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. 2012 Nov 7;7(11):e48909. doi: 10.1371/journal.pone.0048909

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© 2012 Colin et al

This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are properly credited.

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A. Structural comparison of biological models (top panels) with bio-inspired vehicles (bottom) used for experimental comparisons (both are 16.4 cm diameter). Only flap versions of the robotic vehicles are shown. B. Comparison of the maximum normalized swimming speeds of jellyfish vehicles with representative values for their natural counterparts, Aurelia aurita (14.7 cm diameter) and Cyanea capillata (10 cm diameter). C. Comparison of the normalized swimming speed averaged over the swimming cycle. The Reynolds numbers (Re) shown are averages over 3 swimming cycles. We examined a flap and a no-flap version of both the A. aurita and C. capillata vehicle models (icons illustrate each version). Bars are the mean values over 3 consecutive swimming cycles (± st.dev.). D. Bell kinematics at of no-flap and flap vehicles and live Aurelia during bell contraction. Scale represents 1 cm.