Fig. 2. Kinematics of body and leg movements during slow swimming. (A) Four stages in the left-to-right half-stroke of the caudal fin. The times are with reference to the zero position of the leg tips and fin tip shown in B. (B) Paths traced out by the caudal fin tip and the tips of the hindlimbs (stars), middle limbs (open circles) and forelimbs (filled circles) during a single swimming cycle. The limb tip paths are zeroed to the start of the left-to-right swing of the abdomen. Limb tip positions are drawn relative to the head. (C) Periods of protraction (open bars) and retraction (filled bars) of the limbs during three consecutive half-strokes of the caudal fin. L, left; R, right; 1, front leg; 2, middle leg; 3, hind leg.
