Fig. 6. The phase relationship between lateral force generation and tail kinematics. Positive values are directed to the left of the body and negative values are directed to the right. Each blue curve shows the mean values over four tail beats for a single larva, with time normalized to the tail-beat period. The black solid lines represent the mean, and the black dotted lines represent ±1 S.D. for all larvae (N=11). As in Fig. 4, the gray band shows when the trunk angle is directed towards the left side of the body, and white bands show when the trunk angle is directed to the right. Measurements of lateral force (A) are plotted above trunk angle (B).