Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot
Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure the...
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| Published in | Scientific reports Vol. 13; no. 1; pp. 15032 - 12 |
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| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
London
Nature Publishing Group UK
12.09.2023
Nature Publishing Group Nature Portfolio |
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| Abstract | Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance. |
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| AbstractList | Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body's kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance.Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body's kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance. Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance. Abstract Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance. Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance. |
| ArticleNumber | 15032 |
| Author | Paez, Laura Tytell, Eric D. Mulleners, Karen Melo, Kamilo Ijspeert, Auke J. Anastasiadis, Alexandros |
| Author_xml | – sequence: 1 givenname: Alexandros surname: Anastasiadis fullname: Anastasiadis, Alexandros organization: Unsteady Flow Diagnostics Laboratory, Institute of Mechanical Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Biorobotics Laboratory, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne (EPFL) – sequence: 2 givenname: Laura surname: Paez fullname: Paez, Laura organization: Biorobotics Laboratory, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne (EPFL) – sequence: 3 givenname: Kamilo surname: Melo fullname: Melo, Kamilo organization: KM-RoBoTa – sequence: 4 givenname: Eric D. surname: Tytell fullname: Tytell, Eric D. organization: Department of Biology, Tufts University – sequence: 5 givenname: Auke J. surname: Ijspeert fullname: Ijspeert, Auke J. organization: Biorobotics Laboratory, Institute of Bioengineering, École Polytechnique Fédérale de Lausanne (EPFL) – sequence: 6 givenname: Karen surname: Mulleners fullname: Mulleners, Karen email: karen.mulleners@epfl.ch organization: Unsteady Flow Diagnostics Laboratory, Institute of Mechanical Engineering, École Polytechnique Fédérale de Lausanne (EPFL) |
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| Snippet | Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s... Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body's... Abstract Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the... |
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| SubjectTerms | 631/601/1332 639/166/988 639/766/189 Efficiency Humanities and Social Sciences Kinematics multidisciplinary Power consumption Science Science (multidisciplinary) Swimming Tails |
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| Title | Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot |
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