Fig 8. Conservative planar motion of the body is chaotic at large amplitudes.
A: trajectories of individual segment boundaries appear qualitatively irregular, B: our estimate of the maximum Lyapunov characteristic exponent converges to a positive value, C: power spectra of head stretch q and bend ϕ show a strong “noise” component, and D: their autocorrelations decay rapidly. All are indicators of deterministic chaos. Parameters used to generate this figure are given in S4 Table.