Testing the effects of body depth on fish maneuverability via robophysical models

Fish show a wide diversity of body shapes which affect many aspects of their biology, including swimming and feeding performance, and defense from predators. Deep laterally compressed bodies are particularly common, and have evolved multiple times in different families. Functional hypotheses that explain these trends include predator defense and increased maneuverability. While there is strong evidence that increasing body depth helps fish avoid gape-limited predators, the evidence that body shape increases a fish's maneuverability is ambiguous. We used a two-pronged approach to explore the effects of body shape on the control of maneuvers using both live fish and a robotic model that allowed us to independently vary body shape. We captured ventral video of two tetra species (Gymnocorymbus ternetziandAphyocharax anisitsi) performing a wide range of maneuvers to confirm that both species of live fish utilize fundamentally similar body deformations to execute a turn, despite their different body depths. Both species use a propagating 'pulse' of midline curvature that is qualitatively similar to prior studies and displayed similar trends in the relationships between body kinematics and performance. We then tested the robotic model's maneuverability, defined as the total heading change and maximum centripetal acceleration generated during a single pulse, at a range of different input kinematics across three body shapes. We found that deepening bodies increase the robot's ability to change direction and centripetal acceleration, though centripetal acceleration exhibits diminishing returns beyond a certain body depth. By using a robotic model, we were able to isolate the effects of body shape on maneuverability and clarify this confounded relationship. Studying the functional morphology of complex traits such as body shape and their interaction with complex behavior like maneuverability benefits from both the broad view provided by comprehensive comparative studies, and the control of variables enabled by robophysical experiments.