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Mechanics of Undulatory Swimming in a Frictional Fluid

Figure 4

Body kinematics of the sandfish in the simulation.

A: CoM trajectory. Gray region shows the configuration of the uniform body at s (not to scale). The (B) forward velocity, (C) lateral velocity and (D) body orientation as a function of time. Inset: Diagram showing calculation of the center of mass (CoM) and yaw angle (). Black circles represent uniform body and blue triangles represent tapered body. Actuation began at t = 0 sec. , Hz.

Figure 4

doi: https://doi.org/10.1371/journal.pcbi.1002810.g004