher
IOP PUBLISHING LTD
DOI: 10.1088/1748-3190/ab8d0f
Keywords
soft robotics; fish locomotion; model; active swimming
Funding
- Department of Organismic and Evolutionary Biology at Harvard University
- Ashford Foundation
- Office of Naval Research [ONR 341, N00014-15-1-2234]
- Swiss National Science Foundation [P2SKP3_158677]
- Cyber Valley Research Fund [CyVy-RF-2019-08]
- Max Planck Society
- Swiss National Science Foundation (SNF) [P2SKP3_158677] Funding Source: Swiss National Science Foundation (SNF)
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Fish locomotion is characterized by waves of muscle electrical activity that proceed from head to tail, and result in an undulatory pattern of body bending that generates thrust during locomotion. Isolating the effects of parameters like body stiffness, co-activation between the right and left sides of the body, and frequency on thrust generation has proven to be difficult in live fishes. We use a pneumatically-actuated fish-like model to investigate how these parameters affect locomotor force generation. We measure thrust as well as side forces and torques generated during propulsion. Using a statistical linear model we examine the effects of input parameter combinations on thrust generation. We show that both stiffness and frequency substantially affect swimming kinematics, and that there are complex interactive effects of these two parameters on thrust. The stiffer the backbone the more impact that increasing frequency has on thrust production. For stiffer models, increasing frequency resulted in higher values for both thrust and lateral forces. Large side forces reduce swimming efficiency but this effect could be mitigated by decreasing undulatory wavelength and allowing appropriate phasing of left and right body movements to reduce amplitudes of side force.
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