Locomotor synergies in fish

Abstract

The kinematic characteristics {f(v), A(v), w(v)} allow a first-approximation representation of locomotor synergies in the swimming of fish: f is the frequency of the transverse oscillations, A is the amplitude of the caudal fin sweep, w is the velocity of the locomotor wave, and v is the locomotion speed. The additional compared characteristics included the step length L(v) and the wavelength λ(v), where L ≡ vT is the distance covered by the fish during the period T ≡ 1/f, and λ ≡ wT. These kinematic characteristics were derived from video recordings of swimming in six fish species. Three of the species investigated belonged to the anguilliform type, while the three others belonged to the carangiform type. The constant value of the wavelength λ at all speeds v was the common feature of the two types. The anguilliform fish performed a oneparameter version of locomotion control: the locomotion speed v changed due to the change of the wave velocity w and the undulatory amplitude remained constant. The carangioid fish used a two-parameter version of control, with changes in both the wave velocity w and the amplitude of undulations of the body and tail fin.