This chapter discusses the motor system of the artificial fish (see
Fig. 
). In particular, we describe the physics-based
fish model and how it achieves locomotion. The biomechanical model we
develop is simple, but it is nonetheless effective for realistically
animating fish locomotion. We start by presenting the structure of the
dynamic fish model, then introduce the dynamics of this model and the
simulated aquatic environment. The numerical method employed for
solving the differential equations of motion of the fish model is
discussed next. Subsequently we describe the biomechanics-based
modeling and control of the fish's locomotion, paying special
attention to the construction of the motor controllers. This includes
the abstraction of the muscle movements for useful locomotion and the
functional modeling of the pectoral fins.
Figure: The motor system of an artificial fish.
| Xiaoyuan Tu | January 1996 |