The motor system comprises the dynamic model of the fish, the actuators, and a set of motor controllers (MCs) which constitutes the motor control center in the artificial fish's brain. Since our goal is to animate an animal realistically and at reasonable computational cost, we have sought to design a mechanical model that represents a good compromise between anatomical consistency, hence realism, and computational efficiency. Our model is rich enough so that we can build motor controllers by gleaning information from the fish biomechanics literature [Blake1983, Alexander1992]. The motor controllers are parameterized procedures, each of which is dedicated to carrying out a specific motor function, such as ``swim forward'', ``turn left'' or ``ascend''. They translate natural control parameters such as the forward speed, angle of the turn or angle of ascent into detailed muscle or pectoral fin actions. The repertoire of motor skills forms the foundation of the artificial fish's functionality.
|Xiaoyuan Tu||January 1996|