The torque generated by actuators of the sandfish model in simulation.

<p>A: The torque generated by actuators at 0.25, 0.5, and 0.75 of the body (represented by green, red, and dark blue symbols and lines, respectively) as a function of time. B: RMS magnitude of the torque of an actuator as a function of position on the body. Large filled circles indicate the RMS of the torque curves in panel (A) with the same color scheme. The solid black line in panel B and data in panel A are from simulation with a uniform body and the blue dashed line in panel B is from a simulation with a tapered body. , .