The majority of aquatic swimmers ranging in length L from a few millimetres (fish larvae) to several dozens of metres (whales) have similar locomotory dynamics: they use undulatory gaits of amplitude A and angular frequency ω = 2πf, where f is the frequency. Scientists have discovered a universal relationship between the swimming speed U, the length L, the amplitude A, the frequency ω, and the physical parameters of water (density ρ and viscosity µ), when the Reynolds number of the flow satisfies