Mechanics of Undulatory Swimming in a Frictional Fluid
Figure 1
The sandfish lizard and the numerical simulation.
A: A sandfish lizard (Scincus scincus) resting on 3 mm diameter glass particles. B: A simulated sandfish with a uniform body resting on simulated 3 mm particles. A and λ represent the amplitude and the wavelength of the single period sinusoidal traveling wave. Dashed purple line shows the outline of a tapered body. C: The elements of the sandfish model in the Working Model multibody simulation environment. The cuboid body segments are connected by actuators and β is the angle between two segments. D: Diagram of the empirical force relations used for particle interaction. The normal (Fn) and tangential (Fs) forces between two particles are calculated based on the relative speed v = v1−v2 and the virtual overlap δ between these two particles. Panels B, C, and D are reproduced from [21].