Efficient locomotion depends on the distribution of the weight and the muscle strength in an animal's body. For example, fish with heavy heads or tails will swim less efficiently and less gracefully than fish with relatively light heads and tails, while fish with either too weak or too stiff muscles will also suffer some degree of motor incompetence. The weight and the muscle strength distributions of the physics-based artificial fish are characterized by the and the of the model, respectively. We set these physical parameters of the model such that the corresponding distributions along the fish body are biologically plausible. For example, the nodes that form the head and the tail of the fish have less mass than those that form the middle part of the body.
The values of parameters used in our simulation are listed in Table and Table .
[The mass distribution of the artificial fish.] The mass distribution of the artificial fish. Refer to Fig. .
|Cross units, e.g.|
|Remaining units, e.g.|
[The elasticity and viscosity constants of the artificial fish.] The elasticity and viscosity constants of the artificial fish. Refer to Fig. .
Note that the elasticity constants are made large enough to provide the fish's body with the structural integrity that it requires for effective swimming. However, this results in a rather stiff dynamic system that needs a stable numerical solver to simulate its dynamics.
|Xiaoyuan Tu||January 1996|