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Figure 2


Fig. 2. Development of the longitudinal velocity U|| and the lateral velocity U {perp} as the undulating body accelerates from rest for the four investigated swimming cases. (A) U|| (solid lines) and U {perp} (broken lines) of the 2D case with the reference motion pattern (cyan) and of the 3D case with reference motion pattern (black). (B) U|| (solid lines) and U {perp} (broken lines) of the 3D case with motion pattern optimized for efficiency (blue) and the 3D case with motion pattern optimized for maximal swimming velocity (red).