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Abstract Modernfish represent over 400 million years of evolutionary processes that, in many cases, resulted in selection for phenotypes with particular performance advantages. While this certainly occurred without a trajectory for optimization, it cannot be denied that some morphologies allow organisms to be more effective than others at tasks like evading predation, securing food, and ultimately passing on their genes. In this way, evolution generates a series of iterative prototypes with varying but measurable success in accomplishing objectives. Therefore, careful analysis of fundamental properties underlying biological phenomena allows us to fast-track the development of bioinspired technologies aiming to accomplish similar objectives. At the same time, bioinspired designs can be a way to explore evolutionary processes, by better understanding the performance space within which a given morphology operates. Through strong interdisciplinary collaborations, we can develop novel bioinspired technologies that not only excel as robotic devices but also teach us something about biology and the rules of life in the process. 

Abstract Flying fishes (family Exocoetidae) are known for achieving multi-modal locomotion through air and water. Previous work on understanding this animal’s aerodynamic and hydrodynamic nature has been based on observations, numerical simulations, or experiments on preserved dead fish, and has focused primarily on flying pectoral fins. The first half of this paper details the design and validation of a modular flying fish inspired robotic model organism (RMO). The second half delves into a parametric aerodynamic study of flying fish pelvic fins, which to date have not been studied in-depth. Using wind tunnel experiments at a Reynolds number of 30,000, we investigated the effect of the pelvic fin geometric parameters on aerodynamic efficiency and longitudinal stability. The pelvic fin parameters investigated in this study include the pelvic fin pitch angle and its location along the body. Results show that the aerodynamic efficiency is maximized for pelvic fins located directly behind the pectoral fins and is higher for more positive pitch angles. In contrast, pitching stability is neither achievable for positive pitching angles nor pelvic fins located directly below the pectoral fin. Thus, there is a clear a trade-off between stability and lift generation, and an optimal pelvic fin configuration depends on the flying fish locomotion stage, be it gliding, taxiing, or taking off. The results garnered from the RMO experiments are insightful for understanding the physics principles governing flying fish locomotion and designing flying fish inspired aerial-aquatic vehicles. 

ABSTRACT Balitorid loaches are a family of fishes that exhibit morphological adaptations to living in fast flowing water, including an enlarged sacral rib that creates a ‘hip’-like skeletal connection between the pelvis and the axial skeleton. The presence of this sacral rib, the robustness of which varies across the family, is hypothesized to facilitate terrestrial locomotion seen in the family. Terrestrial locomotion in balitorids is unlike that of any known fish: the locomotion resembles that of terrestrial tetrapods. Emergence and convergence of terrestrial locomotion from water to land has been studied in fossils; however, studying balitorid walking provides a present-day natural laboratory to examine the convergent evolution of walking movements. We tested the hypothesis that balitorid species with more robust connections between the pelvic and axial skeleton (M3 morphotype) are more effective at walking than species with reduced connectivity (M1 morphotype). We predicted that robust connections would facilitate travel per step and increase mass support during movement. We collected high-speed video of walking in seven balitorid species to analyze kinematic variables. The connection between internal anatomy and locomotion on land are revealed herein with digitized video analysis, μCT scans, and in the context of the phylogenetic history of this family of fishes. Our species sampling covered the extremes of previously identified sacral rib morphotypes, M1 and M3. Although we hypothesized the robustness of the sacral rib to have a strong influence on walking performance, there was not a large reduction in walking ability in the species with the least modified rib (M1). Instead, walking kinematics varied between the two balitorid subfamilies with a generally more ‘walk-like’ behavior in the Balitorinae and more ‘swim-like’ behavior in the Homalopteroidinae. The type of terrestrial locomotion displayed in balitorids is unique among living fishes and aids in our understanding of the extent to which a sacral connection facilitates terrestrial walking. 

Abstract The rheophilic hillstream loaches (Balitoridae) of South and Southeast Asia possess a range of pelvic girdle morphologies, which may be attributed to adaptations for locomotion against rapidly flowing water. Specifically, the connectivity of the pelvic plate (basipterygium) to the vertebral column via a sacral rib, and the relative size and shape of the sacral rib, fall within a spectrum of three discrete morphotypes: long, narrow rib that meets the basipterygium; thicker, slightly curved rib meeting the basipterygium; and robust crested rib interlocking with the basipterygium. Species in this third category with more robust sacral rib connections between the basipterygium and vertebral column are capable of walking out of water with a tetrapod‐like lateral‐sequence, diagonal‐couplet gait. This behavior has not been observed in species lacking direct skeletal connection between the vertebrae and the pelvis. The phylogenetic positions of the morphotypes were visualized by matching the morphological features onto a novel hypothesis of relationships for the family Balitoridae. The morphotypes determined through skeletal morphology were correlated with patterns observed in the pelvic muscle morphology of these fishes. Transitions towards increasingly robust pelvic girdle attachment were coincident with a more anterior origin on the basipterygium and more lateral insertion of the muscles on the fin rays, along with a reduction of the superficial abductors and adductors with more posterior insertions. These modifications are expected to provide a mechanical advantage for generating force against the ground. Inclusion of the enigmatic cave‐adapted balitoridCryptotora thamicolainto the most data‐rich balitorid phylogeny reveals its closest relatives, providing insight into the origin of the skeletal connection between the axial skeleton and basipterygium.