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. 2021 Jun 8;44(6):76. doi: 10.1140/epje/s10189-021-00078-x

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© The Author(s) 2021

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — Temporal beat pattern of a 4-6-4 swimmer with cilia beat in the longitudinal direction ( $θ_{r} = 0$ ), with $k_{φ} = 0$ and phase lag $χ = - 77^{\circ}$ . The varying cilium color indicates the instantaneous stage in the beat cycle (compare Fig. 2). The progression of the beat is indicated by the time t, given in units of the beat period $τ_{b}$ . The motion of the swimmer is from left to right. The translational motion is not to scale. See also movie SM1 for an illustration of the swimming behavior