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The paper carries on our previous investigations on the complementary version of Purcell's rotator (sPr 3 ): a low-Reynolds-number swimmer composed of three balls of equal radii. In the asymptotic regime of very long arms, the Stokes-induced governing dynamics is derived, and then experimented in the context of energy-minimizing self-propulsion characterized in the first part of the paper.

Peristalsis , i.e., a motion pattern arising from the propagation of muscle contraction and expansion waves along the body, is a common locomotion strategy for limbless animals. Mimicking peristalsis in bio-inspired robots has attracted considerable attention in the literature. It has recently been observed that maximal velocity in a metameric earthworm-like robot is achieved by actuating the segments using a "phase coordination" principle. This paper shows that, in fact, peristalsis (which requires not only phase coordination, but also that all segments oscillate at same frequency and amplitude) emerges from optimization principles. More precisely, basing our analysis on the assumption of small deformations, we show that peristaltic waves provide the optimal actuation solution in the ideal case of a periodic infinite system, and that this is approximately true, modulo edge effects, for the real, finite length system. Therefore, this paper confirms the effectiveness of mimicking peristalsis in bio-inspired robots, at least in the small-deformation regime. Further research will be required to test the effectiveness of this strategy if large deformations are allowed., (Copyright © 2018 Agostinelli, Alouges and DeSimone.)

We present a theory for low-Reynolds-number axisymmetric swimmers and a general strategy for the computation of strokes of maximal efficiency. An explicit equation characterizing optimal strokes is derived, and numerical strategies to obtain solutions are discussed. The merits of this approach are demonstrated by applying it to two concrete examples: the three linked spheres of Najafi and Golestanian and the pushmepullyou of Avron, Kenneth, and Oakmin.