Fig. 26
From: Sub-Riemannian geometry, Hamiltonian dynamics, micro-swimmers, copepod nauplii and copepod robot
Top two pictures correspond to the decoupled motion and the bottom ones to the coupled motion. The left pictures describe the two curves followed by the extremity of each leg for three and a half strokes. As expected they follow a parabolic motion in both cases. For the decoupled motion they are shifting throughout the trajectory due to the displacement of the copepod. The right pictures depict the angular variables. The top one displays very clearly the decoupled motion for half of the stroke and then both legs coming back together, while the middle pictures depict the fact that both legs moves together throughout the entire motion. The bottom picture shows the strokes within the abnormal triangle \({\mathcal {T}}\). The decoupled motion is in blue and the coupled one in yellow