Micro Robot Swimming on a plane - free initial shape and free rotation

Optimal stroke for Stokesian micro robot. The size of the spheres is .05mm. The computation was made using deal.II and trilinos, and the output movie is generated with Blender. In this case, we let both the initial shape of the stroke and the final orientation of the swimmer free to be optimized by the software. This swimmer consumes less than a fifth of the energy of the first one.