Eel locomotion is considered typical of the anguilliform swimming mode of elongate fishes and has received substantial attention from various perspectives such as swimming kinematics, hydrodynamics, muscle physiology, and computational modeling. In contrast to the extensive knowledge of swimming mechanics, there is limited knowledge of the internal body morphology, including the body components...

Fish propelled by body and/or caudal fin (BCF) locomotion can achieve high-efficiency and high-speed swimming performance, changing their motion to interact with external fluids. This flexural be prescribed through its curvature profile. work indicates that when the fish swims high efficiency, amplitude reaches a maximum at peduncle. In case of swimming, shows three maxima on entire length. It ...

The paper addresses hydrodynamic performance of a slender swimmer furnished with a flexible small-aspect-ratio soft-rayed caudal fin. The recoil of the fin is found by solving the coupled hydro-elastic problem, in which the structure of the fin is modeled by a cantilever of variable cross section and the hydrodynamic forces acting on it are modeled using the elongated body theory. It is shown t...

The neural controller of anguilliform swimming in lampreys is particularly well studied because of its relative robustness and simplicity. In this chapter we look at connectionist models of the controller – in which populations of similar neurons are represented by abstract, differential-equation-based models – and describe the use of evolutionary computation techniques for investigating the sp...

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To implement direct and inverse kinematics on the control law of the prototype, we need to evaluate the workspace without any collisions between the different bodies. ...