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Time history of the axial force coefficient (CF) normalized by the rigid body drag coefficient for different St at Re=4000 of (A) the anguilliform virtual swimmer compared with (B) the carangiform virtual swimmer (Borazjani and Sortiropoulos, 2008). Iman Borazjani, and Fotis Sotiropoulos J Exp Biol 2009;212:576-592 © The Company of Biologists Limited 2009