Neuromechanics of Sensory-Mediated Gait Control in Fish Swimming
Abstract
Neuromechanics of Sensory Mediated Gait Control in Fish Swimming The objectives of this research program are to understand the mechanical and neurobiological bases of changes in gait that occur as fish swim, and to develop robotic and mathematical models that allow detailed analysis of multi-fin swimming and gait changes. As fish increase their swimming speed, the kinematic patterns and mechanical properties of the fins and body, and the output from the nervous system all change to increase locomotor force, to redistribute forces for dynamic stability, and to maintain propulsive efficiency. However, only limited data are currently available on fish gait patterns, on changes in body mechanics as speed increases, and on the neurobiological control systems that are involved in gait modulation. In addition, we are not aware of any mechanical or robotic systems that allow exploration of fish gait patterns. We believe that an integrated neurobiological and mechanical approach to how fish change swimming gaits will represent a significant contribution to understanding the dynamics of aquatic movement, and will provide key information for the design of autonomous robotic systems that swim efficiently over a range of speeds. This research program will be executed by pursuing two overarching research areas: 1) Mechanics of multi-fin gaits and gait transitions, and 2) Neural control of fin mechanics and gaits. Each of the research areas will be examined using a combination of biomechanical, neurobiological, and robotic models of the fish sensory and control systems involved in gait control. The proposed research tightly integrates neurobiology, engineering, and behavioral biology, and its success is highly dependent on synergistic experiments and integration of information among our three laboratories. In the work proposed for Research Area 1, we will examine the mechanics and kinematic patterns involved in fish gait changes using a comparative functional analysis of different species, study swimming energetics and the role of mechanosensation in gait control, and develop an advanced mechanical model of multi-fin gait control. For Research Area 2, we will couple neurobiological investigations of closed-loop body and fin control with parallel studies of distributed sensing and neural control in multi-fin robotic systems. Together, data collected across these two aims will be used to develop and refine a neurobiologically-based control system for gait control in swimming fish. 1
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2016
- Source ID
- N000141512234
Entities
People
- James Tangorra
Organizations
- Drexel University
- Office of Naval Research
- United States Navy