Investigating the effect of morphology on the terrestrial gaits of amphibious fish using a reconfigurable robot

• Published in: Bioinspiration & biomimetics Vol. 20; no. 4; pp. 46002 - 46017
• Main Authors: Gevers, Louis, Gupta, Astha, Paez, Laura, Fu, Qiyuan, Standen, Emily, Ijspeert, Auke
• Format: Journal Article
• Language: English
• Published: England IOP Publishing 31.07.2025
• Subjects: amphibious fish; Animals; biomimetic robotics; Biomimetics - instrumentation; central pattern generators (CPG); Computer Simulation; Equipment Design; Equipment Failure Analysis; Extremities - physiology; Fishes - anatomy & histology; Fishes - physiology; Gait - physiology; locomotion; Locomotion - physiology; Models, Biological; morphologies; multi-objective optimization; Robotics - instrumentation; multi-objective optimization; central pattern generators (CPG); biomimetic robotics; morphologies; locomotion; amphibious fish

The relationship between morphology and locomotion performance in amphibious fish remains poorly understood, particularly in axial-appendage-based and appendage-based movements. To address this, we introduce Polymander, a reconfigurable robot capable of mimicking Polypterus -like walking and mudskip...