Fig. 23From: Sub-Riemannian geometry, Hamiltonian dynamics, micro-swimmers, copepod nauplii and copepod robotComparaison between the abnormal periodic strokes and the experimentally observed stroke. The top figures display the variation of the appendage angles with respect to time. The observed ones reflect the constraint on the angles. The bottom figures show the strokes as closed curves in the triangular prismBack to article page