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Top view of the water tunnel with schematic illustration of some of the experimental variables. CMrobot represents the centre of mass of the robotic fish. CM represents the centre of mass of the fish. A live fish is considered to interact with the robot whenever the x-coordinate of its CM is in a region (R; section in grey), which extends 4 BL from the x-coordinate of CMrobot. R is additionally partitioned into the front (Rft) and the back (Rbk) regions. (Online version in colour.)
